Control 4

 Dr. Henrik Gollee

 Mondays, 11am-12noon, Tuesdays 10-11am
 henrik.gollee@glasgow.ac.uk

 Dr. Yun Li
 Fridays 10-11am, 1-2pm
 yun.li@glasgow.ac.uk

 Moodle resources – Control 4

http://eng.moodle.gla.ac.uk/course/view.php?id=171
 Overview
Analysis of Feedback Control Systems
 Basic modelling and control principles
 Open and closed loop control
 Dynamic closed loop control: Sensitivity functions
 Closed loop stability and robustness
 Internal stability, Nyquist criterion, stability margins, stability
robustness
 Design Goals

Discrete time control

 Quantisation and sampling, Z-transform
 Discrete controller design
Analysis of Feedback Control
Systems
 Feedback Control System
reference throttle car
 P: the plant speed opening speed
vr vr-v Cruise u v
 C: the controller + - controller
Car

 F: a prefilter (for command

response shaping)

 y: controlled variable
 r: command (or reference) d
signal
 u: control signal r u y
F C P
-
n

 d: disturbance signal
 n: measurement noise
 Control Design Steps
 Specify scope of control problem and system to be controlled
 Establish type and placement of actuators, and thus specify
inputs that control the system
 Formulate a model of the dynamic behaviour, possibly
including an uncertainty description
 Establish type and placement of sensors, and thus specify
variables available for feedback or feedforward
 Formulate a model for disturbances and noise signals
 Specify class of command signals to be followed by certain
outputs
 Decide on functional structure and character of the
controller, considering its technical implementation
 Specify desirable or useful properties and qualities of the
control system
ABS control system
ABS control system

reference brake
wheel slip
wheel slip ABS torque
Car
+ - controller
ABS control system
ABS control system
ABS control system
 Design Issues
Targets
 Good command response Limitations
 Closed-loop stability  Plant capacity
 Disturbance attenuation  Measurement noise
 Robustness - despite
plant changes the
feedback system should d

maintain r u y
F C P
 stability -
n
 performance
 Summary
Themes
 Feedback
 Stability
 Robustness
 Performance
 Frequency response
 Loop shaping d

r u y
F C P
-
n

12
 Summary of Feedback
Benefits
 disturbance rejection
 robustness
 linearity improvement
 bandwidth improvement
13
Closed-loop Stability Required
Good tracking and disturbance
attenuation are retained as long
as
 closed-loop system remains
stable
 the gain remains high
Under these conditions high-gain
feedback implies robustness with
respect to loop uncertainty
 Pitfalls of High Gain Feedback
Potential problems
 naively making the gain large
can easily result in an
unstable feedback system
 even if feedback system is
stable, overly large plant
inputs may arise that exceed
the plant capacity
 measurement noise causes
loss of performance

14
A physical example of a differential equation
model: knee-joint control
 Example: identification and control of knee-joint angle
T10 paraplegic subject
Surface electrodes and sensors

sensors; control algorithms; actuators

Functional Electrical Stimulation (FES)
Pendulum control
 Balance Control System

torque angle
reference angle
Controller
+ -

external
disturbance
Balancing
 Control of Unsupported Standing
quiet standing with disturbance 800

pulse [s]
44years old male, complete T7/8, 4 years post injury 500

250

0
0 5 10 15 20 25 30 35

100

reference moment measured moment

moment [Nm]
80
60
40
20
0
-20
0 5 10 15 20 25 30 35

2
reference angle measured angle

angle [deg]
1.5

0.5

0
0 5 10 15 20 25 30 35

10
disturbance [Nm]

-5
0 5 10 15 20 25 30 35

time [sec]
 Balance Control System
external
disturbance

reference angle angle

ankle
torque
Controller
+ -