MIE404: Control Systems

Lecture 1 – Part ICourse Overview

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Instructor

Amy BiltonAssistant Professor Director – Water and Energy Research Lab

Previous:Controls Engineer at Pratt & Whitney and Honeywell Aerospace

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Instructor – Research Background

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Binary Mirror Systems Water Systems for Remote Communities

Sensing and Control for Space Robotics

Sensing for Ocean Observations

Robotic Mobility Aids for Elderly

Sustainable SystemsFor Aquaculture

Instructor – Office Hours

• Available for questions• Immediately following lecture• During scheduled office hours

• Wednesday 5-6pm – MC311

• Please feel free to ask!

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Instructor – Classroom Policy

• At the University of Toronto, we are teaching you both technical and professional engineering skills.

• Being attentive and timely are part of those skills.• Talking and entering late are distracting for other

students.• My Policy

• Class starts promptly at 10 minutes after the hour.• Latecomers - enter quietly and quickly find seat.

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Introductions

TA Team

Tutorial TA Edem Dovlo – edovlo@mie.utoronto.ca

Lab TA Amro Ibrahim – am.ibrahim@mail.utoronto.ca

Lab TA Chi-Hang Kwan – chihang.kwan@mail.utoronto.ca

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Course Content

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System Modeling

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Dynamics and Stability

System Control

Control System Examples• Fully Mechanical Systems – Flyball Governor

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[1]

Control System Examples

• Segway

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[2]

Control System Examples• Robotics

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[3]

Control System Examples• Solar Concentrators

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[4]

Learning Objectives• By the end of this class you will be able to:

• Develop dynamic models for basic linear systems.

• Understand the concepts of system stability and dynamic response.

• Able to apply tools such as root locus, Bode diagrams, and Nyquist diagrams to analyze system stability and design control laws.

• Synthesize control laws to achieve desired stability and dynamic response criteria.

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How to achieve these learning objectives ?

Control Systems – Course Components

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Tutorials

Readings

TestsClass Project

Labs1 - 5

Lectures

ControlSystems

Labs

- Start the week of Sept 21.- 5 labs conducted throughout the semester.- Signup online to specify preference of weeks.http://goo.gl/forms/0PouxNLsiv

- Attendance is required!- Reports to be handed in via turnitin.com by Sunday

following lab activity.

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Lectures

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Tuesdays 3-4 pm – MC102Thursdays 3-5pm – MC102

Lecture notes will posted before each lecture.Outline is present, examples will be filled in during lecture.

Lecture schedule in syllabus.

Part 1:System ModelingPart 2:System Dynamics and StabilityPart 3:Control Design Using Root Locus and Frequency-

Response TechniquesPart 4:State Space Representation

Tutorials

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Section 1 - Tuesday 1-3pm HA403 Section 2 - Friday 2-4pm HA403

Attend the assigned tutorial session due to space limitations.

Sample problems will be overviewed by teaching assistant and additional instruction will be provided in required areas.

Readings

GF Franklin, JD Powell, A Emami-Naeini. Feedback Control of Dynamic Systems, 7th edition- Available at the bookstore.- Reference for lectures.- Sample problems in

tutorials.

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Tests• Mid-term and final exam will be open lecture notes

and textbook. No other material will be allowed.

• Tentative Midterm Date: Thursday, Oct 29• Time – 90 minutes

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Project• Conducted in teams of 2-3 students.

• Will involve modeling, analysis, and control design for a dynamic system.

• Project description to be handed out at mid-point of the semester.

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Grading

Labs 10%Mid-Term Test 25% Project 15% Final Exam 50%

Total 100%

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MIE404: Control Systems

Lecture 1 – Part IIIntroduction to Control Systems

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Control Systems - Definitions• System

• Control System

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Parts of a Control System• Example Control System – Parabolic Dish Solar

Collector

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[4]

Parts of a Control System• Example Control System – Sun Tracking Heliostat

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[5]

Open Loop Control• Definition:

• Example:

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[5]

Closed Loop Control• Definition:

• Example:

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Feedback Control

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[5]

Types of Controllers

• Regulators• Controlled output is held as close as possible to a

constant desired value

• Servo-mechanisms • Controlled output is made to track a varying input as

closely as possible

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Why Use Feedback?

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First Look at Feedback • Vehicle Speed Control

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[5]

First Look at Feedback• Vehicle Speed Control – Open Loop

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10

0.5

Road Grade w

Output Speed y

Control Input u

+

-

K

Plant

Controller

Referencer

First Look at Feedback• Vehicle Speed Control – Closed Loop

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10

0.5

Road Grade - w

Output Speed y

Control Input u

+

-

K

Plant

ControllerReferencer +

-

First Look at Feedback• Vehicle Speed Control – Closed Loop

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Objectives of Control Engineers

• Selection and arrangement of control system components to achieve a desired performance.

• Starts with a development of simple models of the system.

• Analysis of the system properties.

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Review

• Take Away

• Next Lecture

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References

[1] http://kids.britannica.com/comptons/art-167033/The-flyball-governor-is-an-early-automatic-control-system-for[2] http://www.ubergizmo.com/2015/04/china-based-company-ninebot-acquires-segway/[3] https://illumin.usc.edu/162/the-quadrotors-coming-of-age/[4] NREL, “Estimating the Performance and Economic Value of Multiple Concentrating Solar Power Technologies in a Production Cost Model”, 2013. Available: http://www.nrel.gov/docs/fy14osti/58645.pdf[5] R. Ben Mrad, “MIE404 Notes – Fall 2014”, 2014.

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