FEI4306 Control Systems

Motivation

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Motivation
We are facing the Global Issues
• Climate Change
• Clean water
• Sustainability 可持续性
• Waste management
• Emissions reduction

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Motivation
处理
How do we tackle the global
issues
• Introducing Green
Engineering

Green engineering goal

• Minimize pollution
• Reduce the risk of human health
• Improve environment
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Motivation
What is the relationship of green
engineering with control system?
• Environmental monitoring
system
• Power quality monitoring in
smart grid 智能电网
• Control system design for low
wind speed wind turbines

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Textbook: Modern Control Systems
Thirteenth Edition

Topic 1
Introduction to Control System
Topic 1 provides introduction to the basic
history of control theory and practice. The
目的 描述
purpose of this chapter is to describe the
方法
general approach to designing and building a
control system.

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Topic 1 Introduction to Control System

Course Outline
1.1 Introduction (Dorf & Ogata)
1.2 History of Automatic Control (Dorf & Ogata)
1.3 Examples of Control Systems (Dorf)
1.4 Control System Design (Dorf)

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1.1 Introduction

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 Source:
Engineering Media

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 Classification of Control Theory

Classical Control Theory

Control Theory Modern Control Theory

Robust Control

Robust control is a controller design method that focuses on

the reliability 可靠性 (robustness) of the control algorithm 算法.
Robustness is usually defined as the minimum requirement a control
system has to satisfy in order to be useful in a practical environment.
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 Classical Control vs Modern Control
Classical Control Modern Control
Before 80s 80s and after

Frequency domain analysis and design Time domain analysis and design
(transfer function and low order ODE) (differential equation, high order ODE,
PDEs)
Based on SISO (single input single Based on MIMO (multiple input multiple
output) output)
Deals with input and output variables Input, output and state variables

Time invariant Time invariant and time variant

Continuous, analog Discrete, digital

Fixed parameters Changing parameters

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 Robust Control Theory
• Modern control theory made the design of control systems simpler because the theory
is based on a model of an actual control system.
• However, the system’s stability is sensitive to the error between the actual system
and its model. This means that when the designed controller based on a model is
applied to the actual system, the system may not be stable.
• To avoid this situation, the control system is designed by first setting up the range of
possible errors and then designing the controller in such a way that, if the error of
the system stays within the assumed range, the designed control system will stay
stable.
• The design method based on this principle is called robust control theory. This
theory incorporates both the frequency response approach and the time-domain
approach

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 Terminologies
• Controlled variable is the quantity or condition that is measured and controlled
(OUTPUT)
• Control signal or manipulated variable is the quantity or condition that is varied by
the controller so as to affect the value of the controlled variable
• Plant is a piece of equipment, perhaps just a set of machine parts functioning together,
the purpose of which is to perform a particular operation
• Process is progressively continuing operation that consists of a series of controlled
actions or movements systematically directed toward a particular result or end
• System is a combination of components that act together and perform a certain
objective
• Disturbance is a signal that tends to adversely affect the value of the output of a system
• Feedback control refers to an operation that, in the presence of disturbances, tends to
reduce the difference between the output of a system and some reference input

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 Process to be controlled

• A control system is an interconnection of components (Process) forming

a system configuration that will provide a desired system response.
• The input-output relationship represents the cause-and-effect relationship
of the process, which in turn represents a processing of the input signal
to provide an output signal variable, often with a power amplification.

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 Open-Loop Control System
(Without Feedback)

• An open-loop control system uses a controller and an actuator to obtain the desired
response. An open-loop system is a system without feedback.
• Output is not measured nor feedback for comparison with input
• One practical example is a washing machine. Soaking, washing, and rinsing in the
washer operate on a time basis. The machine does not measure the output signal,
that is, the cleanliness of the clothes.
• Accuracy of system depends on calibration
• Can you give more examples of open loop control system?

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Closed-Loop Feedback Control System (With Feedback)

• A closed-loop control system utilizes an additional measure of the actual output to

compare the actual output with the desired output response (reference). The
measure of the output is called the feedback signal
• A feedback control system is a control system that tends to maintain a prescribed
relationship of one system variable to another by comparing functions of these
variables and using the difference as a means of control

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Closed-Loop Feedback System with External Disturbances and
Measurement Noise

• External disturbances and measurement noise are

inevitable in real-world applications and must be addressed
in practical control system designs.

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Multiloop Feedback System with an Inner Loop and an Outer Loop

• Multiloop feedback control

system has an inner loop and an
outer loop.
• In this scenario, the inner loop has a
controller and a sensor and the outer
loop has a controller and sensor
• This system represent more
practical situations found in real-
world applications
• Example: Solar PV inverter control
using d-q axis control. Outer loop
control voltage, inner loop control
current

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Multivariable Control System

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Major advantages and disadvantages of an open-loop
control system

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1.2 History of Automatic Control

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 Historical Classical Control Theory
Are you familiar with those methods and rules?

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Watt’s Flyball Governor
The first significant work in automatic
control was James Watt’s centrifugal
governor for the speed control of a steam
engine in the eighteenth century

If the actual speed drops below the desired value due to

disturbance, then the decrease in the centrifugal force
of the speed governor causes the control valve to move
downward, supplying more steam, and the speed of the
engine increases until the desired value is reached. On
the other hand, if the speed of the engine increases
above the desired value, then the increase in the
centrifugal force of the governor causes the control
valve to move upward. This decreases the supply of
steam, and the speed of the engine decreases until the
desired value is reached.

