80s Control Systems Department of Electrical and Computer Engineering

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Slide1

80s Control Systems

Department of Electrical and Computer Engineering

University of WaterlooSlide2

Outline Faculty members

Overview

Examples

Courses availableSlide3

Faculty Members Faculty members in the ECE Control Systems Group include:

D. Davison

A

.

Heunis

D.

Kulic

D. Miller

C.

Nielsen

S. Sundaram

J. Thistle

D. WangSlide4

Purpose of control engineering Change the behaviour of a system (the

plant

) in a desirable way despite disturbances acting on the system and modeling uncertaintySlide5

Purpose of control engineering Change the behaviour of a system (the

plant

) in a desirable way despite disturbances acting on the system and modeling uncertaintySlide6

Purpose of control engineering Systems in which the output has no effect on the input are called open-loop systemsSlide7

Purpose of control engineering Systems in which the output has no effect on the input are called

open-loop

systemsSlide8

Purpose of control engineering Systems in which the output has an effect on the input are called

closed-loop

or

feedback

systemsSlide9

Purpose of control engineering Systems in which the output has an effect on the input are called

closed-loop

or

feedback

systemsSlide10

Purpose of control engineering Systems in which the output has an effect on the input are called

closed-loop

or

feedback

systemsSlide11

Examples Heating control in a roomSlide12

Examples Control of wind turbinesSlide13

Examples

Robotic manipulatorSlide14

Examples Control of HIV infection dynamicsSlide15

Course Summary

4A

4B

ECE 481

Digital Control Systems

ECE 488

Multivariable Control Systems

ECE 486

Robot Dynamics and Control Slide16

Which Courses to Take?

4A:

ECE 481

Digital Control Systems

Performance specifications for design. Dynamic system modelling and basic system identification. Dealing with basic nonlinear effects. Sampled data systems. Discrete-time system stability and dynamic performance. Digital control system design: emulation methods, z-domain, frequency domain, pole placement. Implementation of digital controllers.

ECE 486

Robot Dynamics and Control

Homogeneous transformations. Kinematics and inverse kinematics.

Denavit-Hartenberg

convention.

Jacobians

and velocity transformations. Dynamics. Path planning, nonlinear control. Compliance and force control.

4B:

ECE 488

Multivariable Control Systems

Review of feedback control design fundamentals; SISO controller parameterizations; performance limitations in feedback control; the fundamental effect of MIMO interaction; state-space representation of MIMO systems; controllability,

observability

,

stabilizability

, and

detectability

; state-feedback design; state estimation using observers; MIMO integral control; introduction to optimal control; application to electromechanical systems.

All of the above have

ECE

380 (or equivalent) as a pre-req.

ECE

488

does not require either of the

4A

courses as pre-

reqs

.Slide17

Pre-Enrolment Remember that you must pre-enrol in

October for 4A courses

June for 4B courses

Courses with fewer than 20 students will be cancelled!Slide18

Summary Courses available:

Two in 4A and one in 4BSlide19

Copyright and DisclaimerThese slides are Copyright © 2010 by the Department of Electrical and Computer Engineering of the University of Waterloo. All rights reserved.

No warranty is given that any information in these slides is

correct

For up-to-date scheduling please see

http

://

www.adm.uwaterloo.ca/infocour/CIR/SA/under.html

Contact Prof. C. Nielsen (

cnielsen@uwaterloo.ca

) if you have further questions.