Professional Documents
Culture Documents
Control Engineering
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Control Engineering
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Control Engineering
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This course
Oriented towards engineering practices in industry
What is the minimal knowledge/skills we need to solve an
engineering problem?
What are the engineering problems?
What methods do engineers actually use in industry?
Additional knowledge sure helps
EE392m - Spring 2005
Gorinevsky
Control Engineering
1-4
Helpful
Matlab
Modeling and simulation
Optimization
Application fields
Some control theory good, but not assumed.
Control Engineering
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Course Mechanics
Notes at www.stanford.edu/class/ee392M/
Posted as available
2003 version available, the 2005 version has less coverage and more depth
Reference texts
Analysis and Design of Feedback Systems, strm and Murray, 2003.
http://www.cds.caltech.edu/~murray/courses/cds101/fa03/caltech/am03.html
Feedback Control of Dynamic Systems, Fourth Edition, Franklin, Powell,
Emami-Naeini, Prentice Hall, 2002
Control System Design, Goodwin, Graebe, Salgado, Prentice Hall, 2001
EE392m - Spring 2005
Gorinevsky
Control Engineering
1-6
2:30-3:45pm
Additional
topics
SISO
Control
Basic
Lecture 1 Introduction
Lecture 2 Linear Systems
Lecture 3 Basic Feedback
Lecture 4 PID
Lecture 5 Digital Control
Advanced Control
Lecture topics
Lecture 12 Optimization
Lecture 13 Programmed Control
Lecture 14 Model Predictive
Control
Lecture 15 System Health
Management
Control Engineering
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Assignment timeline
Assignment 1
Assignment 2
Midterm
Assignment 3
Final
EE392m - Spring 2005
Gorinevsky
Lecture 1 Introduction
Lecture 2 Linear Systems
Lecture 3 Basic Feedback
Lecture 4 PID
Lecture 5 Digital Control
Lecture 6 Outer Loop
Lecture 7 SISO Analysis
Lecture 8 SISO Design
Lecture 9 Modeling & Simulation
Lecture 10 Identification
Lecture 11 Internal Model Control
Lecture 12 Optimization
Lecture 13 Programmed Control
Lecture 14 Model Predictive Control
Lecture 15 System Health Management
Final presentation
Control Engineering
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Control Engineering
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Control Engineering
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Control Engineering
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Control Engineering
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Main Points
Mechanical technology use was extended from
power to regulation
It worked and improved reliability of steam engines
significantly by automating operators function
Analysis was done much later (some 100 years).
This seems to be typical!
Parallel discovery of major theoretical approaches
Control Engineering
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Watts governor
Analysis of James Clark Maxwell (1868)
J& E = k cos TL
G = n E
Linearization
= 0 + x
E = 0 + y
x << 1
y << 1
Control Engineering
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Watts governor
&y&& + a1 &y& + a2 y& + a3 y = 0
Characteristic equation:
3 + a12 + a2 + a3 = 0
y=e
Im
Stability condition:
Re k < 0, ( k = 1,2,3)
Main points:
Re
Modeling
P feedback control
Linearization
LHP poles
Control Engineering
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1885 Thermostat
1885 Al Butz invented damper-flapper
bimetal plate (sensor/control)
motor to move the furnace damper)
Control Engineering
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Main Points
Use of emerging electrical system technology
Significant market for heating regulation (especially in
Minnesota and Wisconsin)
Increased comfort and fuel savings passed to the customer.
Customer value proposition
Integrated control device with an actuator. Add-on device
installed with existing heating systems
Control Engineering
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1 11
V1
1
R1 1
R2
= R1 + = 1 1 +
V2
R2 G
R1
R2 G R1 R2
Bodes analysis of the transients in the amplifiers (1940)
EE392m - Spring 2005
Gorinevsky
Control Engineering
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Control Engineering
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Control Engineering
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Control Engineering
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Range
r = F (Vx , V y , X , Y )
Range Error
USSR R-16/8K64/SS-7/Saddler
Copyright 2001 RussianSpaceWeb.com
http://www.russianspaceweb.com/r16.html
r (t ) = f1Vx (t ) + f 2 V y (t ) + f 3X (t ) + f 4 Y (t )
Algorithm:
track r (t ) , cut the engine off at T when r (T ) = 0
EE392m - Spring 2005
Gorinevsky
Control Engineering
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r (t ) = f1Vx (t ) + f 2 V y (t ) + f 3X (t ) + f 4 Y (t )
Control Engineering
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Control Engineering
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DCS
example
Honeywell
Experion PKS
Honeywell Plantscape
Control Engineering
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Control Engineering
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1974 - TCP/IP
Control Engineering
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1 2
1 2
time
ACK
data
Destination
1 2
1 2
time
Here:
Flow control dynamics near the maximal transmission rate
From S.Low, F.Paganini, J.Doyle, CSM, 2000
EE392m - Spring 2005
Gorinevsky
Control Engineering
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x& = q
x& =
EE392m - Spring 2005
Gorinevsky
xlost
1 q
+ (1 q )
1 2
qx
2
xsent
Control Engineering
x=
x - transmission rate
- round trip time
q - loss probability
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Control Engineering
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Past Present
That was history
What is going on in control at present?
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Control Engineering
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Control
computing
Control
handles,
actuators
Physical system
Control Engineering
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Technology Trends
Why this is relevant and important at present?
Computing is becoming ubiquitous
Sensors are becoming miniaturized, cheap, and pervasive.
MEMS sensors
Actuator technology developments include:
Control Engineering
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Control Engineering
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Actuator evolution
Electromechanical actuators: car power everything
Control Engineering
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Control computing
Computing grows much faster than the sensors and actuators
CAD tools, such as Matlab/Simulink, allow focusing on
algorithm design. Implementation is automated
Past: control was done by dedicated and highly specialized
experts. Still the case for some very advanced systems in
aerospace, military, automotive, etc.
Present: control and signal-processing technology are
standard technologies associated with computing.
Embedded systems are often designed by system/software
engineers.
This course emphasizes practically important issues of
control computing
EE392m - Spring 2005
Gorinevsky
Control Engineering
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Control Engineering
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Control Engineering
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Automotive
powertrain
suspension, traction, braking, steering
Disk drives
Industrial automation and process control
process industries: refineries, pulp and paper, chemical
semiconductor manufacturing processes
home and buildings
EE392m - Spring 2005
Gorinevsky
Control Engineering
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Commercial applications
Advanced design - commercial
Embedded mechanical
mechatronics/servo actuators
Robotics
lab automation
manufacturing plant robots (e.g., automotive)
semiconductors
Power
generation and transmission
Transportation
locomotives, elevators
marine
Nuclear engineering
EE392m - Spring 2005
Gorinevsky
Control Engineering
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High-performance applications
Advanced design
Aerospace and Defense
Science instruments
astronomy
accelerators
fusion: TOKAMAKs, LLNL ignition
Control Engineering
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Embedded applications
No specialized control groups
Embedded controllers
consumer
test and measurement
power/current
thermal control
Telecom
PLLs, equalizers
antennas, wireless, las comm
flow/congestion control
optical networks - analog, physics
Control Engineering
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Computing
task/load balancing
Control Engineering
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