ESE406/505-MEAM513: Lecture 1 Introduction to Feedback and Control

Ali Jadbabaie January 11, 2005 Goals: Give an overview of the course; describe course structure, administration Define feedback/control systems and learn how to recognize main features Describe what control systems do and the primary principles of control Reading (available on course web page): Astrom and Murray, Analysis and Design of Feedback Systems, Ch 1 For the Spy in the Sky, New Eyes, NY Times, June 2002.

Course Administration
Announcements : First class is on Tuesday January 13th 2004 in Towne 313 from 12:00-1:30pm.

Course Description: This course is an introduction to analysis and design of feedback control systems, including classical control theory in the time and frequency domain. Modeling of physical, biological and information systems using linear and nonlinear differential equations. Stability and performance of interconnected systems, including use of block diagrams, Bode plots, Nyquist criterion, and Design of feedback controllers. Suggested pre-requisites: Basic course on ordinary differential equations and linear algebra. For Systems Engineering Students: knowledge of ESE 210 (SYS 200) material. For EE students: Knowledge of signals and systems (ESE 325) Instructor: Ali Jadbabaie , jadbabai@seas.upenn.edu , Office hours : Wednesdays 2:00-4:00pm, 365 GRW Moore bldg.
Lectures: T- TR 12:00-1:30pm, Towne 313. Textbook: Feedback Control of Dynamic Systems, by Franklin, Powell and Emami Naieni, 4th Edition, Prentice Hall, 2002. Other References: Modern Control Engineering, 4th Edition, by K. Ogata, Prentice Hall, 2001 Modern Control Systems, 9th Edition, by Dorf and Bishop, Prentice Hall, 2001. Automatic Control Systems, by B. Kuo, Prentice Hall, 1995. Course Notes and Links Reading material for the class will be posted on blackboard Required reading sources R. M. Murray (ed), Control in an Information Rich World: Report of the Panel on Future Directions in Control, Dynamics, and Systems, SIAM, 2002. Available online at http://www.cds.caltech.edu/~murray/cdspanel/ K. J. strm and Richard M. Murray, Analysis and Design of Feedback Systems, Preprint, 2004. Online access on blackboard J. Doyle, B. Francis, and A. Tannenbaum, Feedback Control Theory, McMillan, 1992. Online access on blackboard Grading : Homeworks : 20% Midterm I: 35% Midterm II : 45% Teaching assistants: Nima Moshtagh , Ali Ahmadzadeh

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Controls Course Sequence

ESE406/505-MEAM513 Introduction to the principles and tools of control and feedback Summarize key concepts, w/ examples of fundamental principles at work Introduce MATLAB-based tools for modeling, simulation, and analysis Introduction to control design Provide knowledge to work with control engineers in a team setting ESE500 Linear Systems Theory Detailed description of state space concepts. Rigorous analysis and synthesis of time invariant and time varying systems. ESE 617/MEAM 613- Nonlinear Systems Tools and algorithms for analysis and design of nonlinear control systems

Spring Fall

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What is Feedback?
Miriam Webster:
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-corrective action) [1920]

System 1

System 2

Feedback = mutual interconnection of two (or more) systems System 1 affects system 2 System 2 affects system 1 Cause and effect is tricky; systems are mutually dependent Feedback is ubiquitous in natural and engineered systems
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Terminology
System 1 System 2

Closed Loop

System 1

System 2

Open Loop

What do these two have in common?

Tornado

Boeing 777

Highly nonlinear, complicated dynamics!

Both are capable of transporting goods and people over long distances

BUT
One is controlled, and the other is not. Control is the hidden technology that you meet every day It heavily relies on the notion of feedback

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Example #1: Flyball Governor

Flyball Governor (1788) Regulate speed of steam engine Reduce effects of variations in load (disturbance rejection) Major advance of industrial revolution
Balls fly out as speed increases,

Valve closes, slowing engine

Steam engine

Flyball governor

Boulton-Watt steam engine

http://www.heeg.de/~roland/SteamEngine.html

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Other Examples of Feedback

Biological Systems Physiological regulation (homeostasis) Bio-molecular regulatory networks Environmental Systems Microbial ecosystems Global carbon cycle Financial Systems Markets and exchanges Supply and service chains

