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Control Theory

The document discusses Control Theory, which provides a mathematical framework for managing autonomous systems and ensuring they perform desired tasks despite disturbances. It differentiates between feedforward and feedback control methods, outlining their advantages, limitations, and applications. Additionally, it covers various types of feedback controllers, including linear, nonlinear, adaptive, and robust controllers, emphasizing the importance of selecting the appropriate controller based on the specific system and objectives.

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truongthithutrinh2004
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7 views13 pages

Control Theory

The document discusses Control Theory, which provides a mathematical framework for managing autonomous systems and ensuring they perform desired tasks despite disturbances. It differentiates between feedforward and feedback control methods, outlining their advantages, limitations, and applications. Additionally, it covers various types of feedback controllers, including linear, nonlinear, adaptive, and robust controllers, emphasizing the importance of selecting the appropriate controller based on the specific system and objectives.

Uploaded by

truongthithutrinh2004
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Everything

About
Control Theory
https://www.youtube.com/watch?
v=lBC1nEq0_nk&list=PLn8PRpmsu08pFBqgd_6Bi7msgkWFKL33b&index=14
Câu hỏi cần trả lời sau bài học
• Chức năng của hệ thống điều • Phương thức điều khiển feed-
khiển nói chung back
• Phân biệt 2 phương thức điều • Sơ đồ
khiển feedforward & feedback • Thực hiện được trong trường hợp
nào, điều kiện nào
• Phương thức điều khiển feed- • Ưu điểm
forward • Hạn chế, nhược điểm
• Sơ đồ
• Thực hiện được trong trường hợp
nào, điều kiện nào
• Hạn chế, nhược điểm
Intro
• An important question that has
to be answered when you are
designing autonomous system is
How do you get the system to do
what you want  We need
Control Theory

• How do you get the car to drive


on its own ?

• How do you manage the


temperature of the building ?

• How do you to separate liquids


into their component parts
efficiently with a distillation
column ?
Control
Theory
• Control Theory is the Mathematic
Framework that gives us Tools to
manage Autonomous Systems
• How to get a system to do what you
want
• How to react to “disturbances”
Ideas -1
• System (the car) can be affected by • Inputs enter into the System and
external inputs coming from 2 different interacts with its Internal
sources : Dynamics  System State X
• Input U that we intentionally used to
command the system
changes over time.
• Steering wheel • Here, under action of Intentional
• Brake
• Accelerator pedal
forces (steering wheel, brake,
acceleration pedale) and
• Unintentional input: Disturbances D that Disturbances (wind, bumps…)
we don’t want to have but they affect our the car changes its state
system anyway (characterised by its speed,
• Wind
• Bumps in the road
position, direction…) over time
Ideas - 2
• How to automate the process ?
(for ex. we want the car to drive
• The answer is “NO”. We can
itself without a person to control a system with open loop
determine the necessary input) (or feed-forward) controller
• In other words, the question is :
• Can the algorithm determine the
necessary control input without
constantly having to know the
current state of the system ?
• In this case, do we need to know the
current position and speed of the
car to successfully drive the car ?
Open Loop (Feed-Forward)
Controller
• To automate the process (of • To be able to do this we need to know well
doing…), at the beginning, in the the Dynamics of the System (through
simple cases, we are just moving “System Identification” process to fit a model
forward by using a good “Reference” to data…) and “invert” the “behavior”
function, for ex. from speed = f (pedal) to
• i.e. we are not interested in the pedal = f-1 (speed) … to manage the system
information about the current state • Feedforward is a straightforward way to
of the system to “get where we want control a system, but there are always the
to be” - we don’t need to look back. disturbances… which could intervene and
• By other way, the “good” input drive our system “out of right way” and it
may be unstable, unpredictable…
(what we want the system to do –
called the Reference to do R) is • In this case, the “closed” or “feedback” loop
enough… may come to rescue…
Feedback Control
as self-correcting mechanism
Types of feedback controllers
Families of feedback controllers
• Linear & Nonlinear • Adaptive controllers like
• Linear controllers like: PID and Full-state • Extremum seeking controller
feedback controllers… that assume that the • Model reference adaptive controllers
general behaviror of system being controlled
are linear by nature that adapt to changes in the system over time
• Non-linear like: On-Off controller, Sliding
mode controller, Gain scheduling…
• Optimal controllers like
• Robust controllers like • LQR (Linear Quadratic Regulation) controller
• μ synthesis
that tries to balance performance and efforts
• Active Disturbance Rejection Control
by minimizing the total cost
that focus on meeting requirements even in
the face of uncertainty in the plan and in the
environment so we can guarantee that they • Predictive controller
are robust to a certain amount of uncertainty • Intelligent controller
• Feedback controller isn’t a
simple but a family of algorithms
• What controller to choose and
how to set it up depends on
• What system we are controlling
• What we want it to do

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