Lecture1 Slides Syllabus History Applications

8/13/2019 Lecture1 Slides Syllabus History Applications

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Example: Automotive cruise controlGoal: maintain a desired speed irrespective of changes in road profile

Throttle command Acceleration/velocity

Plant: system to be controlled (in real life)dynamical model (in analysis/simulations)

input output


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Open loop control: pre-compute the throttle angle based on desired velocity(or, just keep the gas pedal down with a stick at a fixed pre-specified position)

Why is this not a good idea?-Incomplete knowledge of car dynamics-Varying street profile-Varying wind conditions-Unpredicted changes in road texture-Etc.Net result: this arrangement will not maintain constant speed!(it will stall on the uphill, and race on the downhill)

throttleroad profile/wind


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Examples of systems:

regulate speed

regulate attituderegulate concentration

regulate speed


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Watts governor:

sensing speed

throttle varying load

Closed loop control


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Closed loop control: regulate the control command based on knowledgeof the available measurements

Idea: correct the value of the command accordingly


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Sensors: translate position, velocity, density, temperature, etc.into electrical, mechanical signals

Actuators: translate electrical, mechanical signals into force,heat, flow, etc.

(not much difference between the two --- often referred to as transducers)Examples: Honeywell temp sensor

Servo motormotor coupled to a sensor for position/velocity feedback

GyroscopeDiverse transducers

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Feedback configurations


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Various re-arraingments(and some notation)

r(t)t : time

e(t) d(t) n(t)u(t) y(t)

C P


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courtesy M.Salapaka


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courtesy M.Salapaka


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The segskate mimics

the well knownSegway

a remarkable design,impossible to fall!well almost impossible


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Standard feedback loop

r(t) e(t)d(t) n(t)

u(t) y(t)C P

Classical control:-Analysis: stability, performance-Design of C using frequency domain insightsThis course: state-space techniques-suitable for multivariable control


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Lecture1 Slides Syllabus History Applications