1. Trail & Error vs Analytic Design

2. Given Plant transfer function P(s) or G(s) –Perhaps sensor information also Closed loop performance requirements –Hard/soft requirements –Stability, relative stability, ss-error, disturbance rejection, speed of response, etc –Operating cost Requirements on controller/compensator –Cost to build (complexity, computational burden, etc) –Stability –etc

3. Trail & Error Design (Randomly?) generate candidate controllers Start with cheapest (simplest) Verify required controller properties –Throw out those that fail Verify required closed loop properties –Throw out those that fail Optimize with respect to soft constraints

4. Servomechanism Design Given motor, gears –P(s) (see in DiStephano et al) –Potentiometer as position sensor Design a controller for a servomechanism that –Stabilizes the closed loop system –is stable –Closed loop input is low power voltage level 0V  -90 degrees, 2.5V  0 degrees, 5V  +90 degrees, –Transients die out quickly

5. Request for Proposals (RFP) Preliminary Design Reviews in 1 week Any and all Engineering firms (= 1 or more graduate control engineers) can respond ONE firm will be awarded the contract Review criteria. –Meet specified hard requirements (= FCs), –optimize over soft requirements (= MC), –Provide “value added” (= lagniappe)

6. T&E PDR 1.Present your proposed controller Convince the client (= undergraduate control engineers) yours is best Be brief 2.Evaluate proposals Tell why yours is better. Be honest. Base your rebuttal on information that you/they provided. 3.Award contract 4.Engineering firms: Self assess/critique your proposal