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Matthew M. Peet
Illinois Institute of Technology
No Root Locus
No Bode Plots
No pretty pictures
x1 (t)
1 1.2 1 .8
x1 (t)
1
1
x2 (t) 0
d
x
(t)
0
0
0
2
+
1
0
0 x3 (t) 0
dt x3 (t) 0
x4 (t)
0
0
1
0
x4 (t)
0
0
1
u1 (t)
0 u2 (t)
0
We require Matlab
I Need robust control toolbox (Available in MMAE computer lab)
M. Peet
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Linear Systems
= Ax(t)
where
A Rnn (Rnn is the set of real matrices of size n by n)
If the system is nonlinear, linearize it : f (x) = x f (x)|x=x0 x.
I
Finite Dimensional
x Rn and A Rnn
There are no delays
I
I
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A Mathematical Class
We will use mathematical shorthand
I
I
I
I
is for all
X Y means intersection of X and Y
X Y means union of X and Y
x Y means x is an element of Y
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Proof Example
Theorem 1.
lim
1
=0
1+x
Definition 2.
The z is limit limx f (x) if for any > 0, there exists an > 0 such that for
any x > , kz f (x)k
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Proof Example
With a definition, we know how to proceed: Find the > 0 and we are done.
Proof.
Let f (x) =
Choose =
1
1+x
1
and z = 0.
1.
1,
k1 + xk = k1 + xk >
We conclude
M. Peet
kz f (z)k =
1
kk
1
1
=
< .
1 + x
k1 + xk
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valve.
Feedback is Desired Temperature - Sensor Temperature = Error in
Temperature
The thermostat is desired to drive the error to zero
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It is a System.
Lets start with the simpler question:
What is a System?
Definition 3.
A System is anything with inputs and outputs
Let start with some examples.
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Examples of Systems
College
Definition 4.
The System to be controlled is called the Plant.
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Control Systems
Definition 5.
A Control System is a system which modifies the inputs to the plant to
produce a desired output.
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Fundamentals of Control
Any controller must have one fundamental part: The Actuator
Definition 6.
The Actuator is the mechanism by which the controller affects the input to the
plant.
Examples:
Ailerons, Rudder
Force Transducers: Servos/Motors
I Servos
I Motors
Furnace/Boiler
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Definition 7.
An Open Loop Controller has actuation, but no measurement.
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Definition 8.
The Sensor is the mechanism by which the controller detects the outputs of the
plant.
Definition 9.
A Closed Loop Controller uses Sensors in addition to Actuators.
Control
System
Sensor
Plant
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Problem: Manually refilling the top pot is labor intensive and inaccurate.
Solution: Design a control System (Inputs, Outputs?).
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Father of pneumatics
Dirt Poor
Created most accurate clock until Huygens (1657 AD)
Overshadowed by better-known student Heron (Hero) of
Alexandria
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force.
Centrifugal force lifts the flyballs,
engine/piston speed.
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Flyball
Valve
Boiler
Steam Engine
RPM
Steam Pressure
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