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2 29 Sep 04
Richard M. Murray
29 September 2004
Goals:
y Describe modern engineering environment for control
y Survey engineering applications of control and key features
y Provide information on CDS 110 sections; explain schedule process
y Honor System discussion
Actuate Sense
Gas Pedal Vehicle Speed
Compute
Control Law
Goals
y Stability: system maintains desired operating point (hold steady speed)
y Performance: system responds rapidly to changes (accelerate to 6 m/sec)
y Robustness: system tolerates perturbations in dynamics (mass, drag, etc)
Output
Actuators System Sensors
Process
Controller
Operator input
y Basic idea: learn by observation or y Use a detailed model (PDEs, ODEs) for
training analysis/design
y Examples: auto-tuning regulators, y Examples: optimal regulators, HI
adaptive neural nets, fuzzy logic control, feedback linearization
Advantages: Advantages:
y No need for complex modeling or y Works well for highly coupled,
detailed understanding of physics multivariable systems
y Works well for controllers replacing y Rigorous tools for investigating robust-
human experts ness and performance (using models)
Disadvantages: Disadvantages:
y No formal tools for investigating y Tools available only for restricted class
robustness and performance of systems (e.g., linear, time-invariant)
y Dont work well for high performance y Requires control-oriented physical
systems with complicated dynamics models; not always easy to obtain
Fall
CDS 110a Analytical understanding of key concepts in control
y Detailed description of classical control and state space concepts
y Provide knowledge to work with control engineers in a team setting
Winter
CDS 110b Detailed design tools for control systems
y Estimation and robust control tools for synthesis of control laws
Spring
CDS 111 Implementation of control CS/EE/ME 75 Intro to
systems for engineering applications Multi-Disciplinary Engg
CDS Minor: CDS 110, CDS 140, senior thesis/project or Ae/CDS 125
Application areas
y Chemical process control
y Biological feedback systems
Information Systems
TAs: Morr Mehyar, Kevin Tang
Application areas
y Communications networks
y Software systems
y Economic systems
Application areas
y Servo systems
y Fluid systems
y Flight control
Application areas
y Electronic systems
y Optical systems
y Photonics/quantum systems
Application areas
y Autonomous robot systems
y Sensor-based navigation
y DARPA grand challenge
Honor System
What is it?
Why is it important?
y Provides a framework for ethical conduct in an academic setting
y Supports a community of scholars, working together to learn and educate
y Allows greater academic freedom through mutual trust and respect
Controller
Operator input