Lecture 1

Introduction to Feedback and Control

Dr. Aamer Iqbal Bhatti

Introduction to feedback and control 9/16/2019

 Grading Policy

 Assignments = 05 %
 Class Participation = 05 %
 Labs = 10 %
 Project = 10 %
 Quizzes = 10 %
 Midterm = 20 %
 Final = 40 %

Introduction to feedback and control 9/16/2019

 Couse Learning Outcomes (CLO’s)

 CLO:1. Derive state space model of dynamic systems

 CLO:2. Analysis of dynamic linear time invariant (LTI)

systems

 CLO:3. Synthesis of linear controllers

Introduction to feedback and control 9/16/2019

Goals:
 Define feedback systems and learn how to recognize main
features.

 Describe what control systems do and the primary principles

of feedback.

Reading:
 CONTROL SYSTEM DESIGN (An Introduction to State-
Space Methods ) by BERNARD FRIEDLAND

Introduction to feedback and control 9/16/2019

 Lecture Outline

 What is Control System?

 Applications
 Concept of feedback
 Open loop and closed loop systems
 Principles of feedback
 Examples of feedback

Introduction to feedback and control 9/16/2019

 Controls???

 Objective is to modify the behavior of a given system so

that it works in accordance with our wishes

 Science of designing such controllers

 One of the complicated and theoretical branch of Electrical

Engineering

Introduction to feedback and control 9/16/2019

 System:
 Definition of Controls revolve around Systems.

 What is a system?

 Identify systems in this room:

 Air-conditioners
 Bracket fans
 Amplifiers
 Humans (Combination of sub-systems)
 Power Supply of a PC

Introduction to feedback and control 9/16/2019

 Motivation of feedback systems:
Many new applications of feedback control were developed
during World War II such as radar-based anti-aircraft gun
control, rocket flight control etc.

Nowadays, feedback control is an enabling technology in most

industries like:

 Aerospace: autopilots ,open-loop unstable jet fighters ,rockets

 Process control: electric arc furnaces,nuclear reactors ,chemical
reactors
 Electronics: Op-amp circuits ,Phase-lock loops ,hard disk drives
 Manufacturing Automation: Robotics

Introduction to feedback and control 9/16/2019

 What is Feedback?
The term feedback is used to refer to a situation in which
two (or more) dynamical systems are connected together
such that each system influences the other and their
dynamics are thus strongly coupled.

Dynamical system: The system whose behavior changes

over time, often in response to external stimulation or
forcing.

Introduction to feedback and control 9/16/2019

 Feedback is must
 Can you manage this turn
with eyes closed?
 Turning involves :
 Direction adjustment
 Speed adjustment
 A human driver does it
easily.
 What if a computer has to
do it?

Introduction to feedback and control 9/16/2019

 Characteristics of Feedback Systems:
Advantages:
 Faster response
 Better stability
 Less sensitive to noise
 Less sensitive to system parameters

Disadvantages:
 May have a tendency to oscillate
 Cost becomes higher

Introduction to feedback and control 9/16/2019

 Feedforward Control:
 Open-loop system
 Control element responds to change in command or
measured disturbance in a pre-defined way.

 Can compensate for known plant dynamics, delays (before

you get errors)
 No sensors needed.
 System response must be predictable.

Introduction to feedback and control 9/16/2019

 Features of feedback:

•Closed-loop system

•Automatically compensates for disturbances (controller acts

on error)

•Can improve undesirable properties of system/plant

•Can be very simple

Introduction to feedback and control 9/16/2019
Open and Closed Loop Systems:
 A system is said to be a closed loop system if the
systems are interconnected in a cycle.

 If we break the interconnection, we refer to the

configuration as an open loop system.

Introduction to feedback and control 9/16/2019

 Components of Control System:
Sensors:
 These are the devices that can measure the output variables to
be controlled.
 Example: Thermocouples for temperature measurements,
differential pressure transmitters, radar range sensors,etc.

Actuators:
 These are the devices that actually act upon the plant.
 Typical actuators for process control include valves, electric
motors, heaters.

Controller:
 Controllers use feedback measurements of the output variables
to compute and issue control signals to the actuators.
Introduction to feedback and control 9/16/2019
 Control= Sensing + Computation + Actuation

Goals:
•Stability: system maintains desired operating point (hold steady speed)
• Performance: system responds rapidly to changes (accelerate to 6m/sec)
• Robustness: system tolerates perturbations in dynamics (mass, drag, etc)
Introduction to feedback and control 9/16/2019
 Two main principles of feedback:
Robustness to uncertainty through feedback:
 Allows high performance in the presence of uncertainty
 Accurate sensing to compare actual to desired, correction
through computation and actuation

Design of dynamics through feedback:

 Allows the dynamics (behavior) of the system to be modified
 Interconnection gives closed loop that modifies natural
behavior
 Leverage capability to enhance performance or affect stability

