1. Feedback Control, Cybernetics, and Robotics

2. What is a Robotic System? A robotic system—a device that can measure its own state and take action based on it.

3. History of Feedback Control  Ancient China  two-foot-long bamboo straw which automatically regulated wine consumption!

4. History of Feedback Control  Greek water clock

5. History of Feedback Control  Drebbel’s furnace

6. History of Feedback Control  Bonnemain’s chickens

7. History of Feedback Control  Windmills and fantails

8. History of Feedback Control  Watt’s centrifugal flyball “Governor”  The breakthrough in effectiveness and public recognition.  Built on the windmill and water regulation principles.  Huge impact on the Industrial Revolution

10. The Governor  Applying a known principle to a new application

11. Control Engineering Closed-loop control  Cruise control

12. Control Engineering  WWII advances achieved out of need for survival  Radar  Guided missles  Automatic pilots

13. Control Engineering  Norden Bombsight  Ending the war in both Europe and the Pacific

14. Soviet Union  Sputnik 1957  International Federation of Automatic Control (IFAC)  First meeting held in Moscow 1960

15. US Response  The era of Modern Control begins with the Kalman Filter--1960  combining and filtering information from multiple sensor sources  Highly accurate mathematic formula  Navigation systems transformed

16. Modern Control  Microprocessor 1969  Industrial process control  Relies less on engineering intuition and more on internal system design

17. Classical vs. Modern Systems  Linear time-invariant systems  Design done graphically by hand  Involves a great deal of intuition  Design process is an engineering art  An exact description of the internal system dynamics is needed  A good knowledge of matrices and linear algebra is required