Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes

EE3331C Feedback Control Systems

L1: Overview

Arthur TAY

ECE, NUS

Copyright
c 2022
All Rights Reserved

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes

Outline I

Course Mechanics
Motivations
Overview
Early Feedback Control Systems
Success & Impact
Opportunities & Challenges
Historical Development
A Simple Feedback System
Example1: Automobile Steering Control
Example2: Control of Household Furnace
A Simple Feedback Control System
Additional Examples
Example 1: UAVs
Example 2: Robot Soccer
Example 3: Internet
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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes

Outline II

Example 4: Semiconductor Manufacturing

Summary
Summary
Practice Problems

Learning Outcomes
Learning Outcomes
Tentative Topics to be covered

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes

Contact Information

I Lecturer: A/Prof. Arthur Tay

I Day/Time:
Wednesday (12pm-2pm @ LT6)
Friday (2pm-4pm @ LT6)
I Office: ECE Dept office or E4-08-12
I Tel: 6516-6326
I Email: [email protected]
I Office hours: please email or call me before you come.
Alternatively, we can arrange to discuss via Zoom.

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes

Course Mechanics
I all class info, lectures notes, lab manuals on LumiNUS website.
I course requirements:
I midterm quiz (15%) (closed-book, 1 A4 help-sheet)
I laboratory sessions (15%) – 2 sessions (tentative: weeks 5 and 9),
Matlab (online) and DC motor (physical lab).
I assignments (10%)
I final exam (60%) (physical: closed-book, 1 A4 help-sheet)
(These weights are approximate; we reserve the right to change them
later).
I PLUS homework and reading assignments.
I textbook and references (copies are available at the Central library,
RBR)
I Feedback Control of Dynamic Systems by Franklin, Powell and
Emami-Naeini (FPE)
I Modern Control Systems by Dorf and Bishop (DB)
I software: please download Matlab and its Control Systems Toolbox
from NUS IT webpage, you will need it for your lab and
assignments.
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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Overview Early Feedback Control Systems Success & Impact Opportunities & Challenges Historical Development

What is Control?
I Control refers to the use of algorithms and feedback in engineered
systems.
I At its simplest, a control system is a device in which a sensed
quantity is used to modify the behavior of a system through
computation and actuation.
I The modern view of control sees feedback as a tool for uncertainty
management. By measuring the operation of a system, comparing it
to a reference, and adjusting available control variables, we can
cause the system to respond properly even if its dynamic behavior is
not exactly known or if external disturbances tend to cause it to
respond incorrectly.

Reference: ‘Future Directions in Control in an Information-Rich World’,

IEEE Control Systems Magazine, April 2003.

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Overview Early Feedback Control Systems Success & Impact Opportunities & Challenges Historical Development

Early Feedback Control Systems

I In 1788 James Watt invented the flyball governor which is a

feedback mechanism for controlling the speed of a steam engine.

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Overview Early Feedback Control Systems Success & Impact Opportunities & Challenges Historical Development

Early Feedback Control Systems

I Feedback Amplifers (1920s)

I Invented by H.S. Black from Bells Lab
I Laid the mathematical foundations for classical control
I Use of negative feedback to improve performance (gain stability,
linearity, frequency response) and reduce sensitivity to parameter
variations

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Overview Early Feedback Control Systems Success & Impact Opportunities & Challenges Historical Development

Success & Impact

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Overview Early Feedback Control Systems Success & Impact Opportunities & Challenges Historical Development

Opportunities & Challenges

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Overview Early Feedback Control Systems Success & Impact Opportunities & Challenges Historical Development

Opportunities & Challenges

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Overview Early Feedback Control Systems Success & Impact Opportunities & Challenges Historical Development

Historical Development

I The roots (before 1940)

I Early applications of feedback includes windmills, steam engines,
engines, ships, airplanes, process control, telecommunication
I The field emerges (1940 – 1945)
I The Second World War
I Spread like wildfire: education, industry, organization
I The second wave (1960 –)
I Demanding applications: space, process industry
I New components: digital computers
I New applications, opportunities and challenges
I information and communications
I biology and medicine
I materials and processing
I environmental systems
I economics and finance; molecular and quantum systems, etc.

