Historical Perspective
1940s and 1950s: Classical control era,
215461: Automatic Flight Control I
Lecture 1 Concept and review of
necessary tools
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Some Definitions
System: An aggregation or assemblage of
things, combined by nature or man so as to form
an integral and complex whole
System theory: The study of the interaction and
behavior to certain conditions of components
and inputs (most often concerned with physical
applications)
Control System: Any system that exists for the
purpose of controlling the flow of energy,
information, or any other quantity in a desired
fashion
- Regulation: maintain a certain value of output
- Tracking: follow some reference or desired
trajectory
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transfer function methods, e.g., Evans
root locus, Bode plots, Nyquist diagram.
1960s and 1970s: State equations or
state-space methods, optimal control
based on quadratic performance index.
1980s and 1990s: Merging of frequency-
domain and time-domain viewpoints, and
more
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Open-loop, Closed-loop, and Feedback Control
Miriam Webster:
System 1
the return to the input of a part of the
output of a machine, system, or
process (as for producing changes in
an electronic circuit that improve
performance or in an automatic
control device that provide self- System 2
corrective action) [1920]
Feedback = mutual interconnection
of two (or more) systems Terminology
ySystem 1 affects system 2
System 1 System 2 Closed
ySystem 2 affects system 1
Loop
yCause and effect is tricky;
systems are mutually dependent
Open
Feedback is ubiquitous in natural
and engineered systems
System 1 System 2 Loop
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Open-loop control example Open-loop control example
Idle-speed control system

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Open-loop control example Closed-loop control example

Elements of an open-loop control system Block diagram of a closed-loop idle-speed control system

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Example: Flyball Governor
Example:
Flyball Governor (1788) Balls fly out
as speed Solar collector field
Regulate speed of steam engine increases,
Reduce effects of variations in
load (disturbance rejection)
Major advance of industrial
revolution Valve closes,
slowing engine

Flyball Steam
governor engine

http://www.heeg.de/~roland/SteamEngine.html
Boulton-Watt steam engine
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Example:
Example:
Conceptual method of efficient water extraction using solar
Important components of the sun-tracking control system
power

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 Other Examples of Feedback Materials and Processing
Biological Systems Multi-scale, multi-disciplinary modeling and simulation
Physiological regulation Coupling between macro-scale actuation and micro-
scalephysics
Bio-molecular regulatory networks Models suitable for control analysis and design
Environmental Systems Increased use of in situ measurements
Global carbon cycle Many new sensors available that generate real-time data about
microstructural properties
Financial Systems
Markets and exchanges
Supply and service chains

ESE

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Space-borne telescopes FB Control = Sensing + Computation + Actuation

Challenging requirement In Feedback Loop
and specifications
Nanometric stability and
precision

Actuate Sense
Gas Pedal Vehicle Speed
IPEX-II Boom on
the ASTRO-SPAS

Compute
Control Law
Next Generation Space Telescope
and Space Interferometry Mission

Goals
Stability: system maintains desired operating point (hold steady speed)
Performance: system responds rapidly to changes (accelerate to 65 mph)
Truss with piezoelectric struts
Robustness: system tolerates perturbations in dynamics (mass, drag, etc)

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 Example: Insect Flight Control system components (1980s)
SENSING hind wing
gyroscopes
neural (halteres)
superposition
eyes

specialized
two wings
power
(di-ptera)
muscles

ACTUATION

More information:
y M. D. Dickinson, Solving the mystery of
COMPUTATION
insect flight, Scientific American, June
2001.
~500,000 neurons

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Control system architecture (2000+) Active control Methodologies

Black box methods Model-based methods

Example: Autonomous vehicles

Basic idea: learn by observation or training

Examples: auto-tuning regulators,
neural nets, fuzzy logic
Advantages:
No need for complex modeling or detailed
understanding of physics
Works well for controllers replacing
human experts
Disadvantages:
No formal tools for investigating
robustness and performance
Dont work well for high performance
systems with complicated dynamics
Use a detailed model (PDEs, ODEs) for
analysis/design
Examples: optimal regulators, feedback
linearization
Advantages:
Works well for highly coupled,
multivariable systems
Rigorous tools for investigating robustness
and performance (using models)
Disadvantages:
Tools available only for restricted class
of systems (e.g., linear, time-invariant)
Requires control-oriented physical
models; not always easy to obtain

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 Some early examples of automatic control Transportation and Aerospace
Themes Technology Areas
Autonomy Air traffic control, vehicle management
Real-time, global dynamic interconnectivity Mission/multi-vehicle management
Ultra-reliable systems; embedded software Command and control, human in the loop
Multi-disciplinary teams Ground traffic control (air & ground)
Modeling for control Automotive vehicle & engine control
Space vehicle clusters
Honeywell T86, 1953
Autonomous control for deep space travel

