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EE 3CL4, 1

1 / 29
Tim Davidson

Why are you


here?

What is
control
engineering
EE3CL4:
Examples Introduction to Linear Control Systems
What tools will
we use? Section 1: Introduction
Administrative
details

Tim Davidson

McMaster University

Winter 2017
EE 3CL4, 1
2 / 29
Tim Davidson Outline
Why are you
here?

What is
control
engineering
1 Why are you here?
Examples

What tools will


we use? 2 What is control engineering
Administrative
details

3 Examples

4 What tools will we use?

5 Administrative details
EE 3CL4, 1
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Tim Davidson Why are you here?
Why are you
here?

What is
You might be interested in:
control
engineering
Designing guidance systems for:
Examples
the next Mars Rover,
What tools will
we use? a (semi)autonomous drone-based system
Administrative an autonomous aircraft or car
details
EE 3CL4, 1
5 / 29
Tim Davidson Why are you here?
Why are you
here?

What is
control
engineering You might be interested in:
Examples

What tools will Designing industrial or biomedical robots


we use?

Administrative
details
EE 3CL4, 1
6 / 29
Tim Davidson Why are you here?
Why are you You might be interested in:
here?

What is
control Designing humanoid robots
engineering

Examples

What tools will


we use?

Administrative
details
EE 3CL4, 1
7 / 29
Tim Davidson Why are you here?
Why are you
here?

What is
You might be interested in:
control
engineering Designing control systems for hybrid or electric cars
Examples

What tools will


we use?

Administrative
details

Developing technologies for enhanced power


distribution (Smart Grid)

Developing power storage systems for capturing


energy from intermittent renewable sources
EE 3CL4, 1
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Tim Davidson Why are you here?
Why are you
here?
You might be interested in:
What is
control
engineering
Designing an automated insulin delivery system
Examples

What tools will


we use?

Administrative
details
EE 3CL4, 1
9 / 29
Tim Davidson Why are you here?
Why are you
here?

What is
control
You might be interested in:
engineering

Examples Designing and analyzing financial systems


What tools will
we use?

Administrative
details
EE 3CL4, 1
11 / 29
Tim Davidson What is control engineering
Why are you
here?

What is
control
engineering
First we have to understand the behaviour of the
Examples
process/plant/system that we want to control
What tools will
we use?

Administrative
details

Often, that involves constructing a math. model;


this quantifies insight;
may actually yield insight, too
EE 3CL4, 1
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Tim Davidson What is control engineering II
Why are you Then we use that understanding to design a secondary
here? system that controls the behaviour of the first
What is
control Either open-loop control
engineering

Examples

What tools will


we use?

Administrative
details
or closed-loop (feedback) control

Must obtain appropriate control, even if model


inaccurate, or subject to noise/disturbances
Hence, in this course we will emphasize feedback
systems
EE 3CL4, 1
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Tim Davidson What is control engineering III
Why are you
here?

What is
control
engineering

Examples

What tools will


we use? Secondary system: sensors, actuators, electrical control
Administrative
(or digital algorithm)
details
Sensors: convert physical conditions to electrical signals
(or samples)
Actuators: convert electrical signals (or digital commands)
to physical actions
Control: processes measured signals according to what is known
about the process; generates signals to drive actuators

Sensor and actuator selection are important; they change how the
controller perceives and can influence the process,
However, in this course we will focus on development of techniques
that enable (analogue) controller design
EE 3CL4, 1
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Tim Davidson Mathematical models
Why are you
here?

What is
control In a wide range of applications, mathematical models
engineering
enable the process of control system design
Examples

What tools will


we use?
Must balance accuracy against insight generated
Administrative
details Similarly, controller design must balance performance
against implementation complexity

This course: process models and controllers will be


linear

Hence, tools available for insight: superposition,


transfer function, Laplace
EE 3CL4, 1
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Tim Davidson Single variable control
Why are you
here?

