Professor Shiyan Hu EERC 518 Department of Electrical and Computer Engineering Michigan Technological University 1 Class Time and Office Hour Class Time MW 11051155 Rekhi Hall G009 Office Hours MW 15001600 or by appointment office EERC 518 ID: 548779
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EE4262 Digital and Non-Linear Control
Professor Shiyan HuEERC 518Department of Electrical and Computer Engineering Michigan Technological University
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Class Time and Office HourClass Time: MW 11:05-11:55 (Rekhi Hall G009)Office Hours: MW 15:00-16:00 or by appointment, office: EERC 518TextbookModern Control Engineering, Katsuhiko Ogata.Grading: Homework 25%Labs 25%Exams 50%
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Course Websitehttp://www.ece.mtu.edu/faculty/shiyan/EE4262Spring17.htm Contact information of instructorEmail: shiyan@mtu.eduEERC 518Instructor’s webpage: http://www.ece.mtu.edu/faculty/shiyan
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Smart Home Control Systems
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Smart Building/Community Control Systems
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Self Driving Vehicle
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SRI Yahama MotoBothttps://www.youtube.com/watch?v=yzDNg8s01-k
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SRI Walking Robothttps://www.youtube.com/watch?v=HyqT9Bdamt8
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Stanford Research Institute
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Electric Vehicles to Grid
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Modern Control ApplicationsEssentially any product line being built todayTrains and automobilesTelecommunicationManufacturingSmart BuildingsRoboticsSlide12
What is Control System?A system controlling the operation of other systems.A system that can regulate itself and other systems.A control system is a device, or set of devices to manage, command, direct or regulate the behaviour of other devices or systems. 12Slide13
ConceptsControl System – An interconnection of components forming a system configuration that will provide a desired response.Process – The device, plant, or system under control. The input and output relationship represents the cause-and-effect relationship of the process.Process
OutputInput13Slide14
ConceptsControlled Variable: It is the quantity or condition that is measured and Controlled. Normally controlled variable is the output of the control system.Manipulated Variable: It is the quantity of the condition that is varied by the controller so as to affect the value of controlled variable.Control: Control means measuring the value of
controlled variable of the system and applying the manipulated variable to the system to correct or limit the deviation of the measured value from a desired value. 14Slide15
ConceptsDisturbances– A disturbance is a signal that tends to adversely affect the value of the system. It is an unwanted input of the system. If a disturbance is generated within the system, it is called internal disturbance. While an external disturbance is generated outside the system. Controller
OutputOrControlled VariableInputorset pointorreferenceProcessManipulated Variable
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Manual vs Automatic Control System Manual Control SystemsRoom Temperature regulation via Electric FanWater Level ControlAutomatic Control SystemHome Water Heating Systems (Geysers)Room Temperature regulation via ACHuman Body Temperature Control16Slide17
Open-Loop Control Systems utilize a controller or control actuator to obtain the desired response. Output has no effect on the control action. In other words output is neither measured nor fed back.Controller
OutputInputProcessExamples: Washing Machine, Toaster, Electric Fan, microwave oven.Open-Loop Control Systems
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Open-Loop Control SystemsSince in open loop control systems reference input is not compared with measured output, for each reference input there is fixed operating condition. Therefore, the accuracy of the system depends on calibration.The performance of open loop system is affected by the presence of disturbances, or variation in operating and environmental conditions. 18Slide19
Closed-Loop Control Systems utilizes feedback to compare the actual output to the desired output response.Examples: Refrigerator, Air conditioner Closed-Loop Control SystemsController
OutputInputProcessComparatorMeasurement
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Multivariable Control SystemControllerOutputsTemp
ProcessComparatorMeasurements
Humidity
Pressure
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Feedback Control SystemA system that maintains a prescribed relationship between the output and some reference input by comparing them and using the difference (i.e. error) as a means of control is called a feedback control system.Feedback can be positive or negative.
ControllerOutputInputProcess
Feedback-
+
error
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Servo SystemA Servo System (or servomechanism) is a feedback control system in which the output is some mechanical position, velocity or acceleration (e.g., cruise control).Antenna Positioning SystemModular Servo System (MS150)22Slide23
Linear vs Nonlinear Control SystemA Control System in which output varies linearly with the input is called a linear control system.
y(t)u(t)Process
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Linear Vs Nonlinear Control SystemWhen the input and output has nonlinear relationship the system is said to be nonlinear.24Slide25
Time invariant vs Time variantWhen the characteristics of the system do not depend upon time, the system is said to time invariant control system.Time varying control system is a system in which one or more parameters vary with time.
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Continuous Data vs Discrete Data SystemIn a continuous data control system, all system variables are function of a continuous time t.A discrete time control system involves one or more variables that are known only at discrete time intervals.
x(t)t
X[n]n
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Deterministic vs Stochastic Control SystemA control System is deterministic if the response to input is predictable and repeatable.Otherwise, the control system is a stochastic control system27Slide28
Classification of Control Systems28Slide29
Examples of Control SystemsWater-level float regulator29Slide30
Examples of Control Systems30Slide31
Examples of Modern Control Systems31Slide32
SummaryWhat is a control system?What is controlled variable?What is LTI control system?What is feedback control?What is stochastic control system?
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