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MAAE 4500
Feedback Control Systems
Professors Nitzsche and Ahmadi
Mechanical and Aerospace Engineering
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Course Information
• Textbook:
– Text Book: Modern Control Engineering (5th Edition)
by Katsuhiko Ogata. Prentice Hall, Upper Saddle
River, New Jersey (available in the bookstore)
– Additional Reference: Control Systems Engineering
(6th Edition) by Norman Nise, Wiley 2010
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MAAE4500: Feeback Control 3
Course Information
Understand how the dynamic systems behave
Define the desired behaviour: using performance
criteria for controlled system
Learn how to design controllers to achieve the
desired behaviour
Note: we do the above in time domain or frequency
domain
What we learn in this course:
Motivation: Systems do not behave exactly as we expect and
we need to control them to obtain the desired behaviour
MAAE4500: Feeback Control 4
Course Information
Course communication: all through CU Learn
There are no notes for this course. If any further
material is used outside the suggested text, then some
notes will be posted
Evaluation: Final 60%
2 Quizzes 40%
Total 100%
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MATLAB
MATLAB is an important tool in controls
engineering (with several toolboxes).
MATLAB with “Controls Toolbox” license is
available at Carleton undergraduate labs.
Textbook examples and sssignments will
require MATLAB
MATLAB is not required for evaluation
(Quizzes or Final)
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Assignments
Will consist of written problems.
Posted online about a week before the due dates.
Should do the assignments on your own to succeed.
Answers will be posted after the due dates.
Some assignments are hands on and would require
knowledge of Matlab (in general good tools to know in
the future).
Extra suggested problems may be posted.
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Quizzes
Will consist of written problems
Quiz 1: in October (date TBD)
Quiz 2: in November (date TBD)
Closed book with formula sheet and calculators
are allowed
Material: all material covered up to one lecture
before the Quiz date
MAAE4500: Feeback Control 8
Final Exam
University scheduled
– Closed-book and calculators allowed
– The final examination is for evaluation purposes
only and will NOT be returned to the student
– Material covered: All
– Exam and the Quizzez may contain both written
and multiple choice questions
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MAAE4500: Feeback Control 9
Lecturers & TA Office Hours
Section A: Loeb C164, WF 16:00 – 17:30
Prof. Mojtaba Ahmadi (6208 CB)
Phone: 613 520-2600 ext. 4057
Email: mojtaba.ahmadi@carleton.ca
Section B: Azrieli Theatre 101, TR 14:30 – 16:00
Prof. Fred Nitzsche (6214D VSIM)
Phone: 613 520-2600 ext. 5660
Email: fred.nitzsche@carleton.ca
Sections A and B lectures and evaluations are the same:
MAAE4500: Feeback Control 10
Lectures
Mainly use the blackboard, occasionally slides
Attendance is very important
Follow book chapters according to the schedule
Key to success: distribution of your work load over the term (complete the assignments)
Only occasionally may post lecture materials in addition to the text book.
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Other Notes
Students that require any accommodation
should do so early on during the term (2
weeks into the term). Please read the
statement on the outline. Students that need
to register with PMC, please do so as soon as
possible.
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Chapter 1
Introduction
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Speed Control System
(James Watt, 1769)
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Water-level Float Regulator
(I. Polzunov, Russia, 1765)
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Control Systems Development
Closed-loop Control Example
16
• How do we control the position of a mass?
• Dynamic behavior and governing equations?
• Feedback: Sensor, actuator, control law?
• Control law selection and its impact on the
dynamic behavior?
F M
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MAAE4500: Feeback Control 17
Closed- and Open-loop Systems
• Closed-loop or feedback control systems
– A system that maintains a prescribed relationship
between the output and a reference input signal in
the presence of disturbances
– A control signal is generated by the controller and
added to the disturbances to correct the system
response
• Open-loop systems
– Systems for which the output signal has no effect
on the control signal
Closed-loop Control Example
18
• Controlling a modern elevator
• Actuator?
• Sensor?
• Dynamic equations / behavior?
