Lecture 1

ECE 581
Feedback Control Systems (II)
Doug Looze

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 1

 Today
 Syllabus
 Objective of the course
 Begin
– Overview of feedback (review)
• Why feedback?
• Standard architecture
 Reading
– FPE, Chapter 1

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 2

 Announce
 None

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 3

 Syllabus
 Handout
 Review
 Email list generated from registration
– Register

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 4

 Me
 Professor
– Doug Looze
 Office
– KEB 113F
 Phone:
– (413) 545-0973
 Email
– looze@ecs.umass.edu
 Office Hours (?)
– M 1:00 - 3:00 PM

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 5

 Course Information
 Course FTP
– ftp://ftp.ecs.umass.edu/pub/looze/ece581s2007
 Class Hours
– M-W-F 10:10 AM – 11:00 AM
 Textbook:
– Franklin, Powell and Emami-Naeini, Feedback
Control of Dynamic Systems, 5th Edition,
Prentice-Hall, 2006
Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 6
 Course Information (cont.)
 Grading
– Exams
• Mid Term 35 %
• Final (exam week) 35 %
– Homework (~8) 30 %
 Prerequisite
– Feedback Control Systems (undergraduate
level)
Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 7
 Course Objectives
 Basic understanding of feedback control
 Ability to analyze and work with control
systems
 Ability to design control systems to achieve
specified objectives
 Modify basic analysis and design tools to
handle industrial and nonlinear systems

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 8

 Feedback Control System
Reference

Disturbance d r Measurement
Noise

Performance
z
Input u System
y
Measurement
 Objective
– Pick control
– Based on measurement

– To make performance
behave in a desired way
Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 9
 Example: Adaptive Optics Star
– Ideally
• Constant phase
• Image
Intensity

– Reality
• Non-constant phase
• Image Telescope
I n t e n s it y

Strehl ratio: 0.01

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 10
  Adaptive optics system
– Objective: restore “flat” wavefront

Beam Splitter
Deformable
Mirror (DM)
Science
Camera
Strehl ratio: 0.6

Compensator WFS
PI controller
Wavefront Sensor
Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 11
 Feedback architecture

Compensator u DM s w

y e z
WFS

– Objective
• Make e small
– Disturbances
• Atmosphere (w)
• Measurement noise ()

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 12

 Control Architecture
d0
r0 e0 u z0
K fo  s  Gp  s


ẑ y
K fe  s  Gm  s 


 Simplify by having controller in backward

path estimate z0

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 13

 – Block diagram manipulation
d0
r0 e0 u z0
K fo  s  Gp  s


ẑ y
K fe  s  Gm  s 


K  s d0
r0 r e u z0
K fe1  s  K fo  s  K fe  s  Gp  s


ẑ y
Gm  s 

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 14
 d0
Gm  s 
G  s
e d
r u z z0
K  s Gm  s  G p  s  1
Gm  s 

y 

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 15

 Compensator u DM s w

y e z
WFS

– Models: Deformable mirror

1
GDM  s  
 ms  1
Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 16
 – Models: Wavefront sensor (WFS)
Integrate light

tnow  T tnow tnow  T

1
GWFS  s   1  e
s
 sT
 

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 17

 Measure of performance
– Energy in wavefront error
– Closely related to Strehl

Parseval

w
e
 
u 1 1 ê
K  s 1  e  sT
m s  1 s



Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 18

 At each :
eˆ  j  
1
j

1  e jT e  j  
j
 e  j   eˆ  j 
1  e jT
2 w
1  j 2
J  eˆ  j  d
2  1  e jT
1
s

1  e  sT 
d
u 1  e sT ê
K  s
s   m s  1



Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 19

 Standard Feedback Architecture
e d
r u z
K  s G s

y 

 “Standard” signals specifications derived from 1

s
1  e  sT 
original specifications
d
u 1  e  sT ê
K  s
s   m s  1


– Example:
z  eˆ z0  e Translate to

Specs on
Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 20
 Summary
 Motivation for unity feedback architecture

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 21

 Next Time
 Important transfer functions

Jan. 29, 2007 Feedback Control Systems (II) © Douglas Looze 22