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ME451: Control Systems ME451: Control Systems
JongeunJongeun ChoiChoi, Ph.D., Ph.D.
Assistant ProfessorAssistant Professor
Department of Mechanical Engineering, Michigan State UniversityDepartment of Mechanical Engineering, Michigan State University
http://www.egr.msu.edu/classes/me451/jchoi/http://www.egr.msu.edu/classes/me451/jchoi/
http://http://www.egr.msu.eduwww.egr.msu.edu/jchoi/jchoi
[email protected]@egr.msu.edu
Course Information (Syllabus)Course Information (Syllabus)
Lecture: 2205 EB, Sections: 5, 6, 7, 8, MWF 12:40-1:30pm Class website: http://www.egr.msu.edu/classes/me451/jchoi/ Laboratory website: http://www.egr.msu.edu/classes/me451/radcliff/lab Class Instructor: Jongeun Choi, Assisntant Professor, 2459 EB, Email: [email protected] Office Hours of Dr. Choi: 2459 EB, MW 01:40-2:30pm, Extra hours by appointment only (via email) Laboratory Instructor: Professor C. J. Radcliffe, 2445 EB, Phone: (517)-355- Required Text: Feedback Control Systems, C. L. Phillips and R. D. Harbor, Prentice Hall, 4th edition, 2000, ISBN 0-13-949090-
Grading: Homework (15%), Exam 1 (15%), Exam 2 (15%), Final Exam(comprehensive) (30%), Laboratory work (25%)
Note Homework will be done in one week from the day it is assigned. 100% laboratory attendance and 75% marks in the laboratory reports will be required to pass the course. Laboratory groups for all sections will be posted on the door of 1532 EB.
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About Your InstructorAbout Your Instructor
Ph.D. (‘Ph.D. (‘06) in Mechanical Engineering, UC Berkeley06) in Mechanical Engineering, UC Berkeley
^ Major field: Controls, Minor fields: Dynamics, StatisticsMajor field: Controls, Minor fields: Dynamics, Statistics
M.S. (‘M.S. (‘02) in Mechanical Engineering, UC Berkeley02) in Mechanical Engineering, UC Berkeley
B.S. (‘B.S. (‘98) in Mechanical Design and Production Engineering,98) in Mechanical Design and Production Engineering, Yonsei University at Seoul, KoreaYonseiUniversity at Seoul, Korea
Research Interests:Research Interests: Adaptive, learning, distributed and robust control,Adaptive, learning, distributed and robust control, with applications to unsupervised competitive algorithms, selfwith applications tounsupervised competitive algorithms, self--organizingorganizing systems, distributed learning coordination algorithms for autonomoussystems, distributed learning coordination algorithms for autonomous vehicles, multiple robust controllers, and micro-vehicles, multiple robust controllers, and micro-electromechanicalelectromechanical systems (MEMS)systems (MEMS)
2459 EB, Phone: (517)2459 EB, Phone:(517)--432432--3164, Email:3164, Email: [email protected]@egr.msu.edu,, Website: http://www.egr.msu.eduWebsite: http://www.egr.msu.edu/~jchoi//~jchoi/
MotivationMotivation
A control systemAcontrol system is an interconnected system to manage,is an interconnected system to manage, command, direct or regulate some quantity of devices orcommand, direct or regulate some quantity of devices or systems.systems. ^ Some quantity: temperature, speed, distance, altitude, forceSome quantity: temperature, speed, distance, altitude, force
ApplicationsApplications
Heater, hard disk drives, CD playersHeater, hard disk drives, CD players Automobiles, airplane, space shuttleAutomobiles, airplane, space shuttle Robots, unmanned vehicles,Robots, unmanned vehicles,
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Feedback ControlFeedback Control
Compare actual behavior with desired behaviorCompare actual behavior with desired behavior Make corrections based on the error differenceMake corrections based on the error difference The sensorThesensor and theand the actuatoractuator are key elements of a feedback loopare key elements of a feedback loop Design control algorithmDesigncontrol algorithm
Plant
Sensor
Signal Input (^) Error (^) output
+
-
Actuator
Control
Algorithm
Common Control ObjectivesCommon Control Objectives
Regulation (regulator): maintain controlled output atRegulation (regulator): maintain controlled output at constantconstant setpoint despite disturbancessetpointdespite disturbances ^ Room temperature control,Room temperature control, ^ Cruise controlCruise control
Tracking (servomechanism): controlled output follows aTracking (servomechanism): controlled output follows a desireddesired time-time-varying trajectoryvarying trajectory despite disturbancesdespite disturbances Automatic landing aircraft,Automatic landing aircraft, Hard disk drive data track following controlHard disk drive data track following control
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Control ProblemControl Problem
Design Control AlgorithmDesign Control Algorithm
^ such that the closedsuch that the closed--loop system meets certain performanceloop system meets certain performance measures, and specificationsmeasures, and specifications
Performance measures in terms ofPerformance measures in terms of
^ Disturbance rejectionDisturbance rejection SteadySteady--state errorsstate errors Transient responseTransient response Sensitivity to parameter changes in the plantSensitivity to parameter changes in the plant ^ Stability of the closedStability of the closed--loop systemloop system
Why the Stability of the Dynamical System?Why the Stability of the Dynamical System?
Engineers are not artists:Engineers are not artists:
^ Code of ethics, ResponsibilityCode of ethics, Responsibility
^ Otherwise, Tacoma NarrowsOtherwise,Tacoma Narrows Bridge: Nov. 7, 1940Bridge:Nov. 7, 1940
Wind-induced vibrations
Catastrophe
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Convolution Integral with ImpulseConvolution Integral with Impulse
Input signal u(tInput signalu(t))
Output Signal of a Linear SystemOutput Signal of a Linear System
Input signalInput signal
Output signalOutput signal
Superposition!Superposition!
def:def: impulse responseimpulse response
def:def: convolutionconvolution
def:def: causalitycausality
