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AUTOMATIC CONTROL

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Introduction

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Introduction

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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.)
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Introduction
Feedback Control

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Introduction
Feedback Control

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Introduction
Feedback Control

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Feedback Control

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Feedback Control

Good transient response (rise time, overshoot)

Low steady-state error

Low sensitivity to modeling errors

Minimal effects of disturbances & noise

Stable

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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
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Controller Design Procedure

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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
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