Introduction to feedback Gatol Loasel: speating, contro) is He procass of gett 9 i of x t someth 9g" to do What You want PY ab. “9 > con de ahnost anything. Ex: autclaffs , Spacectafls, cxs, machines, robots, Tadar, telescopes etc. Some less obvious examples : Gregy sytos, He exnomy biological systems, the humar booly... Momeal coctol: human-machine imkracton. Driving 2 ax, driving a bike. Rom demp. control, Automatic Gntol: No hymen exists. Definition: Control is the process off Causing, a system voiable to conform to some desired value alleda refeena vabe. (eg-: Variable = emp. fra olimate antrol system) fe Np reference volue Def: Feedback is the process of measuring the contolled valable (e.g. temperctre) and ustagy that information to w£luence the valuect the antolled variable. » Feedback ts necessary for conteo|.An illustrative exemple ofa fb Gatol sytem: -Qasider the Susten designed. to maiatain the Jempereture of your house. +» We @n dgrawa block diagmn whichidentfes the major Qmponents of the systen. Bout rt oath Gg, > [ferret Bio [hose > Room deme. outpet Senne (asmme that we «have @ perfect measurement.) © Centro! component = prowess o¢ lent. or syslem Ore of whose veiable we wort to conhol eg: Amt =heuse Voriable : Room temp. « Disteleonce: some system inpuck that we donch conrol. €.g. distureona = Oot temp. loss * Acuator ckvice that influences aatrolied votable 6.9: acheter = fumaw +gas valve * Reerenca. Sensor: measures the desired system output eo @ttpet sensors" "actual " u + Gatroller/Conpensator + device that computes the control effort to apply to the actuator, basecon Sensor reading c.g: Hemostat A. more abstoct bleck diagrem chcturhorce Ret es Sy ee ere |__| Acater| Plot > negiveAn even more absroct block diagram, Ref valve dish rhenca, Ouput > +50, f >| Compensator Plant Weassumed frat we have perfect sensors, actuators This is the pichre of a feedback contol systen Yet your Should ave ia miad foc the remainder of the Course- The contol provem methedology + The objectives of any contol Syctem design : 4. * Reser" disturkeaa, ( plort response te divtucbonca japut minimized) 2s 3. Acceptable sleody-stale. evrocs Acceploble — trensient response Mininine Sensitivity Lo plot exemele chenges (apust 4. Solutions are reached ula the methodology: T? +. Choosing the output Sersors 2 Choosing We actuator gr 3. Developing, ploxt, achiator, sensor Equations 2 (models) SLs 4. Designing tre comparsotor haved on tre models. L_ §, Evaluating design analytically , simulations , PrototypeA first onalusis: Auto cruise control . Suppose thet we wish to design @ cnise-contro/ system for on automotile. . Generally > We wish te control the. crs speed Followias, bur design methodology? gas L. Oukput sewor = speedomedter og oer 2. Actuator = throttle and engine ALY ‘_ Bock diagram: Road pe gine ato | Need — feof tf atenl fre Lotte Engine Aut Belay Speedometer out put Measured sar Sensor moive (FE pee Secale | 3. Nodel of the sytem: + Opercting speed % 55 km/h AZ chergeinthrotte = => Mokm/h change in speed o LZ change in grade = = Semi changein speed + Speedometer accurate toa fraction sf 1 km/h 7 05 wa) Comparten FS 10 > YLE) : actual spec at T ULE): dbrotHe pasitin 7 wit): Madgrade 7. 4, Design of the contoler: Pet): teferene. Speect (kmn) Compensotor = Wyo First oHempt Soper leop cose’ cw __5}Controle cu) as} Yo Yai = 40 (ues -0.5 wtt)) yatt =o (£2 cd) -o5 wth) =) -5wilt) §. Evaluete design : Percent error is computed as a TEI Yor U4 yr pereentese enoe re) + cl =55 » WO= ) Yol = No error --- Good ! THLHSBB w= 1, yastt=50 10% evr Not oop! etH=eb5 » WH)=Q , Yolltl=45 %ABX error Not booo! ut Your Medel ts nb cocect And your Cain's comptledias) Youle 9:5 “lH)=55 jwlt=O |b Tetele pur design + Auto - cruise control exemple: Wit) : road grade [esl cc) 33 400 3h] r You) Yetlt= fou) -5ul+) UU = 490 (et) ~Yeih) seasec nseYet = tofeo( en “yeu Swit) A004 Yeitt = feoocu)-S wit) YelCH= 0.999) - 0.005 wit) 5. Evolucte design: ecth=35, wUH=O Yee (H= 54.545 erth=5S , wlHl= 4, yce H=54.94 "eHe8S , WH=2 35 Yceltl= 54.935 eruis55 , whl=to | Yoo t= 54.85 S 027 esr Punchline: Feedback sistem tejects distucboues Feedbeck sytem has Stesdy-stele error Caempt +3) Auto-cerise contol EX: wilt) contoller ray + ak 4 Ao re ' p Yeell= to( lrtt)— P yeets) -5wlt) <~ 2 