Automatique

From David Dorran's youtube channel

Hugues GARNIER

[email protected]

Version of February 10, 2024

Digital control 1 H. Garnier

 Timeline in Automatic Control
First
computer
1868 1910 End of 1940
1960
Prehistoric Primitive Classical Modern
Space Program
- Control
- Digital control
- Laplace transform
- Z- transform
- Transfer function
- State-space model
- Feedback loop
- …
- …

James Maxwell Harold Black

John Ragazzini
1831-1879 1898-1983
1912-1988
(involved in the
Manhattan project)
James Watt
1736-1819
Harry Nyquist
1889-1976

Gene Franklin Rudolf Kalman Eliahu Jury

Alexandre Lyapounov 1927-2012 1930-2016 1923-2020
1857-1918
Henrik Bode They all have been PhD student
1905-1982 of John Ragazzini

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 Technology roadmap to the IoT enhanced with IA
with applications to control engineering (Source: SRI Business Intelligence)

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 Two separate parts for a total of 36 hours
• Digital control • State-space control
– 6h of lecture – 5h of lecture

– 8 h of tutorials – 6h of tutorials

– 4h of Labs – 4h of Labs
Course materials in English

• Lectures • Lectures/tutorials
– Hugues Garnier – Gilles Millérioux

• Tutorials/Labs • Labs
– Hugues Garnier – Hugues Garnier
– Floriane Collin – Floriane Collin

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 Examination

• Exam 1 (2h00) – Digital control

– In March
• Exam 2 (1h00) – State-space controls
– June 12, 16h30-17h30

• 1 Lab report
– In pairs

• Calculation of the final grade for the course

Final grade = 0,5 Exam 1 + 0.25 Exam 2 + 0.25 Lab report

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 Rule for the lectures

– It is forbidden to use your PC, tablet or cell phone during the course

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 First part of the course: digital control
more appropriate to the current controller implementation

Micro- D(s)
controller
Ys(z) e (z) U(z) U(s) + Y(s)
+ +
DAC G(s)
-

Ym(z) Ym(s)
ADC H(s)

Digital part Analogue part

• Need for blocks to enable analogue and digital parts to interact : Digital
to Analogue Converter (DAC) and ADC
• New mathematical tool to ease the analysis: the Z-transform
• PID controllers implemented digitally: discretization methods

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 Second part: State-space models and control
more appropriate for the control of complex systems

The state vector

The two outputs

to be controlled

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 Where is Charlie ? euh… Where is Control theory?

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 From Brian Douglas

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 Website for the course
• w3.cran.univ-lorraine.fr/hugues.garnier/?q=content/teaching

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 Recommended books
Feedback Systems
An Introduction for Scientists and Engineers, K.J. Åstrom & R. Murray 2021

2021

➡ pdf version of the book available

www.cds.caltech.edu/~murray/books/AM08/pdf/fbs-public_24Jul2020.pdf

See also
– K.J. Åström, B. Wittenmark, Computer-controlled systems: theory and
design (3rd Ed.), Dover Publications, 2011

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 Videos available on Youtube
Discrete control by Brian Douglas

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 Some other resommended videos on Youtube
Digital control by Peter Corke

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 Youtube videos recommended for the course
on State-space models and control

Matlab Tech Talks with Brian Douglas

State Space Models

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 Others resources in automatic control
Mobile textbook available from Quanser

Experience Controls by Quanser

Experience Controls is a free mobile textbook designed to give you real
design intuition and relevant skills in a hands-on way in the control
systems engineering space.

The textbook app includes:

● 50+ lesson modules covering introductory to advanced concepts
● Interactive simulations of industrial-level controls problems
● Mini-lecture podcasts that summarize key takeaways for each
chapter, available in-app or in your preferred podcast player
● End-of-chapter review questions to check your understanding

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 Reminder - Control Lab 1 S5
On-off and PID temperature control of the TCLab kit

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 Reminder - Control Lab 1 S5
PID control of the angular position for the QUBE-servo 2

PD
controller

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 Reminder - Control Lab 3 S5
Line tracking control for the 3pi+ mobile robot

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 Lab 1 S6 – Altitude control for the Tello mini-drone

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 Lab 1 S6 – Altitude control for the Tello mini-drone

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 Lab 2 S6 – State feedback control
of the rotary inverted pendulum

Synthesis of the controller gain by the pole

placement method

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 Reminder - Principle of feedback control

• Designing a control system means inserting:

– a feedback loop
– a control element: the controller or regulator

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 Typical feedback loop in analogue control

Analogue PID
controller D(s)

Yc(s) + e (s) U(s) + Y(s)

C(s) G(s) +
-

Ym(s)
H(s)

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 Typical feedback loop in digital control

Micro- D(s)
controller
Yc(z) e (z) U(z) U(s) + Y(s)
+ +
DAC G(s)
-

Ym(z) Ym(s)
ADC H(s)

Digital part Analogue part

• Advantages: low cost, speed, high accuracy, insensitivity to noise, ease of

implementation and flexibility with regard to modifications
• Need for blocks to enable analogue and digital parts to interact: DAC and
ADC

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 Technology of analogue/digital controllers
e (s) U(s) e (z) U(z)
C(s) C(z)
Tool: Laplace transform Tool: z transform
t
ε (t)
u(t) = k p ε (t) + ki ∫ ε (τ )dτ + kd
0 dt
Difference equation
Differential equation

Electronic board Micro-controller

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 Lab platform example:
analogue versus digital PID controller for magnetic levitation

Implementation of the digital

Implementation of the
PID controller
analogue PID controller
via code
Via electronic amplifiers

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 Digital control is everywhere

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 Use of Matlab/Simulink in the tutorial and lab sessions
Control systems
toolbox

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 Objectives of the digital control course

• To provide tools and methods for:

– analyzing digital control, i.e. the problem of using digital computers

or micro-controllers in real time to control physical processes

– modelling and studying the various interactions between analogue

and digital components (ADC/DAC)

– designing and implementing digital PID controllers

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 Outline of the
digital control course

I. The z-transform

II. Analogue to digital converter

III. Sampled systems

IV. Discrete-time systems

V. Design and implementation of digital PID controllers

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