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Water-Level Float Regulator

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Technology Roadmap to the Internet of Things with
Applications to Control Engineering

Source: SRI Business Intelligence

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Selected Historical Developments of
Control Systems (1 of 4)

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Selected Historical Developments of
Control Systems (2 of 4)

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Selected Historical Developments
of Control Systems (3 of 4)

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Selected Historical Developments of
Control Systems (4 of 4)

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1.3 Examples of Control Systems

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(a) Automobile Steering Control System

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(b) The Driver Uses the Difference Between the Actual
and the Desired Direction of Travel to Generate a
Controlled Adjustment of the Steering Wheel

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(c) Typical Direction-Of-Travel Response

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A Manual Control System for Regulating the Level of
Fluid in a Tank by Adjusting the Output Valve. The
Operator Views the Level of Fluid Through a Port in the
Side of the Tank

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The Honda ASIMO Humanoid Robot. ASIMO Walks, Climbs Stairs,
and Turns Corners

Photo courtesy of American Honda Motor Co., Inc.

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Task Difficulty: Human Versus Automatic Machine

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Coordinated Control System for a Boiler–Generator

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The Obrero Robot is Responsive to the Properties of
the Object it Holds and Does Not Rely on Vision as
the Main Sensor but as a Complement
Obrero is part of the Humanoid Robotics Group at the MIT Computer Science
and Artificial Intelligence Laboratory.

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A Feedback Control System Model of the National Income

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An Unmanned Aerial Vehicle

Used with Permission. Credit: DARPA.

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1.4 Control System Design

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Control System Design Process

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Control System Design Process
• Set goal for example to control the speed
of a motor accurately

• Set the control variable: velocity

• Specification of accuracy we must attain

(need to identify speed sensor to measure
controlled variable (speed))
Performance matrix in terms of,…
1. Good regulation against disturbances
2. Desirable responses to commands
3. Realistic actuator signals
4. Low sensitivities
5. Robustness

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Control System Design Process

• System configuration consists of a sensor,

the process under control, an actuator, and
a controller

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Control System Design Process

• identifying a candidate for the actuator for

example we can choose motor as an
actuator if we want to control the speed of
rotating flywheel
• Sensor is something that can measure the
speed accurately
• Then, we model each element

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Control System Design Process

• identifying a candidate for the actuator for

example we can choose motor as an
actuator if we want to control the speed of
rotating flywheel
• Sensor is something that can measure the
speed accurately
• Then, we model each element – normally
represented as transfer function or state
variable, simulation blocks diagrams etc.

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Control System Design Process

• Controller setting for example summing

amplifier (comparator circuit) that will
compare desired response and the actual
response and then forward error
measurement signal to amplifier

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Control System Design Process

• Adjustment of parameters to achieve desired

performance
• Once successful achieve the performance
matrix (for example) then we can proceed to
finalize the design and results documentations
• Otherwise further improve system
configurations (return)

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 Further Readings
Refer Dorf 13th Ed. p21

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The Key Elements of Mechatronics [64]

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The Hybrid Fuel Automobile Can Be Viewed as a
Mechatronic System

Used with Permission of DOE/NREL. Credit: Warren Gretz

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Efficient Wind Power Generation in West Texas

Used with Permission of DOE/NREL. Credit: Lower Colorado River Authority

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Wearable Computers Can Assist a Physician Provide Better
Healthcare Delivery

Photo Courtesy of ChinaFotoPress/Getty Images.

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Future Evolution of Control Systems and Robotics

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Smart Grids Are Distribution Networks That Measure and
Control Usage

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(a) Open-Loop (Without Feedback) Control of the
Speed of a Rotating Disk. (b) Block Diagram Model

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(a) Closed-Loop Control of the Speed of a Rotating Disk. (b)
Block Diagram Model

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The Blood Glucose and Insulin Levels for a Healthy
Person

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(a) Open-Loop (Without Feedback) Control and (b)
Closed-Loop Control of Blood Glucose

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Disk Drive Data Density Trends

Source: IBM and HGST.

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(a) A Disk Drive

a: © 1999 Quantum Corporation. All Rights Reserved.

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Diagram of a Disk Drive

a: © 1999 Quantum Corporation. All Rights Reserved.

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Closed-Loop Control System for Disk Drive

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System with Control Device, Actuator, and Process

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Partial Block Diagram of an Optical Source

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Inverted Pendulum Control

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Fluid-Flow Control

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Chemical Composition Control

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Nuclear Reactor Control

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A Photocell is Mounted in Each Tube

The light reaching each cell is the same in both only when the light source is
exactly in the middle as shown.

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Positive Feedback

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Heart-Rate Control

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Water Clock

From Newton, Gould, and Kaiser, Analytical Design of Linear Feedback

Controls. Wiley, New York, 1957, with Permission.

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Automatic Turning Gear for Windmills

From Newton, Gould, and Kaiser, Analytical Design of Linear Feedback

Controls. Wiley, New York, 1957, with Permission.

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Pressure Regulator

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A High-Performance Race Car with an Adjustable Wing

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Two Helicopters Used to Lift and Move a Large Load

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Microrover Designed to Explore an Asteroid

Photo Courtesy of NASA.

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Microsurgery Robotic Manipulator

Photo Courtesy of NASA.

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Automated Parallel Parking of an Automobile

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Extremely Large Optical Telescope with Deformable
Mirrors for Atmosphere Compensation

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The World’s Tallest Building in Dubai

Photo Courtesy of Obstando Images/Alamy Images.

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A Robotic Vacuum Cleaner Communicates with the Base Station as it
Maneuvers Around the Room

Photo Courtesy of Hugh Threlfall/Alamy

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Machine Tool with Table

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Using a Smart Phone to Remotely Monitor and
Control a Washing Machine

Photo Courtesy of Mikkel William/E+/Getty Images.

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Robot Welder

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An Artist Illustration of a Nanorobot Interacting with Human
Blood Cells

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Personal Transportation Vehicle

Photo Courtesy of Sergiy Kuzmin/Shutterstock

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Copyright

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