• Disturbance / Disturbance Rejection
• Control law selection and its impact on the
dynamic behavior? F
M
Mg
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Closed- and Open-loop Systems
Feedback control’s three elements:
Sensors, Actuators, Control law (implementation options)
Feedback structure:
Plant Control
Sensor
r e (error) u (input)
d (disturbance)
y (output)
(measurement noise)
Ref.
input
v y = Controlled variable
u= manipulated variable
Control Objectives
• Output, y, should follow the input r or:
• y(t) / r(t) 1 as t ∞
• Equivalently, error should converge to zero:
• e(t) 0 as t ∞
• The output, y, should be least affected by disturbance d:
• (y/d) 0 as t ∞
• The output, y, should be least affected by measurement
noise, v:
• (y/v) 0 as t ∞
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Closed- and Open-loop Systems
Open Loop control has:
– Simpler implementation
– Lower cost
– No stability issue
– Convenience with hard-to-measure outputs
But has issues:
– Prone to errors in the presence of disturbance
– Prone to system parameter uncertainty
Therefore:
– Mostly feedback control is used
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Example: Closed-loop (“Human Feedback”) Control
input output
controller actuator plant/process
sensors
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Closed-loop (“Automatic Feedback”) Control
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Mechatronic Examples
Embedded computer to execute control tasks
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Structure of Computer-Controlled Systems
Mechanical System To be controlled
Sensors Actuators
Signal Conditioning
A/D, Filter
Signal Conditioning
D/A, Amp.
Digital Controller (computer)
Control Algorithm
Input Devices
User Interface
user
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Examples
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Examples
Legged robots: multiple joint control and balance
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Research example: Robotic Welding
• Nonlinear process
• Adaptive control
• Multiple control loops:
position, force, speed,
temperature, etc.
Robot force and position control for welding of
composites (Carleton-NRC)
15
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Research: Robot for Wind Tunnel (CTS)
• Multiple control loops
• Aerodynamic disturbance
Robot Manipulators optimal planning and control
Carleton-NRC
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Research examples from (ABL Lab)
Advanced Biomechatronics and Locomotion Lab
Bipedal walking and human postural stability
Learning controllers
Nonlinear control
ABL-B1: simulation
and design
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Research examples from (ABL Lab)
Advanced Biomechatronics and Locomotion Lab
Bipedal walking and human postural stability
Learning controllers
Nonlinear control
ABL-B1: Completed
and control being
implemented
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Research examples from (ABL Lab)
Advanced Biomechatronics and Locomotion Lab
Virtual Gait Retraining – Rehabilitation (ViGR)
• Human-robot interaction
• Force controlled systems
• Design for control
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Research examples from (ABL Lab)
Advanced Biomechatronics and Locomotion Lab
Intelligent Assistive Devices
• Assist-as-needed control for enhanced rehabilitation
• Human-robot interaction control
• Muscle signal processing
GaitEnable System (GE)
■ GaitEnable – User interaction
– Nonlinear control, stability issues
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Research examples from (ABL Lab)
Advanced Biomechatronics and Locomotion Lab
Notes :
• Don’t miss the opportunity to apply for OGS and
NSERC Scholarships (usually due in Fall).
• We are always looking for good graduate students
MAAE4500: Feeback Control 36
Control Theory
Introduction to Control Systems
The Laplace Transform (Review)
Mathematical Modeling of Dynamic Systems
Root-Locus Analysis
Control Systems Design by the Root-Locus Method
PID Controls
Frequency Response and Analysis of Systems (Some Review)
Control System Design in Frequency Domain
Contents: Classical Control Theory (this course)
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Control Theory
State space modeling and control
Nonlinear control theory
Identification and adaptive control
Robust control
Optimal control
Digital control
Estimation
...
Contents: Modern control theory (after this course)
MAAE4500: Feeback Control 38
• Review your past material on systems including
Laplace Transforms and related theorems. This is
very important.
• Review the feedback control concept by trying to
find a few real-life problems. Devise it into elements
involved in a control system. You should be able to find
numerous examples.
Till your next lecture:
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