Introduction

OBJECTIVES: Terminology Definitions: system elements and block diagrams Automatic control

Definitions: Controls
Control: the critical process of making a variable or system of variables conform to what is desired. For example, control in aeronautics refers to the apparatus used to control the speed, direction of flight, altitude, and power of an aircraft. Automation: a technology which uses programmed commands, to operate a given process, combined with feedback information, to determine that the commands have been properly executed.

Controller

Inputs

System

Outputs

Disturbances
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Definitions: System Elements

The parameters scale the process' response to inputs and its own motions in the dynamic process, the observation, or both. The inputs that act on the system and can be controlled are in the control vector, and those that are beyond are control are disturbances. The state represents the dynamic condition of the process, including its response to inputs and initial conditions. The output can contain non or all of the preceeding elements or their transformations, depending on the process instrumentation, and consists of the variables that can be observed in the process.

Since there usually is an error associated with the measurements, the observations are a combination of the output and the error.
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Notation: System Elements

Block Diagram
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Automatic Control
In an open-loop control system the control action is independent of the output. This is the least complex of all control devices. In a closed-loop or feedback control system knowledge of the output is fed back to the control system to decide on the appropriate control input. Approaches: Classical control Modern control Post-modern control, and intelligent systems

Classical Control Approach

Classical control had its beginnings in the late 1930s. A major feature of this approach is the adaptability to simple graphical procedures, which was particularly important during this time period because computers were not yet available. Methods: frequency response, root locus, transfer function, and Laplace transforms.
[Nelson, 1998]

Emphasis: linear time-invariant systems, scalar input/output, frequency domain, steady-state behavior, stability margins. Enabling technologies: analog computers (-1950), sensors and actuators.
[Stengel, 1998]
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Modern Control Approach

Modern control has developed since the 1960s. It has gained popularity with the advent of the digital computer that has made these more intuitive methods efficient.
Methods: linear-quadratic regulator, Kalman filter, optimal trajectory, H/ synthesis. Emphasis: time domain, multivariable systems, automated analysis and design. Post-modern control

Methods: fuzzy control, neural networks, expert systems, numerical search, probabilistic design, ..
Emphasis: nonlinear time-varying systems, performance, decision making, adaptation, failure tolerance.
[Stengel, 1998]
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Intelligent Systems
Intelligence: the ability involved in calculating, reasoning, perceiving relationships and analogies, learning quickly, storing and retrieving information, classifying, generalizing, and adjusting to new situations. Intelligent control system: a controller with the ability to comprehend, reason, and learn about processes (dynamic systems), disturbances, and operating conditions. A view of intelligent control: general purpose control systems that learn over time how to achieve goals (optimize) in complex, nonlinear environments whose dynamics must ultimately be learned on line. Intelligent functions: plan actions, learn from past experience, identify changes, react to unforeseen situations, improves performance over time.
[Harris,

[mstrm,

New Columbia Encyclopedia, 1975] in Handbook of Intelligent Control, 1992]

Learning and Automation

(Human) tasks we may wish to automate and might benefit from learning are, Control Routing Identification Scheduling Planning ...

Supervised Learning:

Reinforcement Learning: