6.

003: Signals and Systems

CT Feedback and Control

March 18, 2010

Feedback and Control

Feedback: simple, elegant, and robust framework for control.

E C
X + Y

controller plant

sensor

We started with robotic driving.

di = desiredFront

do = distanceFront

Feedback and Control

Using feedback to enhance performance.

Examples:
improve performance of an op amp circuit.
control position of a motor.
reduce sensitivity to unwanted parameter variation.

reduce distortions.
stabilize unstable systems

magnetic levitation

inverted pendulum

Feedback and Control

Reducing sensitivity to unwanted parameter variation.

Example: power amplier

power
amplier

MP3 player F0

speaker
8 < F0 < 12

Changes in F0 (due to changes in temperature, for example) lead to

undesired changes in sound level.
Feedback and Control

Feedback can be used to compensate for parameter variation.

power

amplier

X Y
MP3 player + K F0

8 < F0 < 12 speaker

KF0
H(s) =
1 + KF0

If K is made large, so that KF0  1, then

1
H(s)

independent of K or F0 !
Feedback and Control

Feedback reduces the change in gain due to change in F0 .

X Y
MP3 player + 100 F0

8 < F0 < 12

1
10

20
Gain to Speaker

F0 (no feedback)

100F0
10 100F0
(feedback)
1+ 10

8 < F0 < 12

0 F0
0 10 20

Check Yourself

power
amplier

X Y
MP3 player + K F0

8 < F0 < 12 speaker

Feedback greatly reduces sensitivity to variations in K or F0 .

KF0 1
lim H(s) =
K 1 + KF 0

What about variations in ? Arent those important?

Check Yourself

What about variations in ? Arent those important?

The value of is typically determined with resistors, whose values

are quite stable (compared to semiconductor devices).
Crossover Distortion

Feedback can compensate for parameter variation even when the

variation occurs rapidly.

Example: using transistors to amplify power.

+50V

MP3 player

speaker

50V

Crossover Distortion

This circuit introduces crossover distortion.

For the upper transistor to conduct, Vi Vo > VT .

For the lower transistor to conduct, Vi Vo < VT .

+50V Vo

Vi Vo VT
Vi
VT

50V
Crossover Distortion

Crossover distortion can have dramatic eects.

Example: crossover distortion when the input is Vi (t) = B sin(0 t).

+50V Vo (t)

Vi Vo
t

50V

Crossover Distortion

Feedback can reduce the eects of crossover distortion.

+50V

MP3 player + K

speaker

50V
Crossover Distortion

When K is small, feedback has little eect on crossover distortion.

+50V Vo (t)

K=1

Vi + K Vo
t

50V
Crossover Distortion

As K increases, feedback reduces crossover distortion.

+50V Vo (t)

K=2

Vi + K Vo
t

50V
Crossover Distortion

As K increases, feedback reduces crossover distortion.

+50V Vo (t)

K=4

Vi + K Vo
t

50V
Crossover Distortion

As K increases, feedback reduces crossover distortion.

+50V Vo (t)

K = 10

Vi + K Vo
t

50V
Crossover Distortion

+50V

Demo

original

no feedback
Vi + K Vo

K=2

K=4

K=8
50V
K = 16

original

Vo (t)

J.S. Bach, Sonata No. 1 in G minor Mvmt. IV. Presto

Nathan Milstein, violin
Feedback and Control

Using feedback to enhance performance.

Examples:
improve performance of an op amp circuit.
control position of a motor.
reduce sensitivity to unwanted parameter variation.

reduce distortions.
stabilize unstable systems

magnetic levitation

inverted pendulum

Control of Unstable Systems

Feedback is useful for controlling unstable systems.

Example: Magnetic levitation.

i(t) = io

y(t)

Control of Unstable Systems

Magnetic levitation is unstable.

i(t) = io

fm (t)
y(t)

Mg

Equilibrium (y = 0): magnetic force fm (t) is equal to the weight M g.

Increase y increased force further increases y.

Decrease y decreased force further decreases y.

Positive feedback!

Modeling Magnetic Levitation

The magnet generates a force that depends on the distance y(t).

i(t) = io

fm (t)
y(t)

Mg
fm (t)

i(t) = i0

Mg

y(t)
Modeling Magnetic Levitation

The net force accelerates the mass.

i(t) = io

fm (t)
y(t)

Mg

fm (t) M g = f (t) = M a = M y(t)

f (t) 1
y(t) magnet M A A y(t)
Modeling Magnetic Levitation

Over small distances, magnetic force grows linearly with distance.

f (t)

i(t) = i0

Mg

y(t)

f (t) 1
y(t) magnet M A A y(t)
Levitation with a Spring

Relation between force and distance for a spring is opposite in sign.

