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DynamicSystems I Intro

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8 views

DynamicSystems I Intro

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h68444632
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We take content rights seriously. If you suspect this is your content, claim it here.
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You are on page 1/ 8

Representation and Analysis of

Dynamical Systems

I. Introduction

1
Introduction

● 9 lectures (1h15)
● 6 labs (2h30): exercices, computer, experimental
● Professors:
– Dr Valérie Budinger (ISAE / DCAS)
– Dr Yves Briere (ISAE / DCAS)

● Lectures notes
– Copy of the slides

● Reference books
– Franklin, G. F., Powell, J. D., Emami-Naeini, A., & Powell, J. D. (1994). Feedback control
of dynamic systems (Vol. 2). Reading: Addison-Wesley.
– Karl J. Åström and Richard M. Murray, Feedback Systems: An Introduction for
Scientists and Engineers (online
http://www.cds.caltech.edu/~murray/amwiki/index.php/Main_Page)

Introduction 2
What is a « system » (for the control
engineer) ?
● A real system
● The same system from an
engineering point of vue
– Electrical
– Mechanical
– Nuclear
– …

● … from the « control » point of


vue Perturbation
– A set of sub-systems
Nuclear Plant
– Causality dependence between blocks Output
Reference
● And from the control engineer
that needs to design a controler
– An output driven by an input

Introduction 3
Autocruise of a car

velocity

● From the control engineer point of view:


– Velocity depends on throttle position
– Experience says that 1° of throttle deflection increase the speed by 10 /
– a grade of 1% affects the speed by 1 /

● Mathematical (simplified) model


10

p : input (throttle angle)


u 10 y : perturbation (wind, slope, etc…)
: output (velocity)

Introduction 4
Performance of an “open loop controller”

● The controller is based on the system’s model:


– System gain: 10
– Controller gain:
–

● Errors analysis
– 10% error on model ⇒ 10% error on output
– 1° of slope ⇒ 1 / error on output

Introduction 5
Autocruise : “closed loop control”

velocity
● Elements of the autocruise system
– Velocity can be measured
– Throttle deflection can be actuated by the computer
– Throttle deflection is computed from the difference between speed target
and actual speed .

● block diagram of the control system

0 decrease
throttle angle
10
0 increase
throttle angle

Velocity reference jumps from


controler
10 / to 11 / at 5
Introduction
Performance of a proportional controller

• “Proportional controller”
!
• Closed loop control with “ large” (e.g 100!
– 0.99
– 10% error on ⇒ almost no effect on
– 1° of slope ⇒ almost no effect on
– The bigger the best it seems to be

1
1 1

Introduction 7
Limits of the proportional controller ?

• Static analysis
Good tracking performance 7 !
+ Good perturbation rejection performance
- may saturate if too large
• Dynamic analysis
+ System’s dynamic faster
+ Unstable system may be stabilized
- Stable system may become unstable

Introduction 8

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