Control Systems: Muhammad Farooq Haydar

Control Systems
Introduction
Muhammad Farooq Haydar
Department of Aeronautics and Astronautics

Institute of Space Technology, Islamabad
February 23, 2018
Haydar (IST) Control Systems February 23, 2018 1 / 25

“Men already know how to construct wings or airplanes...
Wilbur Wright, 1901.

Men also know how to build engines and screws of sufficient lightness
and power...

and power...
Inability to balance and steer still confronts students of the flying
problem...

and power...
Inability to balance and steer still confronts students of the flying
problem...
When this one feature has been worked out, the age of flying will have
arrived, for all other difficulties are of minor importance.”

From December 17, 1903 to June 18, 1914
Figure: “Gyroscopic Stabilizer

Figure: Wright Flyer Apparatus” on Curtiss C-2

Two Airplanes with Canards...
but their handling qualities are totally different!
Figure: X-29
Figure: Wright Flyer

Why Study Feedback Control?
Dynamic systems:
I have memory (or internal dynamics) of past states.
I current state depends on input, but also on the past state.

Dynamic systems:
Feedback:
r e u y
Controller System
−
ym
Sensors
Figure: Closed loop system

Dynamic systems:
Feedback:
I Interconnection to provide corrective action.
r e u y
Controller System
−
ym
Sensors

Dynamic systems:
Feedback:
I Interconnection to provide corrective action.
I often counter-intuitive; systematic/formal approaches are required.
r e u y
Controller System
−
ym
Sensors

Examples
Figure: Centrifugal governor.

Examples
Figure: Balancing a Rocket.

Figure: An inverted pendulum.

Examples (contd.)
Figure: Attitude of a Satellite.

Figure: Simplified Satellite Attitude
Control.

Components of a Computer-Controlled System
1.3. WHAT IS CONTROL? 1-5
noise external disturbances noise
Output
Σ Actuators System Sensors Σ
Process
Clock
D/A Computer A/D Filter
Controller
operator input
Figure 1.3: Components of a computer-controlled system. The upper dashed box represents
the process dynamics, which include the sensors and actuators in addition to the dynamical
system being
Haydar controlled. Noise and external
(IST) disturbances can perturb
Control Systems the dynamics
February 23, 2018 of the
9 / 25
Course Objectives
The main objectives of this course are:

understand the basic principle of feedback, and realize the need for
feedback.

Course Objectives

feedback.
learn to develop/interpret mathematical models and express them in
appropriate forms.

Course Objectives

feedback.
appropriate forms.
understand the characteristic behavior of a system and analyze its
responses.

Course Objectives

feedback.
appropriate forms.
understand the characteristic behavior of a system and analyze its
responses.
learn to modify the behavior of system through feedback.

References
1 Lecture Notes, exercises, case studies.

2 Feedback Systems: An Introduction for Scientists and Engineers,
(Second Edition, v3.0h) 2016, by Karl J. Astrom and R. M. Murray.
3 Control Systems Engineering. sixth edition, 2011 by N. S. Nise.
4 Modern Control Engineering, eleventh/international edition (2008) by
R.C. Dorf and R.H. Bishop

Outline
1 Feedback and Feedforward Control
2 Feedback Properties
3 Simple Feedback Forms
4 Combining Feedback with Logic

Outline

Feedback Control
Negative feedback attenuates the disturbances, and contributes to
(static) stability.
r e u y
Controller System
−
ym
Sensors

Feedback Control
(static) stability.
I may introduce (dynamic) instability.
r e u y
Controller System
−
ym
Sensors

Feedback Control
(static) stability.
I may introduce (dynamic) instability.
Positive feedback amplifies the disturbances and thus results in
(static) instability.
r e u y
Controller System
−
ym
Sensors

Feedforward Control
Feedback is reactive.
r u y
Controller System
Figure: Open loop control system

Feedforward Control
Feedforward can used as an anticipative/pre-emptive action.
r u y
Controller System

Feedforward Control
Feedforward can used as an anticipative/pre-emptive action.
Requires the precise knowledge of the system and does not change its
dynamics.
r u y
Controller System

Feedback vs Feedforward Control
Feedback Feedforward
Closed loop Open loop
Acts on deviations Acts on plans
Robust to model uncertainty Sensitive to model uncertainty
Able to reject disturbances Unable to reject disturbances
Risk for (dynamic) instability No risk for instability
Sensitive to measurement noise Insensitive to measurement noise
e.g., a market based economy e.g., a planned economy
Its possible to combine both approaches in a two degree of freedom
controller.

Applications of Control
Aerospace (Flight Control/Aerospace Subsystems)

Automotive
Power Generation and Transmission
Robotics
Telecommunications
Networks
Economics
Nature and Biological Systems