ESE

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Control = Sensing + Computation + Actuation

In Feedback Loop

Actuate
Gas Pedal

Sense
Vehicle Speed

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

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A modern Feedback Control System

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Two Main Principles of Control

Robustness to Uncertainty through Feedback Feedback allows high performance in the presence of uncertainty Example: repeatable performance of amplifiers with 5X component variation Key idea: accurate sensing to compare actual to desired, correction through computation and actuation Design of Dynamics through Feedback Feedback allows the dynamics of a system to be modified Example: stability augmentation for highly agile, unstable aircraft Key idea: interconnection gives closed loop that modifies natural behavior
X-29 experimental aircraft

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Example #2: Cruise Control

disturbance reference + Control + System

mv bv uengine uhill uengine k (vdes v )

velocity

vdes

vss

k 1 vdes uhill bk bk
1 as k 0 as k
time

Stability/performance Steady state velocity approaches desired velocity as k Smooth response; no overshoot or oscillations Disturbance rejection Effect of disturbances (hills) approaches zero as k Robustness Results dont depend on the specific values of b, m, or k for k sufficiently large
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Example #3: Insect Flight

SENSING neural superposition eyes hind wing gyroscopes (halteres)

specialized power muscles

two wings (di-ptera)

ACTUATION

COMPUTATION ~500,000 neurons

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More information: M. D. Dickinson, Solving the mystery of insect flight, Scientific American, June 2001.

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EXAMPLE # 4: Coordinated Control of Manned and Unmanned Systems

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Other Examples

Temperature control

Air bags
EGR control Electronic fuel injection Electronic ignition Electric power steering (PAS) Anti-lock brakes Electronic transmission Cruise control
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Active suspension

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Steering Brakes

Anti-skid

Wipers Mirrors

Cruise control Traction control Shifting Electronic ignition

GPS

Radio

Headlights Seats

Temperature control Electronic fuel injection Seatbelts Bumpers Fenders Suspension (control) Airbags

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Gene networks?

essential:
nonessential: unknown: total:

230 2373 1804 4407

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http://www.shigen.nig.ac.jp/ecoli/pec 15

essential:
nonessential:

230 2373

Are these redundant?

No!
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Cartoon of E. Coli metabolism

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Regulatory feedback

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Regulatory feedback

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Actuation

Sensing

Decision
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Signaling
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Organized complexity

Simple behavior Robust and adaptive Evolvable Enormous hidden complexity

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Segway: The human Transporter

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Modern Engineering Applications of Control

Flight Control Systems Modern commercial and military aircraft are fly by wire Autoland systems, unmanned aerial vehicles (UAVs) are already in place Robotics High accuracy positioning for flexible manufacturing Remote environments: space, sea, non-invasive surgery, etc. Chemical Process Control Regulation of flow rates, temperature, concentrations, etc. Long time scales, but only crude models of process Communications and Networks Amplifiers and repeaters Congestion control of the Internet Power management for wireless communications Automotive Engine control, transmission control, cruise control, climate control, etc Luxury sedans: 12 control devices in 1976, 42 in 1988, 67 in 1991 AND MANY MORE...
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The Internet: Largest feedback system built by man Applications

Web

FTP

Mail

News

Video

Audio

ping

napster

Transport protocols TCP SCTP UDP ICMP

IP
Ethernet 802.11 Power lines ATM Optical Satellite Bluetooth

Link technologies
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The Internet hourglass Applications

Web

FTP

Mail

News

Video

Audio

ping

napster

TCP

IP
Ethernet 802.11 Power lines ATM Optical Satellite Bluetooth

Link technologies
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The Internet hourglass Applications

Web

FTP

Mail

News

Video Audio IP under everything

ping

napster

TCP

IP
Ethernet 802.11

IP on Power lines ATM Optical everything

Link technologies

Satellite Bluetooth

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Network protocols. Files

HTTP
TCP IP

Files

packets packets packets packets packets packets

Links
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Sources

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Protocol stack
Applications TCP

