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L2 - Feedback Principles I

This document summarizes key topics from a lecture on feedback principles and linear systems, including: - Feedback principles and how they relate to control design using open-loop or closed-loop classical and state-space methods. - State-space models and control which are well-suited for complex, multiple-input multiple-output systems and allow controller design through matrix operations. - Upcoming videos and reading assignments on feedback principles, linear systems, and state-space terminology to further understanding of analyzing models from a controllability, observability, and stability perspective.

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chandersuresh9800
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25 views7 pages

L2 - Feedback Principles I

This document summarizes key topics from a lecture on feedback principles and linear systems, including: - Feedback principles and how they relate to control design using open-loop or closed-loop classical and state-space methods. - State-space models and control which are well-suited for complex, multiple-input multiple-output systems and allow controller design through matrix operations. - Upcoming videos and reading assignments on feedback principles, linear systems, and state-space terminology to further understanding of analyzing models from a controllability, observability, and stability perspective.

Uploaded by

chandersuresh9800
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Lecture 2 – Feedback principles and

linear systems
• What is control
• Feedback principles
• Control design methods
• State-space methodology

• Videos
Learning outcome:
• Become familiar with the concept of state-space terminology.
• Analyze system models from a controllability, observability and stability point of view.

Chapter 1, 2.2 - 2.4, 5.1, 5-3 and 6.1


1 2023-08-29
Feedback principles and linear systems

Electromechanical Real time interfacing

Modeling and
simulation
Systems and
Mechanical Electrical Computer
system
Actuators
system
D-A
system + Automatic
control
= Mechatronics
for Mobility
Engineering
Sensors A-D
Optimization

2 2023-08-29
Feedback principles
Design controller
• Select technique – Open loop or closed loop
• Classical methods or state-space methods
• Choose parameters (trial-and-error, design method, optimization)

Software Hardware
disturbance 𝑑

reference input State Feedback control input output


Plant model
𝑟 Ctrl 𝑢 𝑦

2023-08-29
Control design methods
Classical control methods
• works well for simple systems,
• can be tuned based on trial-and-error or engineering intuition,
• do not require a mathematical model of the system
but
• are typical iterative,
• are difficult to use for larger-scale systems (complex systems) with multiple
inputs and outputs (MIMO),

2023-08-29
Control design methods
State-space methods
• can easily handle larger-scale systems (complex systems) with multiple inputs
and outputs (MIMO),
• tuning can be formed as an optimization problem,
• are easy to implement
but
• require a mathematical model of the system

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State-space methods
State-space models:
• come naturally from modeling
• are easy to use due to the matrix format
• are great for multiple-input multiple-output systems
Controller design:
• is easy to implement in software

𝑢 = −𝐿𝑥 + 𝐾𝑟

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What’s next
• Watch the videos linked on Canvas
• Model-based development
• Feedback principles
• Linear systems

• Read textbook material, Chapter 1, 2.2 - 2.4, 5.1, 5-3 and 6.1
• Feedback principles and linear systems II (Lecture, Tuesday, Sept 5, 10.00)
• Solve problems (Tutorial, Wednesday, Sept 6, 08.00)
• Discussion session (Friday, Sept 8, 08.00)

• Lecture on MATLAB/Simulink (Friday, Sept 1, 08.00)


• Lecture on Honesty and integrity (Friday, Sept 1, 10.00) - Mandatory

7 2023-08-29

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