ECE317 L1 Introduction
ECE317 L1 Introduction
Lecture 1
Introduction
1
Outline
• Introduction of the course
• Automatic control
• Open-loop system and closed-loop system
• Goal of the course
2
What is “Control”?
• Make some object behave as we desire.
• In control engineering, the controlled object is
called system, or plant, or process.
• Imagine “control” around you!
• Room temperature control
• Car driving, bicycle riding
• Voice volume control
• Balance of bank account
• “Control” (move) the position of the pointer
• etc.
3
What is “Automatic Control”?
• Not manual!
• Why do we need automatic control?
• Convenient (room temperature control, laundry
machine)
• Dangerous (hot/cold places, space, bomb removal)
• Impossible for human (nanometer scale precision
positioning, work inside the small space that human
cannot enter, huge antennas control, elevator)
• It exists in nature. (human body temperature control)
• High efficiency (engine fuel-injection control)
• Many examples of automatic control around us
4
Outline
• Introduction of the course
• Automatic control
• Open-loop system and closed-loop system
• Goal of the course
5
Example: Toaster
• A toaster toasts bread, by setting timer.
6
Example: Laundry machine
• A laundry machine washes clothes, by
setting a program.
Program setting Washed clothes
Machine
7
Ex: Automobile direction control
• Change the direction of the automobile. Block diagram
Steering
Desired Error wheel Direction
direction
angle
Brain Hand Auto
Eye
8
Ex: Automobile cruise control
• Maintain the speed of the automobile. Disturbance (wind,
bumpy road, etc.)
Error Acceleration
Desired
speed Speed
Controller Actuator Auto
Sensor
• Cruise control can be both manual and automatic.
• When the controlled system is “Automobile”, input and
output depend on control objectives, and not unique!
9
Ex: Room temperature control
• Maintain the temperature in a room.
Disturbance
Error Heating
Desired switch
temp. state Temperature
Controller Actuator Room
Sensor
10
Ex: Water level control
• Maintain the water level in a tank.
Disturbance
Error Valve
Desired
level state Water level
Controller Actuator Tank
Sensor
11
12
Automatic feedback control systems:
Elements and design objective
Error Disturbance
Reference Input Output
Controller Actuator Plant
Sensor
13
Features of feedback control
• Advantage: Strong, or robust, against
• uncertainty
• unpredictable disturbance
• variation of plant etc.
• Disadvantage:
• The action is taken after some undesirable event
happens.
• Stability issues
14
Outline
• Introduction of the course
• Automatic control
• Open-loop system and closed-loop system
• Goal of the course
15
Systematic controller design process
Disturbance
Reference Input Output
Controller Actuator Plant
Sensor
4. Implementation 1. Modeling
17
Course roadmap
Modeling Analysis Design
Laplace transform
Stability
Design specs
• Pole locations
Transfer function
• Routh-Hurwitz
Frequency domain
Block Diagram
Time response
Linearization Bode plot
• Transient
• Steady state (error)
Models for systems Compensation
• electrical
Frequency response
• mechanical Design examples
• Bode plot
• example system