Intelligent vs Classical Control

Bax Smith
EN9940
Today’s Topics

 Distinguishing Between Intelligent and

Classical Control
 Methods of Classical Control
 Methods of Intelligent Control
 Applications for Both Types of Control
 Discussion
Distinguishing b/w Intelligent and
Classical Control
Classical Control

 The Mathematicians Approach

– Rigidly Modeled System
 Software does what it is told
– Intelligence comes from the Designer
Intelligent Control

 The Lazymans Approach

– System not Rigidly Modeled
 Software does what it wants to
– Intelligence comes from the Software
Shifting Intelligence

Classical Control
Software Designer

Increasing Intelligence

Designer Software
Intelligent Control
Methods for Classical Control
Open-Loop Control System
Closed-Loop Control System
System Modeling

First-Order System:

Second-Order System:
Classical Control Examples

 PID Control
 Optimal Control
 Discrete-Event Control
 Hybrid Control
PID Control

 Proportional Control
– Pure gain adjustment acting on error signal
 Integral Control
– Adjust accuracy of the system
 Derivative Control
– Adjust damping of the system
PID Control

t
de(t )
m(t )  K p e(t )  K I  e( )d  K D
0
dt

KI
GC (s)  K p   KDs
s
Optimal Control (LQR)
Optimal Control (LQR)
Inverted Pendulum
Inverted Pendulum Model
Methods for Intelligent Control
Intelligent Control Examples

 Fuzzy Logic Control

 Neural Network Control
 Genetic Programming Control
 Support Vector Machines
 Numerical Learning
 COMDPs - POMDPs
No System Modeling

 Software learns system model

Fuzzy Logic Control

 Multi-valued Logic
– Rather warm/pretty cold vs hot/cold
– Fairly dark/very light vs Black/White
 Apply a more human-like way of thinking in the
programming of computers
Sets

 Set A = {set of young people} = [0,20]

 Is somebody on his 20th birthday young and
right on the next day not young?
Fuzzy Sets
Fuzzy Example – Inverted
Pendulum
Fuzzy Rules

 If angle is zero and angular velocity is zero

then speed shall be zero
 If angle is zero and angular velocity is pos. low
then speed shall be pos. low
 …
Actual Values
Neural Network Control

 Mimic Structure and Function of the Human

Nervous System
 Biological Neurons

 Dendrites
– Connects neurons
– Modify signals
 Synapses
– Connects Dendrites
 Neuron
– Emits a pulse if input
exceeds a threshold
– Stores info in weight
patterns
Mathematical Representation of a
Neuron
Back-Propagation Neural Network
Training a Neural Network

 Analogous to teaching a child to read

– Present some letters and assign values to them
– Don’t learn first time, must repeat training
– Knowledge is stored by the connection weights
 Minimize the error of the output using LMS
algorithm to modify connection weights
Genetic Programming Control

 Output of Genetic Programming is another

computer program!
Genetic Programming Steps
 Generate a random group of functions and terminals
(programs)
– Functions: +, -, *, /, etc…
– Terminals: velocity, acceleration, etc…
 Execute each program assigning fitness values
 Create a new population via:
– Mutation
– Crossover
– Most fit
 Which ever program works best is the result
Crossover Operation
Mutation Operation
Applications
 In general,
– Use Classical Control (Intelligent Control can take long to train)
 If problem too complex
– Use Intelligent Control
Discussion