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Control Theory
E0397 Lecture.
Some PPT slides based on Columbia Course by
authors of the book
Feedback Control of Computing Systems
Hellerstein, Diao, Parekh, Tilbury
A Feedback Control System
Error
Components Data
•Target system: what is controlled •Reference input: objective
•Controller: exercises control •Control input: manipulated to affect output
•Transducer: translates measured •Disturbance input: other factors that affect the
outputs target system
•Transduced output: result of manipulation
Given target system, transducer, Control theory finds controller that adjusts
control input to achieve given measured output in the presence of disturbances.
Control System Examples
AC temperature control
– Controlled Variable: temperature
– Control variables: fan speed, time for which
compressor is on?
Car cruise control
– Controlled variable: Car speed
– Control variable: Angle of pushing of accelerator
and brake
A Feedback Control System
Road surface,
gradient Random variation
Embedded Distance
Desired System Pedal
Speed Error Travelled,
that does Angle
Setting
Car
cruise control Time taken
Speed
Speed
Actuator: calculator
The entity Sensor:
that Odometer,the entity
implements that
Car clockmeasures
the control
the output
Mechanical
Device that
Changes pedal Feedback!
angle
A virtual machine as a FBCS
Other Virtual Machines
Doing some
interfering work Random variation
Controller:
Process in
Desired Domain 0 that
periodically Xen VM Response
Response Error changes CPU (Guest Domain) Time (of
time Cap value of Cap Applications)
Value
With applications
Guest
Domain
running
E.g.
Smoothed
Smoothing
Actuator: Response
“filter”
The entity time Sensor:
that the entity
E.g. a “proxy” that
implements Can measure that
Time takenmeasures
the control
Xen hypervisor the output
scheduler
Feedback!
A Feedback Control System
Error
Components Data
•Target system: what is controlled •Reference input: objective
•Controller: exercises control •Control input: manipulated to affect output
•Transducer: translates measured •Disturbance input: other factors that affect the
outputs target system
•Transduced output: result of manipulation
Given target system, transducer, Control theory finds controller that adjusts
control input to achieve given measured output in the presence of disturbances.
Control System Goals
Reference Tracking
– Ensure that measured output “follows” (tracks) a target
desired level
Disturbance Rejection
– Maintain measured output at a given stable level even in
presence of “disturbances”
Optimization
– No reference input may be given. Maintain measured
output and control input at “optimal” levels
Minimize petrol consumption, maximize speed (not available in
reality!!)
Minimize power consumed by CPU, maximize performance
Control System: Basic Working
r(k) u(k) x(k)
e(k)
y(k)
{
K
Number in System Utilization Response Time
•E.g. number in queueing system vs buffer size
•Relationship can be “linearized” in certain
N regions. Centre of such a region: Operating
Point
Operating point: ( N , K )
Operating range
Values of N,K for
which model applies.
Offset value
Difference from
operating point
yNN
u K K
Linear Relationship is made between y and u defined
K as “offsets”
Control “Laws”
Once system model is made, need to design “control laws”
Control Laws relate error to new value of control input:
– From e(k) determine value of u(k)
Controllers should have good SASO properties:
– STABILITY - ACCURACY - SETTLING TIME - OVERSHOOT
Deeply mathematical theory for deriving these laws
– Transfer functions, Poles
– Estimating SASO properties of control laws
– Using this understanding to design good control laws which have
good SASO properties