Scientific American, 1952

Entire issue devoted to
F-18 Aircraft, 1976
Automatic Control
Early fly-by-wire aircraft
Control of all things that are
Quadruple redundant,
self-regulating or capable of self-
digital system
regulation
Main principle: feedback control
will liberate man from the routine
tasks of mere survival
Chrysler AutoPilot, 1958
Introduced in the Chrysler Imperial
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Example: Cruise Control

Control Objectives disturbance

reference + Control + System

-
Robustness to Uncertainty Regulation of output in
- Feedback allows high performance in the the presence of
presence of uncertainty disturbances or noises
- Key idea: accurate sensing to compare Stability/performance
actual to desired, correction through Tracking time varying mv& = bv + uengine + uhill y Steady state velocity approaches
computation and actuation desired output desired velocity as k
uengine = k ( vdes v )
Design of Dynamics y Smooth response; no overshoot or
velocity oscillations
- Feedback allows the dynamics (behavior)
of a system to be modified vdes Disturbance rejection
- Example: stability augmentation for highly
k 1 y Effect of disturbances (hills)
agile, unstable aircraft vss = vdes + uhill approaches zero as k
- Key idea: interconnection gives closed- b+k b+k Robustness
loop that modifies natural behavior
1 as 0 as y Results dont depend on the specific
k k values of b, m, or k for k sufficiently
X29 : experimental aircraft large
time

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 Example: PID control
Three term controller
Present: feedback proportional to current
error
Past: feedback proportional to integral of
past error
-Insures that error eventual goes to 0
-Automatically adjusts setpoint of input
Future: derivative of the error
-Anticipate where we are going
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Analytical Modeling
Purpose of the
model
Define
boundaries
Postulate a structure which
mimics observed effects
Specify variables
of interest
Develop mathematical
description
Apply physical laws of
continuity and compatibility
Final form of
mathematical model
Analyze and compare
with the real world
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PID design
Choose gains: k, ki, kd to obtain the desired
behavior
Stability: solutions of the closed loop
dynamics should converge to eq. pt.
Performance: output of system, y, should
track reference
Robustness: stability & performance
properties should hold in face of disturbances
and plant uncertainty
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Modeling
Experimental Modeling
-Time-domain information
-Frequency-domain information
-Time series models:
autoregressive moving
average (ARMA) models
-System identification
methodologies
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To achieve these objectives, we must
1. Model the plant (mathematical description)
2. Analyze the characteristics of the plant
3. Design control algorithms (i.e. controllers)
4. Analyze performance and robustness of
the control system
5. Implement the controller
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Design of control systems
Definition of control
system function
Define control system
specifications and requirements
Develop control system
design concepts
Develop mathematical modeling
of system components
Evaluate performance
of control concepts
Does the concept meet the
specs. and requirements?
Preliminary design Detail design
Can the concept be improved
by system compensation?
Conceptual design
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 Classification of systems Linear Systems
Systems

Systems that follow the superposition principle:

y (t ) = f [u (t )]
Distributed parameter Lumped parameter

Stochastic Deterministic

For any set of input/output pairs:

y1 (t ) = f [u1 (t )] y2 (t ) = f [u2 (t )]
Continuous time Discrete time

Linear Nonlinear

Time invariant Time varying

And constraints: 1 2
Homogeneous Nonhomogeneous
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Linear Systems Laplace Transform

Define a new input:

u3 (t ) = 1u1 (t ) + 2u2 (t )
And corresponding output: f (t ) F ( s )
y3 (t ) = f [u3 (t )]
The system is linear IFF (if and only if):

y3 (t ) = 1 y1 (t ) + 2 y2 (t ) Inverse Laplace Transform

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 Laplace Transform: Review

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 Transfer Function
Recall: impulse response=output when the input is a unit-impulse function

Definition(Kuo,2003) : Transfer function of a

linear (time-invariant) system is the Laplace
transform of the impulse response with all initial
condition set to zero.
Definition:
Y (s)
G(s) =
U (s)
where Y(s) and U(s) is the Laplace transform of
the output and input respectively

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 Quiz 1
1) From an EoM :
d 2 y (t ) dy (t )
M 2
+b + ky (t ) = r (t ). Find Transfer Function.
dt dt
Initial condition y(0)=0; y(0)=0

2) Use Laplace transform to solve for y ( t ) if all initial

conditions are zero. Let u ( t ) be a unit step function.
d 2 y (t ) dy ( t )
a) 2
+ 12 + 32 y ( t ) = 32 u ( t )
dt dt
dy ( t )
b) + 2 y ( t ) = r ( t ), where r ( t ) = u ( t ).
dt
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