F = K x(t) y(t) = M y(t)

x(t)

y(t)

f (t)

Mg
K

y(t)
Modeling Magnetic Levitation

Over small distances, magnetic force nearly proportional to distance.

f (t)

i(t) = i0

K
Mg

y(t)

f (t) Ky(t)

f (t) 1
y(t) K M A A y(t)
Block Diagrams

Block diagrams for magnetic levitation and spring/mass are similar.

Spring and mass

F = K x(t) y(t) = M y(t)

K y(t)
y(t)
x(t) + A A y(t)
M

Magnetic levitation

F = Ky(t) = M y(t)
K y(t)
y(t)
x(t) = 0 + A A y(t)
+ M
Check Yourself

How do the poles of these two systems dier?

Spring and
mass
F = K x(t) y(t) = M y(t)

K y(t)
y(t)
x(t) + A A y(t)
M

Magnetic levitation
F = Ky(t) = M y(t)
K y(t)
y(t)
x(t) = 0 + A A y(t)
+ M
Check Yourself

How do the poles of the two systems dier?

Spring and mass

F = K x(t) y(t) = M y(t) s-plane

Y
M K

=

s = j

X
s2 +
K M

Magnetic levitation
F = Ky(t) = M y(t) s-plane

2 K K
s = s=
M M
Magnetic Levitation is Unstable

i(t) = io

fm (t)
y(t)

Mg

f (t) 1
y(t) magnet M A A y(t)
Magnetic Levitation

We can stabilize this system by adding an additional feedback loop

to control i(t).

f (t)
i(t) = 1.1i0
i(t) = i0
i(t) = 0.9i0
Mg

y(t)
Stabilizing Magnetic Levitation

Stabilize magnetic levitation by controlling the magnet current.

i(t) = io

fm (t)
y(t)

Mg

i(t)

f (t) 1
y(t) magnet M A A y(t)
Stabilizing Magnetic Levitation

Stabilize magnetic levitation by controlling the magnet current.

i(t) = io

fm (t)
y(t)

Mg

fi (t)
K2

+ 1
M A A y(t)

K
fo (t)
Magnetic Levitation

Increasing K2 moves poles toward the origin and then onto j axis.

KK2 y(t)
y(t)
x(t) + M A A y(t)

s-plane

But the poles are still marginally stable.

Magnetic Levitation

Adding a zero makes the poles stable for suciently large K2 .

KK2 y(t)
y(t)
x(t) + M (s + z0 ) A A y(t)

s-plane

Try it: Demo [designed by Prof. James Roberge].

Inverted Pendulum

As a nal example of stabilizing an unstable system, consider an

inverted pendulum.

d2 x(t)
(t) m
dt2
mg (t)
l mg
x(t) l

lab frame cart frame

(inertial) (non-inertial)

d 2 (t) d 2 x(t)
2
dt2 =
ml mg l sin (t) m
2 l cos (t)

dt
I force distance distance
force
Check Yourself: Inverted Pendulum

Where are the poles of this system?

d2 x(t)
(t) m
dt2
mg (t)
l
mg
x(t) l

2 (t) d2 x(t)
2d
ml = mgl sin (t) m l cos (t)
dt2 dt 2
Check Yourself: Inverted Pendulum

Where are the poles of this system?

d2 x(t)
(t) m
dt2
mg (t)
l
mg
x(t) l

d 2 (t) d 2 x(t)
ml2 2 = mgl sin (t) m 2 l cos (t)
dt dt

d 2 (t) d 2 x(t)
ml2 2 mgl(t) = ml
dt dt2

mls2 s2 /l g
H(s) = = 2 2 = 2 poles at s =
X ml s mgl s g/l l
Inverted Pendulum

This unstable system can be stablized with feedback.

d2 x(t)
(t) m
dt2
mg (t)
l
mg
x(t) l

Try it. Demo. [originally designed by Marcel Gaudreau]

Feedback and Control

Using feedback to enhance performance.

Examples:
improve performance of an op amp circuit.
control position of a motor.
reduce sensitivity to unwanted parameter variation.

reduce distortions.
stabilize unstable systems

magnetic levitation

inverted pendulum

MIT OpenCourseWare
http://ocw.mit.edu

6.003 Signals and Systems

Spring 2010

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