1. EE1104-01, 수요일 23, 24 (북)-이공대학 강의실3 정 우 용
자동제어공학 1주차
EE , 수요일 23, 24
(북)-이공대학 강의실3
정 우 용

2. Control System

3. 제어의 종류 고전제어 현대제어 주파수영역 Approach Linear Time Invariant SISO System
Root Locus
PID Controller
Phase lead-lag Controller
Nyquist
Bode Plot
현대제어
시간영역 Approach인 상태공간법 MIMO, Linear, Nonlinear,
Time-varying system
Pole-Placement
Adaptive Control
Robust Control
Variable Structure System
LQG/LTR
Optimal Control
H-infinite Control
Learning and Intelligent Control
Fuzzy Control
LQG : Linear Quadratic Gaussian (uncertain linear systems disturbed by additive white Gaussian noise,)
LTR : Loop transfer recovery

4. Organization Introduction Modeling Analysis & Design Applications
Chap.1
Applications
Advantages
Design Objectives
Introduction
Frequency domain : Transfer function Chap.2)
Time domain : State-space model(Chap.3)
Reduction of Multiple subsystems(Chap.5)
Modeling
Chap.8
Stability (Chap.6)
Transient response(Chap.4)
(1st, 2nd order)
Steady-state error (Chap.7)
Higher order system
-> Root Locus Tech.
Analysis & Design
8장 adjusting the gain along the root locus
9장 cascade compensators
11장 Bode plots to parallel the root locus design process
Design of compensators
(root locus)
Frequency Response
(Nyquist and Bode Methods)
Chap.9
Design of compensators
(Sinusoidal frequency)

5. Basic components of a Control System
Input
Output
Objectives
Stimulus
Desired Response
Actuating Signals
Results
Response
Actual Response
Controlled Variable
Controller
Controlled
Target
Plant
Control System
Actuating Signal = Actual diffirence between the input and the output = error

6. Response Characteristics : Elevator input and output
Transient response - Natural response : large
Steady-state response – natural response : zero or oscillate
Total response = Natural response + Forced response

7. Analysis and Design Objectives
제어 시스템의 해석과 설계의 목적은 원하는 과도 응답을 가지도록 하는 것, 정상상태 오차를 줄이는 것과 안정도를 보장하는 것이다.
1. Producing a desired transient response
2. Reducing steady-state error
3. Achieving stability
Etc. cost, robust design, sensitivity of the system performance to changes in parameters
☞ 시스템이 안정하지 않은 경우, 과도응답과 정상상태 오차에 대한
해석과 설계는 의미가 없다.

8. The Control System Design Process
Top-down design
High level picture of requirements first

9. Antenna Azimuth Position Control System
Step 1
Determine a physical system and specifications from requirements
Step 2
Draw a functional block diagram
Detailed layout
Load and dimensions
Input transducer, controller, hardware descriptions such as amplifiers and motors

10. Antenna Azimuth Position Control System
Step 2
Draw a functional block diagram
Step 3
Create a schematic
Make approximations

11. Antenna Azimuth Position Control System
Step 4
Develop a mathematical model
(Block diagram)
Transfer function
State-space representation
Step 5
Reduce the block diagram
With a mathematical description

12. Antenna Azimuth Position Control System
Step 6
Analyze and Design
Response specifications
Performance requirements