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Overview Early Feedback Control Systems Success & Impact Opportunities & Challenges Historical Development

Classical Control Modern Control Post Modern

– 1960 1960–1980 1980–
Analysis Bode plots State-space models H∞ robustness
Nyquist plots Random processes Singular values
Root loci Controllability / Lyapunov stability
Gain/Phase Observability LMI’s
margins
Synthesis PID LQR feedback H∞ synthesis
Lead-Lag Comp. Kalman Filters µ synthesis
LQG Robust H2 synthesis
Optimization Error modeling
Paradigm Frequency Domain Time Domain Frequency domain but
state-space tools

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Example1: Automobile Steering Control Example2: Control of Household Furnace A Simple Feedback Control System

Automobile steering control

I The driver uses the difference between the acutal and the desired
direction of travel to generate a controlled adjustment of the
steering wheel based on measurements/feedback from:
I visual
I feel of the steering wheel
I Typical direction of travel response.

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Example1: Automobile Steering Control Example2: Control of Household Furnace A Simple Feedback Control System

Control = Sensing + Computation + Actuation

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Example1: Automobile Steering Control Example2: Control of Household Furnace A Simple Feedback Control System

Control of household furnace

I Consider a household furnace controlled by a thermostat:
I Objective: to make the room temperature adhere to a desired
temperature by controlling the furnace.
I Figure 1.1 shows the schematic diagram of a control system for
controlling the room temperature.

Figure 1.1: Block diagram of a room temperature control system.

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Example1: Automobile Steering Control Example2: Control of Household Furnace A Simple Feedback Control System

I Figure 1.2 shows the controlled room temperature using a simple

on-off control strategy.

Figure 1.2: Plot of room temperature and furnace action.

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Example1: Automobile Steering Control Example2: Control of Household Furnace A Simple Feedback Control System

A Simple Feedback Control System

I Figure 1.3 shows the generic components of a simple feedback
control system.
I Key components: Process, Actuator, Sensor and Controller
Disturbance

Plant

Control
Reference Input 1 signal Output
filter S Controller Actuator Process
2

Sensor

Sensor
noise

Figure 1.3: Block diagram of a feedback control system.

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Example1: Automobile Steering Control Example2: Control of Household Furnace A Simple Feedback Control System

I A simple feedback system consists of the process whose output is to

be controlled, the actuator whose output causes the process output
to change, reference and output sensors that measure these
signals, and the controller, which implements the logic by which the
control signal that commands the actuator is calculated.
I In addition, advances in communication devices led to a new class
of networked systems that uses wireless technology, enabling
spatially-distributed control.
I Two important concepts: Signals and Systems.
I Mathematical techniques can be used to help describe and analyze
systems which process signals:
I Signals are variables that carry information.
I Systems process input signals to produce output signals.
I Identify the signals and systems in Figure 1.3.

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Example1: Automobile Steering Control Example2: Control of Household Furnace A Simple Feedback Control System

I Examples:
I Plants: CD player, disk drive mechanics; aircraft or missile; car
suspension, engine; rolling mill; high-rise building, XY stage on
stepper machine for lithography; computer network; industrial
process; elevator.
I Sensors: radar altimeter; GPS; shaft encoder; LVDT; strain gauge;
accelerometer; tachometer; microphone; pressure and temperature
transducers; chemical sensors; microswitch.
I Actuators: hydraulic, pneumatic, electric motors; pumps; heaters;
aircraft control surfaces; voice coil; solenoid; piezo-electric transducer.
I Disturbances: wind gusts; earthquakes; external shaking and
vibration; road surface variations; variation in feed material
I Controller: human operator; mechanical; electro-mechanical; analog
electrical; general purpose digital processor; special purpose digital
processor.

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Example 1: UAVs Example 2: Robot Soccer Example 3: Internet Example 4: Semiconductor Manufacturing

I Unmanned Aerial Vehicles

G. Cai et al. / Mechatronics 18 (2008) 545–558 547

Onboard Computer System

CF Card 1 Flight Control CPU Image Processing CPU

RPM Servo Wireless Frame

INS/GPS Sonar CF Card 2
Sensor Controller Modem Grabber

Wireless
Servo Modem
RC
Helicopter Ground Supporting
Camera Manual Control System
System

Fig. 2. Working principle of the SheLion UAV helicopter system.

