1. Control Systems EE 4314 Lecture 12 February 20, 2014 Spring 2014 Woo Ho Lee whlee@uta.edu

2. Woo Ho Lee Control Systems EE 4314, Spring 2014 Announcement Sajeeb Rayhan: Home work grading and office hours – mdsajeeb.rayhan@mavs.uta.edu mdsajeeb.rayhan@mavs.uta.edu – 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 7.1-7.4: State-space representation

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

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

5. 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

6. 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

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

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

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

10. 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.

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

12. Woo Ho Lee Control Systems EE 4314, Spring 2014 Sensitivity

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

14. 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

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

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

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

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

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

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

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

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

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