What is
control
engineering

Examples We will focus on systems in which a single output is to be


What tools will controlled using a single command and measurements of
we use?

Administrative
that output:
details
EE 3CL4, 1
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Tim Davidson Multivariable control
Why are you
here?

What is
control
engineering

Examples

What tools will


we use?

Administrative
details

Something for fourth year!


EE 3CL4, 1
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Tim Davidson You driving a car
Why are you
here?

What is
control
engineering

Examples

What tools will


we use?

Administrative
details
EE 3CL4, 1
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Tim Davidson Watts flyball governor
Why are you
here?

What is
control
engineering

Examples

What tools will


we use?

Administrative
details
EE 3CL4, 1
20 / 29
Tim Davidson CD player speed control:
Why are you Open-Loop
here?

What is
control
engineering

Examples

What tools will


we use?

Administrative
details
EE 3CL4, 1
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Tim Davidson CD player speed control:
Why are you Closed-Loop
here?

What is
control
engineering

Examples

What tools will


we use?

Administrative
details
EE 3CL4, 1
22 / 29
Tim Davidson Doritos
Why are you
here?

What is
control
engineering

Examples

What tools will


we use?

Administrative John MacGregor (Chem Eng):


details
Visual feedback control of flavours
EE 3CL4, 1
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Tim Davidson What tools will we use?
Why are you
here?

What is
Newtonian mechanics, linear and rotational
control
engineering
(Phys 1D03)
Examples Basic electromagnetism (Phys 1E03, EE 2CJ4)
What tools will
we use? Electric circuit analysis (EE 2CI5, EE 2CJ4, EE 2EI5)
Administrative Step response of first and second order systems
details
(Math 2P04/2Z03, EE 2CI5, EE 2CJ4)
Laplace transforms
(Math 2P04/2Z03, EE 2CJ4, EE 3TP4)
Transfer functions (EE 2CJ4, EE 3TP4)
Bode diagrams (EE 2CJ4)
Structured problem solving methods
(EE 2CI5, EE 2CJ4, EE 3TP4, . . . )
EE 3CL4, 1
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Tim Davidson Contact details
Why are you
here?

What is
control Tim Davidson
engineering

Examples
ITBA111A
What tools will
Ext. 27352
we use? davidson@mcmaster.ca, EE3CL4 in subject line
Administrative
details
Course web site
http://www.ece.mcmaster.ca/davidson/EE3CL4

Avenue to Learn site: Will be used sparingly, mostly for


interim mark distribution
A formal course outline appears on the web site.
Here we will focus on some key points
EE 3CL4, 1
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Tim Davidson Class details
Why are you
here?

What is
Lectures
control
engineering
Monday, Wednesday, Thursday: 1:30pm, HSC 1A1
Examples
Tentative topic schedule is available on web site
What tools will
we use? Tutorials (starting next week, 11 January)
Administrative Wednesday, 9:30am, TSH 120
details

Labs (starting next week, 9 January)


Five labs
One every other week, ITB/154
Schedule available on the time line (look closely)
Significant pre-lab work will be required
Some labs will also involve writing exercises
Details will appear on labs page of web site
EE 3CL4, 1
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Tim Davidson Marking scheme
Why are you
here?
Laboratory reports: 15%
What is Midterm test: 25%
control
engineering Monday 6 March
Examples 7:30pm 9:00pm
What tools will
we use? Final examination: 60%
Administrative
details
Students must personally complete all laboratories and
all laboratory reports in order to be eligible for a final
grade
Formally deferred tests & exams may be conducted
orally
Remarking requests will require documentation

On tests & exams, expect to see problems that you


have not seen before
EE 3CL4, 1
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Tim Davidson Some suggestions
Why are you
here?

What is
control
engineering

Examples
Be active in lectures
What tools will
we use?
Participate in tutorials
Administrative
details Take advantage of the labs
Do half of the assigned problems under examination
conditions
In exams, explain your methodology