Control Theory (“Regeltechniek”) Jeroen Buijs – Pieter Spaepen (mod.8) (mod.7)

The course Lectures: Prepared Interactive Lectures… Written - Open book - Exercise exam bonus points Exercise sessions: permanent assessment (assignment) 3 ECTS credits OPO mark = 80% lectures / 20% exercises

Prepared Interactive Lectures All info on blog: !!! You’ll need a Wordpress login !!! (Please choose a user name with your first and last name in it) Preparation assignments appear on Thursday the latest up to 2 bonus points can be obtained by preparing evaluation is based on EFFORT PASSWORD for assignments: GTcontrol In class, we work by means of poll questions/group tasks up to 2 bonus points can be obtained by answering evaluation is based on CORRECTNESS !!! You’ll need a Polleverywhere login and a voting device !!!Polleverywhere

First examples

[PID Control Theory Made Easy, ABB]PID Control Theory Made Easy, ABB First examples

[Abdelzaher]Abdelzaher IBM’s DB2 Universal Database Management System First examples

Desired direction Current direction Error ROAD Actuator/

SECOND EXAMPLE: See First examples

ORIGIN OF AUTOMATIC CONTROL 1769: The first automatic controller with feedback in an industrial process Steam engine (James Watt?) Control system (called ‘fly-ball governor’) First examples

ORIGIN OF AUTOMATIC CONTROL Control system: ‘fly-ball governor’ First examples

ORIGIN OF AUTOMATIC CONTROL Control system: ‘fly-ball governor’ 1- Turns with speed of output axis of the steam engine. 2- Speed of engine   balls towards outside. 3- The movement of the balls regulates the valve of the incoming steam. Balls towards outside  Valve closes  Less steam  speed  First examples

History of control theory - In the beginning: based on intuition/heuristics - Second half of 19th century: Mathematical descriptions (processes => control) - World wars: need for very accurate control systems (gun positioning, navigation)  the CLASSICAL control period ( ) = design in the frequency domain (Bell laboratories) now: MODERN control period = design in the time domain Remark: 1969: start of digital control era.

Example: Thermostatic control Feedback

Example: Thermostatic control PRINCIPLE: 0- Process: Room with in- and outgoing heat flows 1- Measurement: We measure the temperature in the room (T) 2- Comparison: Compare this with the desired temperature (T D ) 3- Determine the Control action: If T < T D :Increase heat flow from heating element If T > T D :Decrease heat flow from heating element If T = T D :Don’t change anything 4- Actuate: Use a device to conduct the desired action e.g. increase temperature of water in central heating system Feedback principle: We use a measurement of the output of the process to determine what to do with the input of the process. Feedback

Closed loop / Feedback control system – Block scheme Feedback

(No…) Feedback Control system without feedback – Block scheme

Block scheme of Closed Loop “Servo problem” vs “Control problem” 