Introduction to feedback and control 9/16/2019

Introduction to feedback and control 9/16/2019
 Example #1: Flyball Governor
Flyball Governor (1788) :
 Shaft of a steam engine is
connected to a flyball
mechanism
 Regulate speed of steam
engine
 Reduce effects of
variations in load
(disturbance rejection)
 Major advance of
industrial revolution

Introduction to feedback and control 9/16/2019

•Flyball governor used in Boulton-Watt Steam
engine

Introduction to feedback and control 9/16/2019

 FlyBall Governor Video 1

Introduction to feedback and control 9/16/2019

 FlyBall Governor Video 2

Introduction to feedback and control 9/16/2019

 Example 2:Homeostasis:
 Regulation of glucose in the
bloodstream through the
production of insulin and
glucagon by the pancreas

 Constant concentration of
glucose is maintained

 When glucose levels rise the

hormone insulin is released and
causes the body to store excess
glucose in the liver

 When glucose levels are low,

the pancreas secretes the
hormone glucagon, which has
the opposite effect

Introduction to feedback and control 9/16/2019

 Example #2: Speed Control:
Stability/performance :
 Steady state velocity approaches
desired velocity as k→∞
 Smooth response; no overshoot or
oscillations

Disturbance rejection:
 Effect of disturbances (eg, hills)
approaches zero as k→∞

Robustness :
 Results don’t depend on the
specific values of b, m or k, for k
sufficiently large
Introduction to feedback and control 9/16/2019
 Example 3:Robotics:
 In robotics issues such as obstacle
avoidance, goal seeking, learning and
autonomy are prevalent

 Today’s robots still exhibit simple

behaviors compared with humans,
and their ability to locomote,
interpret complex sensory inputs

 Combination of AI community with

control presents a renewed path for
progress

Introduction to feedback and control 9/16/2019

 Example 4:Insect Flight

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Some other examples:
Biological Systems:
 Physiological regulation (homeostasis)
 Bio-molecular regulatory networks

Environmental Systems:
 Microbial ecosystems
 Global carbon cycle

Financial Systems:
 Markets and exchanges
 Supply and service chains

Introduction to feedback and control 9/16/2019

 Control Tools:
Modeling :
 Input/output representations for MATLAB Toolboxes:
subsystems + interconnection rules
 SIMULINK
 System identification theory and
algorithms  Control System
 Theory and algorithms for reduced  Neural Network
order modeling + model reduction
 Data Acquisition Optimization
Analysis:
 Fuzzy Logic
 Stability of feedback systems,
including robustness “margins”  Robust Control
 Performance of input/output systems  Instrument Control
(disturbance rejection, robustness)
 Signal Processing
Synthesis:
 LMI Control
 Constructive tools for design of
feedback systems  Statistics
 Constructive tools for signal  Model Predictive Control System
processing and estimation (Kalman Identification
filters)
Introduction to feedback and control  µ-Analysis and Synthesis 9/16/2019
Introduction to feedback and control 9/16/2019
 Control Courses at CUST
Control Systems
Linear System Theory
Design
EE5813
EE5843

Robust Control
Sliding Mode Control Nonlinear Control Systems
EE6893 Systems EE6843
EE5823

Introduction to feedback and control 9/16/2019

 Control Courses at CUST
 Advance level courses subject to student enrollment:

 Digital Control Systems - EE5833

 Adaptive Control Systems - EE6853

 LMI in Control - EE6863

 Automotive Control Systems - EE7813

 Flight Control Systems - EE7823

Introduction to feedback and control 9/16/2019

CASPR – (Control and Signal Processing Research Group)
 2003: Foundation of group. Weekly meetings were held and specialized
control courses like Robust Control, Nonlinear Control and LMI were
offered

 2016: Nineteen PhDs have been produced by the group. Currently 11

PhD students are enrolled, out of which three students are near
completion

 42+ Papers with Impact Factor of 70 have been published by CASPR

students in nine years

Introduction to feedback and control 9/16/2019

 CASPR Activities
 Research Areas

 Automotive Engine - Parameter Estimation, Fault Diagnostic and Control

 Hybrid Electric Vehicles – Modelling and Control
 Aerospace Vehicles – Guidance and Control
 Nuclear Research Reactor – Parameter Estimation and Control
 PEM Fuel Cell – Parameter Estimation
 Underground Coal Gasification
 Aerodynamics and CFD
 Nonlinear and Optimal Control Theory
 Radar Signal Processing

Introduction to feedback and control 9/16/2019

Automatic Control Research Society –
www.acrs.com.pk

Introduction to feedback and control 9/16/2019

 Control Symposium - 26th Sept 2019

Introduction to feedback and control 9/16/2019

 Course Content Link
 All course material will be uploaded online on the following
link https://tinyurl.com/LST-Fall2019

Introduction to feedback and control 9/16/2019

 End of lecture……

Introduction to feedback and control 9/16/2019