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What is control?
Es la accin o el efecto de poder decidir sobre el
desarrollo de un proceso o sistema. Tambin se puede
entender como la forma de manipular ciertas variables
para conseguir que ellas u otras variables acten en la
forma deseada.
J. C. Maxwell (1868)
the first systematic study of the stability of feedback control
E. J. Routh (1877)
deriving stability criterion for linear systems
A. M. Lyapunov (1892)
deriving stability criterion that can be applied to both linear and
nonlinear differential equations
results not introduced in control literature until about 1958
W. R. Evans (1948)
root-locus method
Controlled Variable
Expected Value
Controller
Actuator
Sensor
Disturbance
Expected
value
Controller
e
-
Controller
Actuator
Error
Disturbance
Plant
y
Controlled
variable
Sensor
comparison component
(comparison point) :
its output equals the
algebraic sum of all input
signals.
+: plus; -: minus
lead-out point:
Here, the signal is
transferred along
two separate routes.
Open-loop control
Closed-loop control
Composition
control
Control
signal
PLANT
System
output
Traffic signals
Note that any control systems that
operates on a time basis are openloop.
Control
signal
Error
CONTROLLER
System
output
PLANT
Controller
Lever
q1(t)
water
piston
h (t )
lever
float
h0
h(t)
Actuator
Piston
q1 (t )
Plant
Water
Tank
h (t )
threshold
q2(t)
Float
Sensor
Disturbance
Desired
velocity vdes
Reference
input
Error
Calculation
element
Controller
Control
signal
Engine
ueng
Actuator
Sensor
Speedometer
Measured
velocity
Auto
Plant
Actual
velocity v
Controlled
variable
Desired
course of
travel
+
Error
Driver
Steering
Mechanism
Measurement, visual
Time response:
Automobile
Actual
course of
travel
Position Control
Specification:
Speed of disk:
1800 rpm to 7200 rpm
Distance head-disk:
Less than 100nm
Position accuracy:
1 m
Move the head from
track a to track b
within 50ms
Human Body
Temperature
Eyes
Follow moving objects
Hands
Pick up an object and place it at a
predetermined location
Pancreas
Easy to regulate
Closed-loop control
Ability to correct error
High accuracy and
resistance of disturbance
Complex structure,
high cost
Selecting parameter is critical
(may cause stability problem)
Constant-value
control
the reference input (expected
value) is a constant value
the controller works to keep the
output around the constant value
e.g. constant-temperature
control, liquid level control and
constant-pressure control.
Servo/tracking
control
Programming
control
f ( x1 ) y1
f ( x2 ) y2
superposition principle
f ( x1 x2 ) f ( x1 ) f ( x2 ) y1 y2
superposition principle applies
described by linear differential
equation
Continuous
control system
Discrete
control system
Time-invariant
system
Time-varying
system
Note
For a control system, the above three
performance indices (stability, quickness,
accuracy) are sometimes contradictory.