R7003E A broad course in automatic control

Reference

Controller

Control
signal

Process

Controlled
variable

Some loose ends from elementary control courses:

The controller
Continuous time process and discrete time controller How to analyze
A PID controller may not do the job Go beyond the PID

The process model

How to obtain a model System identification
The model is never perfect How to handle model uncertainty
The model may be nonlinear
The model may be multivariable

Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1

What should you know after the course?

Sustainable development

How Automatic Control can help reducing the consumption of resources

Linear systems

Be able to analyze linear systems, both continuous and discrete time w.r.t.
Frequency response, time response, poles, stability

Discrete time processes

Know the advantages of discrete time process descriptions

Be able to translate continuous time processes into discrete time and vice
versa and understand how discrete time processes may be found through
system identification

Controller design

Understand the basic principles that apply for good design of control
systems, stability, performance, and robustness
Apply these principles on simple controllers, e.g. PI, PD
Dimensioning from state-space description

Some prospects

A glimpse of some of the problems and solutions that exist for multivariable
and nonlinear systems

Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1

What should you know before the course ?

Assumed prerequisite courses:
R0001E, R0002E or R0003E

Linear systems
Transfer function, poles & zeros, block diagram, Bode diagram, impulse response,
step response, static gain,

Control
Feedback, steady-state error, the PID controller,

Matlab for linear systems

To prepare for the course

Read and solve problems from
[L] 2, 5.1-5.2, 5.5-5.6, 6.1 or
[F] 3-3.4, 4.1.0, 4.3, 6.1-6.1.1

Run the Matlab tutorial ltidemo

Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1

How to pass this course

Item
Lab 1
Lab 2
Lab 3
Project
Exam

Examination
Demonstration
Demonstration
Written report
Demonstration
Written report
Written exam in
January

Alternative
Written report
Written report
No alternative
Exams three times per
year. Can often be
taken at your home
university

Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1

Some hints
If you finish Lab 1 & 2 on the scheduled lab occasion you will obtain the signature
immediately, otherwise you must write a report
Prepare well for these labs

Lab 2 requires Matlab skills

Brush up on those skills before the lab

The project is a lot of work

Start as soon as possible (i.e. after Lecture 12)

Dont copy each others reports

Cheating will be reported to the board of discipline without any prior warning

The exam will be difficult

But if you can solve the recommended problems then you can also solve the exam

To get assistance
My door (A3407) is almost always open
You are welcome with questions and suggestions

Form study groups and help each other

Helping someone else is the most effective way to learn
Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1

Example: Tank process with PID controller

Tank
process

PID-controller

1
+ TD s E ( s )
U ( s ) = K 1 +
TI s

uP(k) = Ke(k)

r(k)

e(k) u (k) = KT /h(e(k)e(k1))

D
D

uI(k) = uI(k1)+Kh/TIe(k)
u(k) = uP(k)+uD(k)+uI(k)

u(k)

u(t)

Hold

K
(sT +1)2

y(t)

Sampling

Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1

What happens when the sampling period h increases ?

Tank level

Volt

4
2

-2

50

100
Control signal

20
Volt

h=0
h=1
h=5
h=10
h=15

0
150

200

0
-20

50

100
Time (s)

150

Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1

Signals and systems

Signal A function of time t
Properties of signals:
Continuous time The signal is defined for all real t
Discrete time The signal is only defined for a countable number
of discrete (separated) time instants
Scalar The signal is a scalar function of time
Vector valued The signal is a vector valued function of time
Vector valued,
continuous
time signal

Examples:
Scalar, continuous
time signal

t
Lule University of Technology, Andreas Johansson

t
Scalar, discrete
time signal

t
Automatic Control R7003E, Lecture 1

System A mapping S from an input u to an output y, i.e. y = Su

Properties of systems
Continuous time The input and output are continuous time signals
Discrete time The input and output are discrete time signals
Static The output at time t1 depends only on the input at time t1
Dynamic The output at time t1 depends on the input at several time
instants. The system has memory
Causal The output at time t1 depends only on the input at times t t1
Noncausal The output at time t1 depends on the input at time t > t1
Static system

Examples:
u
u(t)

y1(t)

y1(t) = 2u(t)

y1
1

Dynamic system

1
1

y2(t)

y2 (t ) = u ()d

y1

Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1

More properties of systems

Time invariant The mapping S does not depend on time t. If the input u
gives the output y, then the input u, time shifted by , gives the output y,
time shifted by
Time varying The mapping S depends on time t
Linear If the input u1 gives the output y1 and the input u2 gives the
output y2 then the input u1+u2 gives the output y1+y2, i.e.
S(u1+u2) = Su1+Su2
Linear, static, timeNonlinear Not linear
varying system
Examples:
1

y3(t) = tu(t)

u
u(t)

y3(t)

y3
1

1
1

t
u

y4 (t ) =

y4(t)

u ()d

y4

Lule University of Technology, Andreas Johansson

Dynamic, nonlinear,
time-invariant system

Automatic Control R7003E, Lecture 1

The control problem

Given: A system G, called process with
inputs u (control signal) and w (disturbance)
and outputs z (control variable) and y
(measurement) with measurement error n
Task: Design a system F, called controller,
with input r (reference signal) and y and
output u such that e = rz (control error)
becomes as small as possible, despite
disturbance w, measurement error n, and
variations in the process G

y
r

The regulator problem: r 0

The servo problem r 0
Single variable u and z are scalar signals
Multi variable u and z are vector signals
Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1

Discrete time systems

Some systems where a discrete time description is suitable
Aircraft position
If the measurement is inherently discrete

Radar sweep no.

Aircraft monitored by radar

k
Industrial processes with chemical analysis

Concentration

Economic systems, e.g. an inventory

Sales $/s

Dirac pulses
- Impractical

Total sales
Time each day

t
Lule University of Technology, Andreas Johansson

Analysis no.

k
Day

k
Automatic Control R7003E, Lecture 1

If the function of the system is cyclic or pulsed

Amount of
hot metal

Tapping no.

Blast furnace
Thyristor controlled electric engine

Energy
to engine

Energy
to engine

k
AC pulse no.

t
Car engine, Internet, etc

Thyristor
turned on

Roundtrip
time

Data package no.

k
Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1

Automatic control and sustainable development

Use of automatic control has the potential to reduce consumption of
resources by:
Reducing safety margins
Example: Temperature control in an empty building
Temperature must not go below 0 C (freezing of water pipes)
Improved control Reduced temperature variation Temperature setpoint can be
decreased Reduced energy for heating

Temp.
5 C
2 C
Time

Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1

Detecting malfunctions
Example: Detecting a broken bearing in a conveyor belt
Broken bearing gives increased energy consumption due to friction
Estimate motor power using inflow on belt
Compare to measured motor power
If they differ, a bearing may be broken

Inflow on belt

Time
Broken
bearing

Measured
Motor power
Estimated
Time
Bearing breaks
Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1

Reducing reject in production

Due to quality variation
Example: Varying paper density in paper production
Paper with density outside a certain interval can not be sold
Improved control Reduced density variation Reduced reject Reduced
consumption of wood

Due to start/stop or setpoint changes

Example: Same as above
Improved control Faster startup and setpoint changes Reduced reject Reduced
consumption of wood
Unsellable paper
Paper density

g/m2

80

45

Time
Startup
Lule University of Technology, Andreas Johansson

Disturbance

Setpoint change
Automatic Control R7003E, Lecture 1

Finding optimal paths

Example: Rocket reaching a given altitude
Required amount of fuel depends on how the thrust is varied
Fuel used on low altitude High speed High air resistance
Fuel used on high altitude Fuel must be carried to high altitude
Engine thrust
Max. thrust

Optimal
thrust function

Altitude
reached

Time

Suboptimal
thrust functions

An optimal thrust function can be calculated using Pontryagins maximum principle

R7004E Nonlinear and optimal systems. Lp4, even years

Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1

Tracking optimal paths

Great circle
-shortest path

Example: Airplane navigation

between two points
To minimize fuel consumption, the
airplane should follow a great circle
Requires continuous changes in
compass course Automatic control
is necessary

Lule
Constant
compass course
Los Angeles

Lule University of Technology, Andreas Johansson

Automatic Control R7003E, Lecture 1