6.

003: Signals and Systems

6.003: Signals and Systems
CT Feedback and Control

Lecture 13
Feedback and Control

March 18, 2010

Feedback: simple, elegant, and robust framework for control.

E
controller

C
plant

S
sensor

We started with robotic driving.

di = desiredFront do = distanceFront March 18, 2010

Feedback and Control

Using feedback to enhance performance. Examples: improve performance of an op amp circuit. control position of a motor. reduce sensitivity to unwanted parameter variation. reduce distortions. stabilize unstable systems magnetic levitation inverted pendulum

Feedback and Control

Reducing sensitivity to unwanted parameter variation. Example: power amplier power amplier MP3 player F0 8 < F0 < 12 speaker

Changes in F0 (due to changes in temperature, for example) lead to undesired changes in sound level.

Feedback and Control

Feedback can be used to compensate for parameter variation. power amplier MP3 player X + K F0 8 < F0 < 12 Y speaker

Feedback and Control

Feedback reduces the change in gain due to change in F0 . MP3 player X + 100 F0 8 < F0 < 12
1 10

20 Gain to Speaker F0 (no feedback) 10 8 < F0 < 12 0 0 10 20 F0 100F0 (feedback) 1 + 100F0 10

KF0 H(s) = 1 + KF0 If K is made large, so that KF0 1 H(s) independent of K or F0 ! 1, then

6.003: Signals and Systems

Check Yourself
power amplier MP3 player X + K F0 8 < F0 < 12 Feedback greatly reduces sensitivity to variations in K or F0 . KF0 1 lim H(s) = 1 + KF0 K What about variations in ? Arent those important? Y speaker

Lecture 13
Crossover Distortion

March 18, 2010

Feedback can compensate for parameter variation even when the variation occurs rapidly. Example: using transistors to amplify power. +50V

MP3 player speaker 50V

Crossover Distortion
This circuit introduces crossover distortion. For the upper transistor to conduct, Vi Vo > VT . For the lower transistor to conduct, Vi Vo < VT . +50V Vo

Crossover Distortion
Crossover distortion can have dramatic eects. Example: crossover distortion when the input is Vi (t) = B sin(0 t). +50V Vo (t)

Vi

Vo

VT VT

Vi Vi 50V

Vo

50V

Crossover Distortion
Feedback can reduce the eects of crossover distortion. +50V

Crossover Distortion
As K increases, feedback reduces crossover distortion. +50V Vo (t)

K=4

MP3 player

K Vi speaker 50V

Vo

50V

6.003: Signals and Systems

Crossover Distortion
Demo original no feedback K=2 K=4 K=8 K = 16 original
+50V

Lecture 13
Feedback and Control
Using feedback to enhance performance. Examples:

March 18, 2010

Vi

Vo

50V Vo (t)

improve performance of an op amp circuit. control position of a motor. reduce sensitivity to unwanted parameter variation. reduce distortions. stabilize unstable systems magnetic levitation inverted pendulum

J.S. Bach, Sonata No. 1 in G minor Mvmt. IV. Presto Nathan Milstein, violin

Control of Unstable Systems

Feedback is useful for controlling unstable systems. Example: Magnetic levitation.

Control of Unstable Systems

Magnetic levitation is unstable.

i(t) = io i(t) = io fm (t) y(t) y(t) Mg Equilibrium (y = 0): magnetic force fm (t) is equal to the weight M g. Increase y increased force further increases y. Decrease y decreased force further decreases y. Positive feedback!

Modeling Magnetic Levitation

The magnet generates a force that depends on the distance y(t). i(t) = io fm (t) y(t) Mg

Modeling Magnetic Levitation

The net force accelerates the mass. i(t) = io fm (t) y(t) Mg fm (t) M g = f (t) = M a = M y (t) i(t) = i0 y(t) magnet f (t)
1 M

fm (t)

y(t)

Mg y(t)

6.003: Signals and Systems

Modeling Magnetic Levitation
Over small distances, magnetic force grows linearly with distance. f (t) i(t) = i0 Mg y(t) f (t)

Lecture 13
Levitation with a Spring

March 18, 2010

Relation between force and distance for a spring is opposite in sign. F = K x(t) y(t) = M y (t) x(t)

y(t) f (t)

y(t)

magnet

1 M

y(t) Mg K y(t)

Modeling Magnetic Levitation

Over small distances, magnetic force nearly proportional to distance. f (t) i(t) = i0 Mg K

Block Diagrams
Block diagrams for magnetic levitation and spring/mass are similar. Spring and mass F = K x(t) y(t) = M y (t) x(t) y(t) + K M y (t) A y (t) A y(t)

f (t) Ky(t) y(t) K f (t)

1 M

Magnetic levitation A A y(t) F = Ky(t) = M y (t) x(t) = 0 + + K M y (t) A y (t) A y(t)

Check Yourself

Magnetic Levitation is Unstable

i(t) = io fm (t) y(t) y (t) A y(t) A y(t) f (t) Mg y(t) magnet
1 M

How do the poles of these two systems dier? Spring and mass F = K x(t) y(t) = M y (t) x(t) + K M

Magnetic levitation F = Ky(t) = M y (t) x(t) = 0 + + K M y (t) A y(t) A y(t)

y(t)

6.003: Signals and Systems

Magnetic Levitation
We can stabilize this system by adding an additional feedback loop to control i(t). f (t)

Lecture 13
Stabilizing Magnetic Levitation

March 18, 2010

Stabilize magnetic levitation by controlling the magnet current.

i(t) = io i(t) = 1.1i0 i(t) = i0 Mg i(t) = 0.9i0 Mg i(t) f (t)

1 M

fm (t) y(t)

y(t)

y(t)

magnet

y(t)

Stabilizing Magnetic Levitation

Stabilize magnetic levitation by controlling the magnet current.

Magnetic Levitation
Increasing K2 moves poles toward the origin and then onto j axis. x(t) +
KK2 M

y (t)

i(t) = io fm (t) y(t) Mg fi (t) + fo (t)

1 M

y(t)

y(t)

s-plane

K2 A K But the poles are still marginally stable. A y(t)

Magnetic Levitation
Adding a zero makes the poles stable for suciently large K2 . x(t) +
KK2 M

Inverted Pendulum
As a nal example of stabilizing an unstable system, consider an inverted pendulum. d2 x(t) dt2

(s + z0 )

y (t)

y(t)

y(t) (t) m mg x(t)

(t) l mg

s-plane

lab frame (inertial)

cart frame (non-inertial)

d2 (t) d2 x(t) mg l l ml2 dt2 = sin (t) m dt2 cos (t)

I force distance

Try it: Demo [designed by Prof. James Roberge].

force

distance

6.003: Signals and Systems

Check Yourself: Inverted Pendulum

Lecture 13
Inverted Pendulum

March 18, 2010

This unstable system can be stablized with feedback. Where are the poles of this system? d2 x(t) dt2

(t) l mg x(t)

d2 x(t) dt2

(t) (t) l mg l mg x(t)

(t) l mg

ml2

d2 (t) d2 x(t) = mgl sin (t) m l cos (t) dt2 dt2

Try it. Demo. [originally designed by Marcel Gaudreau]

Feedback and Control

Using feedback to enhance performance. Examples: improve performance of an op amp circuit. control position of a motor. reduce sensitivity to unwanted parameter variation. reduce distortions. stabilize unstable systems magnetic levitation inverted pendulum

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6.003 Signals and Systems

Spring 2010

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