Modules
Files packets packets packets packets packets TCP packets packets packets packets packets IPpackets packets

IP

Hardware
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packets packets packets packets packets Layer 2 packets

packets packets packets packets packets Bits
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Animation of the protocols Files

HTTP
TCP

Files

packets packets packets packets packets TCP packets

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Animation of the protocols Files

HTTP
TCP

Files

packets packets packets packets packets TCP packets

IP

packets packets packets packets packets TCP packets packets packets packets packets packets packets

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Animation of the protocols Files

HTTP
TCP

Files

packets packets packets packets packets TCP packets packets packets packets packets IPpackets packets

IP

packets packets packets packets packets TCP packets packets packets packets packets IPpackets packets

packets packets packets packets packets Layer 2 packets Links

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Sources

packets packets packets packets packets Bits

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Vertical decomposition Protocol Stack

Application TCP

Application

Application

IP

IP

Each layer can evolve TCP TCP independently provided: 1. Follow the rules 2. Everyone else does IP IP with IP good enough their layer

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Routing Provisioning

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Application TCP

Application

Application TCP

TCP

IP

IP

IP

IP

IP

Horizontal decomposition Each level is decentralized and asynchronous

Routing Provisioning

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Vertical decomposition

Entirely different from the telephone system, although the parts are essentially identical (VLSI, Application Application Application copper, and fiber) The Internet is much more like biology and TCP TCP TCP relies on feedback regulation at every level. Only recently has a coherent theory of the Internet started to emerge and pay off. IP IP IP IP IP

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Routing Horizontal decomposition Provisioning

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Internet

Interface

Application

Application TCP

TCP

Operating System
IP Computer Board Device
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Simplify
IP

Link
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Links

Sources
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Routers

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packets

Hosts
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Files

Routers

Hidden from the user

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packets

Hosts
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Routers

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packets

Hosts
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Routers

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packets

Hosts
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Control Tools
Modeling Input/output representations for subsystems + interconnection rules System identification theory and algorithms Theory and algorithms for reduced order modeling + model reduction Analysis Stability of feedback systems, including robustness margins Performance of input/output systems (disturbance rejection, robustness)
MATLAB Toolboxes SIMULINK Control System Neural Network Data Acquisition Optimization Fuzzy Logic Robust Control Instrument Control Signal Processing LMI Control Statistics Model Predictive Control System Identification -Analysis and Synthesis

Synthesis Constructive tools for design of feedback systems Constructive tools for signal processing and estimation (Kalman filters)
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Magic of Feedback
Feedback is used to regulate the value of a quantity in a system to a desired level, by measuring the error, i.e., difference between the desired value and the sensed value. Sometimes the decision is based on the instantaneous value of error, and sometimes is based on the history of the error, and/or predictions on the future value of the error. Some times we use all three. The performance of a feedback system is measured based on the response to a step change in the reference, or in tracking a sinusoid. Feedback regulation will work even when the components are uncertain. The down side of using feedback is that It can cause instability It makes the design more complicated The main components of a feedback loop are sensing, decision/computation, and actuation. We will use theory of differential equations, linear algebra and complex variables to analyze feedback systems.
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Overview of the Course

Wk 1 2-3 4-5 6-7 8-9 1011 1214 Tue/Thur
Introduction to Feedback and Control

System Modeling/Analysis,
Review of ODEs, and Laplace Transform

Stability and Performance Tests for stability Root locus analysis. Design for time domain specs. Frequency Domain Design: Bode plot. Loop Analysis of Feedback Systems. Nyquist criterion

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Fundamental Limits on Performance

Uncertainty Analysis and Robustness

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Summary: Introduction to Feedback and Control

Control = Sensing + Computation + Actuation Feedback Principles Robustness to Uncertainty Design of Dynamics

Actuate

Sense

Compute

Many examples of feedback and control in natural & engineered systems:

BIO

ESE
BIO ESE CS
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Summary

Feedback control is Every where you just have to look for it

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Welcome to
ESE406/505- MEAM513 Control Systems Instructor: Ali Jadbabaie jadbabai@seas.upenn.edu Course website: on Blackboard

January 11, 2005

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