EECS 20 N—May 4, 2001

Lecture 41:
Control Systems (II)
Laurent El Ghaoui
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 announcements
• final: 12:30-3:30pm on Monday, May 14 in 155 Dwinelle
• during the week of May 7: all TA’s and the tutor will have one
office hour, in the lab: : Sean (Wed 1-2pm), Shankar (Wed
2-3pm), Ara (Th 12-1pm), Michael (Th 1-2pm), Charles (Wed
3-4pm), Sam (Th 3-4pm),
• check your webct account before May 10
(no regrading after that date)
• Gert (head TA) will have his last office hours on Wednesday May
9 from 2pm-3.30pm in 262M Cory.
problems regarding grades can be reported then or can be reported
to the TA’s during their office hours (listed above)
• last lecture: Monday, May 7 (Review of LTI systems)
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 outline
reading assignment:
• Chapter 9 of Lee and Varaiya (new version)
• Chapter 10 of Lee and Varaiya
today’s lecture:
• motivations of feedback
• control systems design: an example
• example of an LTI system: an audio system
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 model of a DC motor
τ ṡ(t) + s(t) = K0 (x(t) + w(t))
where
• s(t) is the rotor speed
• x(t) is the amplifier voltage (an input)
• w(t) is the torque load (a disturbance input)
• τ (seconds) and K0 are positive constants
the above system is stable: zero-input response is s(t) = e−t/τ s(0)
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 open-loop vs. closed-loop control
assume we want to achieve a desired final (asymptotic) value for s,
s = sd , whatever s(0)
open-loop control:
x(t) = Kol sd
for some appropriate constant Kol
closed-loop control:
x(t) = Kcl (sd − s)
for some appropriate constant Kcl
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 steady-state values
the “steady-state” value is
s∞ = lim s(t)
t→∞
assuming no external disturbance w(t), obtain
• open-loop control:
s∞ = K0 Kol sd = sd
if we choose Kol = 1/K0
• closed-loop control:
K K
0 cl
s∞ = sd ' s d
1 + K0 Kcl
if we choose Kcl K0 much larger than 1
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 sensitivity of steady-state error
assume the motor gain K0 is not know precisely . . .
what is the effect of an error in K0 on the steady-state value? let’s
compute the sensitivity:
δs∞
s
S= ∞
δK0
K0
• open-loop control: S = 1, i.e., errors on K0 are not attenuated
• closed-loop control:
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S=
1 + Kcl K0
which can be made small if Kcl K0 much larger than 1
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 open- vs. closed-loop control: summary
• error in the controlled quantity is substantially less sensitive to
model errors with closed-loop control
hence, we do not need to know system characteristics exactly
• similarly, effect of external disturbances on controlled quantity is
less in the closed-loop case
• speed of response (stability) can be improved via feedback (i.e.,
closed-loop) control
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 example of an LTI system
• source located at d meters from left wall emits sound waves x(n)
in right direction
(assume d is an integer)
• microphone located at 2d from left wall
picks up only waves coming from the left
• walls reflect sound, with coefficient of reflection αi , i = 1, 2
(0 < αi < 1)
• sounds travels at one meter per sample time
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 α1 α2
x(n) y(n)
PSfrag replacements
d d d
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 LTI model
y(n) = x(n − d) + α1 α2 x(n − 7d) + (α1 α2 )2 x(n − 13d) + . . .
= x(n − d) + αy(n − 6d)
where α = α1 α2
frequency response:
e−jωd
H(ω) =
1 − αe−j6ωd
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