degree -of - freedom controller shuctve. = AD LA rth) — 10 BY cet |-Sw 4)Jo dr u+]—Sw LY) Yee We 1+(02B yeu) = 1% ec _ 5 wey {+ loapP I+ lo dp Ww set tol > pea- 1 fou Yate cl - 5 wa) (water) Joo. best resutbtrat we cr obtain! CS Ss 1900 System Nedelling, in the +yme domain - We use te tem model +o refertoa set of Mathevetica£ equatoas wed fo represent a physiol system. These equations felole system's output Signal fo its input signal. eal —a Nedel I> See « A model ig cequired Yn order to A. Undarsterd the system behaviour analysis) 2. Design a contwoller (synthesis) There oe Q basic Approaches to modelling: 4. Analytical modelling, — we foous on there methods 2. Empirical system ichatiPicntionai “ Resin we 20 Ex. Consider JO) 2W esistor + Ohw's laslmedel) says: UMSIWR + Apply IV. What happens? SAA of current ts predicted to flows + Power dissipated = V*/R= IW Nodel should be accurate * Apdy tov + HOA of current is predioted «Power dissipated = V7/R= foow ! DNodel will no longer be acute => Tre model dependson input signal level => Model is accurate only ina certain Fore of input signals. LTI systems ( Linese Time- Taveient) Systems Time Tavern: A swlem is either Hme verging oc time-iavoriant , not both. — A time -nvorint syster abes act change its Rindomental behaviour over déPferent periods vf time. Hs eter Values Ore Constort. — A Hime inveront gyusten sotisfies the popety x(4-B) —>y (4-3) when xl y@) (V4,¥5) Test: + Input x 4l#) tothe system ond meature the output yy lt)eTnput X,t4)= %(4-Z) Fo the sylen ond measure output YoU - TL ytti=yrlt-8) for all possible delays & ond signals x44), thea the system is timetovoriatt. Ex: Consider the system yeela(xees) Test: + Tiput 414) to the sytem and ensure y ithe (i w). 2 Trout U4 Je the aysten and measure alt = (xXQtH)” bat xg(1=x,4-3 So ygll= (x,(+-2))"s y,4-2) => the squee-law system is “TL (time-inveriont) (deta operector ) XU) >] A F-> yr\]x (4-2) Ado Test: + Input x4 C4) —> yy LH=x, (+-%) + Input % Ut) = x4(4-8) —> Ya He X -) ¥2(4-2) = X4(4-2-38) =, (4-9 since the cebtion holds for alld, and for all x¢C4), the deleuy eperntor is TI. \4 4 Ex: " Hime - compressor A hh xX) —_d| aust. Lsy We x(k) Test: X4le) —> yy =x, (K4) XU) —> y,W= K (EY out a= x, (4-8) —s yoli= X Lee x, (e+ zl Yq L4~B) = Cet => This system is Time Varying tv) We)Lineority of systems: + Por linge Systems pif XU) > yh) ond Katt) —> yatt) then Uc AX H+B%) Heygitl= oy iL) + Ppa) for ny KC, %O), & B Test: Te test lineority , we must + input x LE) +0 the sytem, ond measure outpat yO) sinpub 4G)" SN wo " ye) st taput Xtal XY +BX24) ord meave ygl) +if ygltl= Ly, lHl+ BY2UH) fer all possible Lod B Values , then He system is linear ex: is the {Glewing syste, dlescrted ky diff. eq, YUl+ Lyle) =U), hiner ? xa — yeietyuren)} > yO) % GF sy.) XQtH E> yott) yilele ty ulex, ga+ ty, 4 =X 4) X= AX U4 8X4) and Measue Yal+) Yat) + t yy) =) Yalt) +b yg lt) = AX + B% lt) Jatt byg a) = b( Gilt+by, U4) +B(Gath+t yo) Yl + ys) = Fy, c+ pus) +t Gy its Bye) —~_ SH Ys) . Ya lt) YH tyaty = Gy tb yah) = Linear Y2 EX: Consider Squre-law system — y= (K¢+)) Test: 2 Xi) 3 ay GH) x, ) KU] > pW = KW) Xe = AGHA B%,U) = ysl =O CH)” . = xy) +B X2t4)) Yglt = of? x2 U4 20h B XX PED if the system was Cine — plHe ad yrGl+ ByaG) = hx) +B xz) NOT LINEAR ! Dynamics Of mechonicall Systems (4renslationa!) Trenslationanl tUotion: Newhor's secend lao > Fama Thatis, the vector som of forces =massof abject X acceleration The batmethed Jo use is “free -body diogram'. EX: (cruise Geto! mode!) A. Assume rotational inertia is negligitle 2 Assume that faction is proportional to G's speed. Cvistous friction) [3% 4) b: viscous Picton Conthact bxt4) Tm fous) > eae 2ZFema Ub)-bkKHJ = mW oy X)4 Bye UO m m1G the voiable of interest is speed (v= ki) not pasitioa vH+ bvaje eG m m Ex: ( cor suspension) Each whee| in a cor suspension has a Hire, sheck absorber and spring fe kw T= ye Fes fee tt v xe) m | 2 feu © my xlHe fey Ge - Lk aL oe) bo Fan OmMyai= Cech) + fey @ my XC = kis (sus -x)) - kext - ys) - b(xa1-ge) @_ mGe = ks cH -ye) + b (xt -gh)© mi XH4 ky xo) th 3X G)—ks yl) +x U4) — by W= kwr lO © my kext +ksytt) —b xlb) + by) = O O KW) + be xays Ke xu Ke yay se 2 -* jae an m4 m4 m4 mA wags my 6 k, bs by @ Shi- Bexais Kye F xu 2 yaieo Www. yildi2-edu ty /ubeklen Leaching control systems,