Control Systems EE 4314 Lecture 12 February 20, 2014 Spring 2014 Woo Ho Lee

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Presentation transcript:

Control Systems EE 4314 Lecture 12 February 20, 2014 Spring 2014 Woo Ho Lee

Woo Ho Lee Control Systems EE 4314, Spring 2014 Announcement Sajeeb Rayhan: Home work grading and office hours – – Office hours: Tue/Thu 4PM-6PM, Mon 4PM-6PM at NH250 March 4 th Mid-term in-class exam – Lecture notes Textbook chapters 1-4, chapter : State-space representation

Woo Ho Lee Control Systems EE 4314, Spring 2014 Dynamic Response

Woo Ho Lee Control Systems EE 4314, Spring 2014 Dynamic Response: M-S-D System

Woo Ho Lee Control Systems EE 4314, Spring 2014 Chapter 4: A First Analysis of Feedback Control: process of making a system variable converge to a reference value – Tracking control (servo): reference value = changing – Regulation control: reference value = constant (stabilization) Open-loop system Closed-loop system R: reference input, U: control input, W: disturbance, Y: output, V: sensor noise

Woo Ho Lee Control Systems EE 4314, Spring 2014 Feedback Control Role of feedback: – Reduce sensitivity to system parameters (robustness) – Disturbance rejection – Track desired inputs with reduced steady state errors, overshoot, rise time, settling time (performance) – Make system stable

Woo Ho Lee Control Systems EE 4314, Spring 2014 Open-Loop System Can not reduce the effect of disturbance

Woo Ho Lee Control Systems EE 4314, Spring 2014 Closed-Loop System Can not reduce the effect of noise

Woo Ho Lee Control Systems EE 4314, Spring 2014 Stability: Open-Loop vs. Closed-Loop

Woo Ho Lee Control Systems EE 4314, Spring 2014 Stability: Open-Loop vs. Closed-Loop Closed-loop system can be stable by proper controller design even though open-loop system is unstable.

Woo Ho Lee Control Systems EE 4314, Spring 2014 Regulation: Open-Loop vs. Closed-Loop

Woo Ho Lee Control Systems EE 4314, Spring 2014 Sensitivity

Woo Ho Lee Control Systems EE 4314, Spring 2014 Steady-State Error

Woo Ho Lee Control Systems EE 4314, Spring 2014 Steady-State Errors Type InputStep (position)Ramp (velocity)Parabola (acceleration) Type 0  Type 10  Type 200 Steady-state errors as a function of system type

Woo Ho Lee Control Systems EE 4314, Spring 2014 Steady-State Error

Woo Ho Lee Control Systems EE 4314, Spring 2014 State-State Error

Woo Ho Lee Control Systems EE 4314, Spring 2014 State-State Error

Woo Ho Lee Control Systems EE 4314, Spring 2014 State-State Error

Woo Ho Lee Control Systems EE 4314, Spring 2014 State-State Error

Woo Ho Lee Control Systems EE 4314, Spring 2014 State-State Error

Woo Ho Lee Control Systems EE 4314, Spring 2014 State-State Error

Woo Ho Lee Control Systems EE 4314, Spring 2014 State-State Error

Woo Ho Lee Control Systems EE 4314, Spring 2014 Example Continue

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