AUTOMATIC CONTROL

1
Introduction

2
Introduction

3
Introduction

Goals:
 Stability: system maintains desired operating point (hold steady speed)
 Performance: system respond rapidly to changes (accelerate to 70mph)
 Robustness: system tolerates perturbations in dynamics (mass, drag, etc.)
4
Introduction
Feedback Control

5
Introduction
Feedback Control

6
Introduction
Feedback Control

7
Feedback Control

8
Feedback Control

Good transient response (rise time, overshoot)

Low steady-state error

Low sensitivity to modeling errors

Minimal effects of disturbances & noise

Stable

9
Controller Design Procedure

 Define performance specifications

 Identify constraints
 Model the plant
 Analyze the plant
 Design a controller
 Simulate using simple and complex model
 Evaluate performance and robustness
 Implement on actual system
 Evaluate performance and robustness
10
Controller Design Procedure

11
Performance Specifications

 Stability

 Low steady-state error

 Good transient response (rise time, overshoot, …)

 Low sensitivity to modeling uncertainty and plant variations

and noise

 Disturbance rejection
12