Control Theory

Open Loop
U(t) Plant Y(t)

Plant Characteristics
Linearity
Linear or State variable repr.  Y = CX + DU State variable repr. X = AX + BU Transfer Function (observable & controllable part): Y(s)/U(s) Non Linear  Y = g ( X ,U ) State Variable repr. X = f ( X , U ) Linear Approximation (Linerarization at operational points,
Describing Function, etc)
Copyright 1998, Dr. Piero P. Bonissone, All Rights Reserved

Control Theory
Time
Time Invariance (fixed coefficients) Time Variance (dynamic coefficients)  X = f ( X ( t ), U ( t ), t ) Y = g ( X ( t ), U ( t ), t )

Granularity
lumped parameters (linear differential equations) distributed parameters (partial differential equations)

Number of Inputs and Outputs

SISO, SIMO, MISO, MIMO

Copyright 1998, Dr. Piero P. Bonissone, All Rights Reserved

Control Theory
Closed Loop (Output feedback)
+ SP E Controller U(t) Plant Y(t)

Bang-Bang Control
E = SP - Y U = Sign(E) or U = Sign(E+/- 1/2gap) Issues: Limit Cycles and Overshooting Gap reduces cycling frequency
Copyright 1998, Dr. Piero P. Bonissone, All Rights Reserved

gap

Control Theory
Closed Loop (Output feedback)
+ SP E Controller U(t) Plant Y(t)

Proportional Control
E = SP - Y
U = KP E +M

U
1 M

KP

E KP = Proportional Gain (to control rise time) M = Manual reset Issues: Offset Error (SSE)
Copyright 1998, Dr. Piero P. Bonissone, All Rights Reserved

Control Theory
Closed Loop (Output feedback)
+ SP E Controller U(t) Plant Y(t)

Proportional Integral (PI) Control E = SP - Y

U = K P E + K I Edt

KP = Proportional Gain (to control rise time) KI = Integral Gain (to control SSE) M = Manual reset E Issues: Slow in correcting SSE
Copyright 1998, Dr. Piero P. Bonissone, All Rights Reserved

Control Surface

Control Theory
Closed Loop (Output feedback)
+ SP E Controller U(t) Plant Y(t)

Proportional Integral Derivative (PID) Control E = SP - Y

dE U = K P E + K I Edt + K D dt

KP = Proportional Gain (to control rise time) KI = Integral Gain (to control SSE) KD = Derivate Gain (to anticipate error) Issues: Pure Derivative term not realizable (non-causal)
Copyright 1998, Dr. Piero P. Bonissone, All Rights Reserved

Control Theory
dE U = K P E + K I Edt + K D dt
Issues: Pure Derivative term not realizable (non-causal) Usually solved by placing a pole with large negative value (-A):

1 U ( s) = K (1 + + TD s) E ( s) TI s 1 s ) K (1 + + TD TI s s+ A
Copyright 1998, Dr. Piero P. Bonissone, All Rights Reserved