Sensing GPS, ultrasonic sonar, RPM sensor, camera

Actuation various rotor torques
Computation on-board computer system, image processing
Effect autonomous UAVs, ground target tracking
Fig. 3. Raptor 90 RC helicopter and its virtual counterpart.
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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Example 1: UAVs Example 2: Robot Soccer Example 3: Internet Example 4: Semiconductor Manufacturing

I Robot Soccer
More information: www.prahlad.in; www.robocup.org

Sensing overhead camera system, wheel angle encoders

Actuation motor torques, kick mechanism
Computation centralized computer, vehicle microcomputers
Effect autonomous robot soccer platform, agile motion

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Example 1: UAVs Example 2: Robot Soccer Example 3: Internet Example 4: Semiconductor Manufacturing

I Congestion control
Example and Internet
#4: Congestion Control and the Internet
Transmission
More control protocol (TCP)
information:
Source: send packet to destination
1) ‘Future Directions in Control in an
Source: resend packet if no ACK rec’d
Information-Rich World’,
Destination: ACK received IEEE Control
packets
Systems Magazine,
Destination: reassembleApril 2003.
packets
Source: Adjust ratecongestion
2) ‘Host-to-host based on loss rate
control for
TCP’,
InternetIEEE
routerCommunication
operation: Surveys and
Receive packet
Tutorials 12 (3),from input link; place
2010.
at end of queue, if not full
Transmit packet from head of queue to
next router on path
NSFNET Internet backbone Update route table based on link status

Sensing: data, ACK packets More information:

Sensing
Actuation: data,rate,
transmit ACKrouterpackets
paths via TCP
www.howstuffworks.com
Computation: src, dst, router processors CDS 101 seminar: Friday, 25 Oct 02
Actuation transmit rate, router paths
Effect: high speed data transmission,
Computation source, destination, router processors
tolerant of link failures
30 Sep 02
Effect R. M.
high speed Murray,transmission,
data Caltech CDS 10 failures
tolerant to link
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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Example 1: UAVs Example 2: Robot Soccer Example 3: Internet Example 4: Semiconductor Manufacturing

I Thermal processing systems in semiconductor manufacturing

I Objective: to heat a heater plate to a desired temperature, Td with a
electrical heater.
I Plant:
I Actuator:
I Controller:
I Input, u:
I Output, y:
Can you draw the control system block diagram?

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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Summary Practice Problems

Summary

I Control engineering is present in viturally all modern engineering

systems, often the hidden technology.
I Key elements in a simple feedback control system: process,
actuators, sensors, and controller.
I Control is a multidisciplinary subject that includes:
I sensors
I actuators
I communications
I computing
I architectures and interface
I algorithms
Reading: introductory chapters in any control engineering books. For
more background on the history of control, see the survey papers
appearing in the IEEE Control System Magazine of Nov 1984, Jun 1996
and Apr 2002. You can download the papers from NUS digital library.
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Outline Course Mechanics Motivations A Simple Feedback System Additional Examples Summary Learning Outcomes
Summary Practice Problems

Practice Problems

1. Describe the block diagram of a person playing a video game.

Suppose the input device is a joystick and the game is being played
on a desktop computer. Use Figure 1.3 as a model of the block
diagram.
2. Consider the following chemical process control system, the
objective is to control the chemical composition of the product. To
do so, a measurement of the composition can be obtained using an
infrared stream analyzer. The valve on the additive stream may be
controlled. Sketch the control system block diagram.

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Learning Outcomes Tentative Topics to be covered

Learning Outcomes

Students should be able to :

I Explain a linear time invariant system and its properties
I Derive a linear time invariant system model using mathematical
tools such as differential equations and transfer functions
I Describe and analyze the behavior of a system in time and frequency
domain
I Apply feedback to achieve stable automatic control
I Evaluate stability and performance of a negative feedback system
I Design a simple feedback controller
I Use MATLAB/Labview to simulate/design/control a practical
system

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Learning Outcomes Tentative Topics to be covered

Topics to be covered (first half)

I Review of signals, systems and Laplace Transform
I Modeling of dynamic systems, Transfer Functions
I Time domain analysis of dynamic system’s response
I Open loop versus Closed-loop control: Transient performance,
steady-state error analysis
I Stability, Root Locus Analysis
I Proportional, Integral and Derivative (PID) control
Topics to be covered (second half)
I Frequency response, Bode plot and polar plot, Nyquist Stability
Criterion
I Robust stability – gain and phase margins
I Lead and Lag compensator, design of lead compensator (both
s-plane method and Bode plot method)
I Digital implementation of feedback control (via lab)
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