CHAPTER 1 Comparison of Control System

Outline Comparison between modern and classical control and requirement of modern control techniques. Learning Outcome Able to differentiate between classical and modern control and its importance

RZAR/MKH/KEE/UPM/EEE4404

Youtube intelligent home http://www.youtube.com/watch?v=48TFYpZQJpM&feature=related 3D Face - Face Reader - Access Control - Live http://www.youtube.com/watch?v=OAk_L_SesQQ&feature=related http://www.youtube.com/watch?v=cP035M_w82s&feature=related
This video shows the evolution of coordinated behavior of simulated robot soccer players. In the simulation, each soccer player is controlled by a neural network. The neural networks are evolved using an evolutionary algorithm, so generation after generation the strategy improves. Artificial Intelligence is evolving 10 million times faster than the human brain! Humanoid Talking Robot A team of scientists funded by the US Defense Advanced Research Projects Agency (DARPA) have implanted miniature neural and muscle stimulation systems into beetles to enable their flight to be remotely controlled.

http://www.youtube.com/watch?v=D21TF1WeNfM&feature=related

http://www.youtube.com/watch?v=IhVu2hxm07E&feature=related http://www.youtube.com/watch?v=_i-_1QdY2Zc&feature=related

Motivation of Control Design

Objectives

Terminology of Control

Control System
CLASSICAL CONTROL MODERN CONTROL

Ex: Bode Diagram Nyquist Diagram Root Locus Compensating Networks PID Controller Nichols

Ex: Optimal Control Digital Control System Identification Adaptive Control Robust Control Fuzzy Control Neural Control

Review of Classical Control Theory

Transfer function representation of dynamic systems
R(s) (i/p) G(s) Y(s) (o/p)

Y (s) G (s) = R( s)

A dynamic system can have different transfer functions. Transfer functions are independent of inputs and initial conditions

Review of Classical Control Theory (cont)

Control system classification
Open-loop control system
Open-loop control is used when the model is accurate and/or the performance requirement are not stringent. Example: washing machines, toaster, traffic lights

Closed-loop control systems (feedback control systems)

Advantages: disturbance rejection, reduction of effects of uncertain dynamic, improvement of system performance (stability, transient and steady-state response)

Review of Classical Control Theory (cont)

Analysis tools:Laplace transform Block diagram

Commonly used control laws:PID control Lead and lag compensation

Review of Classical Control Theory (cont)

Performance Evaluation:Transient response analysis (impulse, step & ramp response) 2nd-order systems (maximum overshoot, settling time, rise time) Steady-state error analysis (ess) Stability analysis (Rouths criterion, root locus, Nyquist criterion)

Review of Classical Control Theory (cont)

Controller design tools
Root locus Frequency response (bode diagrams, polar plots) Nyquist criterion Gain and phase margin (bode diagram)

Difficulties in Control
Multivariable plants (MIMO) much more difficult to control than single-input-singleoutput (SISO) plants. Noise disturbances and errors in system modeling need robust control laws Time-varying parameters need adaptive control

Difficulties in Control (cont)

Nonlinearities (backlash, dead zone, friction in mechanical systems) need nonlinear controls Data sampling in control implementation on computers need digital controls Distributed parameters which is an infinite-state (or infinite dimensional system)

Comparison of Classical and Modern Control Theories

Classical Control Theory Modern Control Theory
Dynamic system Linear time-invariant Linear time-invariant Linear time-varying Nonlinear Multi-input-multi-output (MIMO) State-space form Mainly time domain and frequency domain Matrix theory Linear algebra Space and operator theories Output feedback State feedback LQR Pole assignment

Input/outputs Representations Domain of analysis Mathematical tools

Single-input-single output (SISO) Transfer function Frequency domain 9s-domain) Laplace transform Complex analysis Output feedback PID controls Lead/lag compensation

Feedback Typical control laws

Intelligent Control
The term INTELLIGENT CONTROL has a more general meaning and addresses more general control problems. That is, it may to systems which cannot be adequately described by a differential/ difference equations framework but require other mathematical models, as for example, discrete event system models.

Intelligent Control (cont)

More often, it treats control problems, where a qualitative model is available and the control strategy is formulated and executed on the basis of a set of linguistic rules. Intelligent control may be used to denote a control technique that can be carried out using the intelligent of a human who are knowledgeable in the particular domain of control. If a human in the control loop can properly control a plant, then that system would be good candidate for intelligent control.

Intelligent Control (cont)

Intelligent control seeks to achieve good performance in machines, industrial processes, consumer products, and other systems, by using control approaches that, in a loose sense, tend to mimic direct control by experienced humans. Information abstraction and knowledge-based decision making that incorporate abstracted information, are considered important in intelligent control.

Intelligent Control (cont)

Intelligent control techniques possess capabilities of effectively dealing with incomplete information concerning the plant and its environment, and unexpected or unfamiliar conditions. Many of these techniques can learn, adapt to compensate for parameter changes and disturbances, and are able to provide satisfactory control even in incompletely-known and unfamiliar situations.

Intelligent Control (cont)

Overall, intelligent control technique can be applied to ordinary systems and more important to systems whose complexity defies conventional control methods. There are three basic approaches to intelligent control: fuzzy logic neural networks evolutionary computation : GA and GP

INTELLIGENT CONTROL TECHNIQUES

FUZZY LOGIC representing human knowledge in a specific domain of application and reasoning with that knowledge to make useful inferences of actions

INTELLIGENT CONTROL TECHNIQUES (cont)

NEURAL NETWORKS massively connected networks that can be trained to represent complex nonlinear functions at a high level of accuracy. analogous to the neuron structure in a human brain

INTELLIGENT CONTROL TECHNIQUES (cont)

EVOLUTIONARY COMPUTATION
GENETIC ALGORITHMS (GA) optimization techniques that can evolve through procedures analogous to human evolution, where natural selection, crossover, and mutation are central GENETIC PROGRAMMING (GP) symbolic-based nonlinear optimization computationally simulated the evolution process by applying fitness-based selection and genetic operators to a population of parse trees of a given programming language.

INTELLIGENT ADAPTIVE CONTROL

Adaptive Control Is used to denote a class of control techniques where the parameters of the controller are changed (adapted) during control, utilizing observations on the plant (i.e. with sensory feedback), to compensate for parameter changes, other disturbances, and unknown factors of the plant.

INTELLIGENT ADAPTIVE CONTROL (cont)

Intelligent Control + Adaptive Control (Intelligent Adaptive Control) the techniques that rely on intelligent control for proper operation of a plant, particularly in the presence of parameter changes and unknown disturbances.