1. Control Theory (“Regeltechniek”) Jeroen Buijs – Pieter Spaepen jeroen.buijs@kuleuven.be (mod.8) pieter.spaepen@kuleuven.be (mod.7)

2. The course Lectures: Prepared Interactive Lectures… Written - Open book - Exercise exam + 0..4 bonus points Exercise sessions: permanent assessment (assignment) 3 ECTS credits OPO mark = 80% lectures / 20% exercises

3. Prepared Interactive Lectures All info on blog: http://grouptemcontroltheory.wordpress.com/http://grouptemcontroltheory.wordpress.com/ !!! 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

6. First examples http://www.youtube.com/watch?v=AZhQt7HOSWo http://www.youtube.com/watch?v=YnFlpxKVMTQ http://www.youtube.com/watch?v=uERF6D37E_o

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

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

9. Desired direction Current direction Error ROAD Actuator/

10. SECOND EXAMPLE: See http://www.youtube.com/watch?v=8pPfrV8E37o&feature=player_detailpage http://www.youtube.com/watch?v=8pPfrV8E37o&feature=player_detailpage First examples

11. 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

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

13. 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

14. 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 (1914-1960) = design in the frequency domain (Bell laboratories) - 1960-now: MODERN control period = design in the time domain Remark: 1969: start of digital control era.

15. Example: Thermostatic control Feedback

17. 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

18. Closed loop / Feedback control system – Block scheme Feedback

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

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