Outline

Robustness
Feedback provides a corrective action by comparing measured value
4 with desired value. CHAPTER 1. INTRODUCTION
1-14 CHAPTER 1. INTRODUCTION
Actuate Sense
Actuate Sense
Speed [m/s]
hrottle Speed 30
Speed [m/s]
Throttle Speed 30
m m
25 25
Compute
Compute 0 0 5 5 10 10
Time Time
[s] [s]
Figure 1.10: A feedback system for controlling the speed of a vehicle. In the block diagram
Figure on1.10:
Figure: A the
Speed
the left, feedback
speed ofsystem
ControltheDiagram foriscontrolling
vehicle measured and the speed of
compared a vehicle.
to the In thewithin
desired speed block thediagram
on (Compute
the “Compute”
left, the speedblock.of
block the vehicle
contains
Based is measured
on the difference in theand compared
Figure:
actual to the
Effect
and desired of desired
variations
speeds, speed within
in car
the throttle (or massthe
“Compute”
brake) block.
is used toBased
proportional-integral modifyonthethe
(PI) difference
applied to in
terms)
force thethe actual
vehicle and
by the
(1000kg, desired
engine,
2000kg speeds,
drivetrain
and andthe
3000kg) throttle
on the (or
wheels.
brake)The figure
is used toon the right
modify theshows
forcethe response
applied to of
thethe control
vehicle system
by to(reference/command
the engine,
step-response a commanded
drivetrainchange
and wheels.
in speed from 25 m/s to 30 m/s. The three
The figure on the right shows the response of thechanges different curves correspond
control from
system to differing masses
25 tom/sa commanded
to 30m/s). change
of the vehicle, between 1000 and 3000 kg, demonstrating the robustness of the closed loop
in speed from 25 m/s to 30 m/s. The three different curves correspond to differing masses
system to a very large change in the vehicle characteristics.
of the vehicle, between 1000 and 3000 kg, demonstrating the robustness of the closed loop
system to a very large change in the vehicle characteristics.
and theHaydar
desired speed and the integral
(IST) of that
Control error. The plot onFebruary
Systems the right shows 17 / 25
23, 2018
Changing Natural Frequency/Stiffness using
Position-Feedback
(a) A mass-spring system.
xeq ex F x
− K Mass
xm
Position Encoder
(b) Feedback loop to create an artificial spring.

Changing Damping using Rate-Feedback
(c) A mass-damper system.
veq ev F v
− C Mass
vm
Tachometer
(d) Feedback loop to create an artificial damper.

Design of Dynamics (Summary)
Feedback can modify the dynamics!


I position-feedback changes stiffness.


I rate-feedback changes damping.


The Wright Flyer was unstable but maneuverable.


Modern fighters are also designed to be unstable/maneuverable,


Modern fighters are also designed to be unstable/maneuverable,
I but Stability Augmentation Systems (SAS) completely hide the
instabilities from the pilot!

follows the set point of the controller CC. Since the motor velocity is proportional
to the current the dynamics relating velocity to the input of the current controller is
Creating Modularity
approximately an integrator, because force is proportional to current and angular
acceleration is proportional to force. This simplified model can be used to design
the velocity loop so that effects of friction and other disturbances are reduced.
Components
With canvelocity
a well-designed be individually replaced
loop, the design in position
of the a modularloopsystem.
is also simple.
The loops can also be tuned sequentially starting with the inner loop. The architec-
ture illustrates how feedback can be used to simplify modeling and create modular
vr
yr Ir F
PC Σ y
VC Σ I v 1
CC Amplifier Motor
s
Current loop
Velocity loop
Position loop
Figure 1.12: Block diagram of a system for position control. The system has three cascaded
Figure:andCascaded
loops for control of current, velocity position. Control

follows the set point of the controller CC. Since the motor velocity is proportional
to the current the dynamics relating velocity to the input of the current controller is
Creating Modularity
approximately an integrator, because force is proportional to current and angular
acceleration is proportional to force. This simplified model can be used to design
the velocity loop so that effects of friction and other disturbances are reduced.
Components
With canvelocity
a well-designed be individually replaced
loop, the design in position
of the a modularloopsystem.
is also simple.
TheFeedback
loops can also be tuned sequentially starting with
maintains their input/output behaviour. the inner loop. The architec-
ture illustrates how feedback can be used to simplify modeling and create modular
vr
yr Ir F
PC Σ y
VC Σ I v 1
CC Amplifier Motor
s
Current loop
Velocity loop
Position loop
Figure 1.12: Block diagram of a system for position control. The system has three cascaded
Figure:andCascaded
loops for control of current, velocity position. Control

Challenges of Feedback
Feedback can introduce instability.


I Too much corrective action can lead to instability.


I We are all familiar with the effects of positive-feedback on a
microphone!


microphone!
Sensor/measurement noise.


microphone!
Sensor/measurement noise.
Costs and Complexity.

Outline

On-Off (Bang-Bang) Control
(
umax if e > 0
u=
umin if e < 0
where e = r − y, and u is the actuation command.
1-18 Simple on-off control usually overreacts. CHAPTER CHAPTER 1. IN
1. INTRODUCTION
CHAPTER 1. INTRODUCT
u u
u u u
u u u
u
e e e e e e e e
On-off
(a)control
(a)on-off
On-off
(a) On-off
controlcontrol (b) Dead(b)
(bang-bang) zone
(b)Dead (b) Dead zone (c)
zone
dead-zone (c)Hysteresis (c) Hyste
(c) Hysteresis
hysteresis
.13: Input/output
FigureFigure 1.13:characteristics
1.13: Input/output of on-offofcontrollers.
characteristics
Input/output Eachcontrollers.
plot
on-offofcontrollers.
characteristics on-off shows
Each the
plot Each
showsinput
theon
plot input ont
shows
ontal axis and
he horizontal the
axis
the horizontal corresponding
and the output
corresponding on the
output
Haydar (IST)axis and the corresponding
vertical
on the axis. Ideal
vertical on-off
axis. Ideal
output on the vertical
Control Systems
control
on-off
axis.
February 23,
is
control
2018Ideal23 on-o
/ 25
is
PID Control
Z t
de(t)
u(t) = kp e(t) + kI e(τ )dτ + kd
0 dt
CHAPTER 1. INTRODUC
Error Present
Past Future
Time
t t + Td
gure 1.14: Action of a PID controller.
Figure: At timefort, PID
The rationale the control
proportional term depends on th
stantaneous value of the error. The integral portion of the feedback is based on the integr
the error up to time t (shaded portion). The derivative term provides an estimate of th
Outline

Cruise Control
WITH LOGIC
off
set Cruise
on cancel
Off Standby brake resume
off
Hold
off
machine for cruise
Figure:control
Finite statesystem.
machine for The
cruise figure
control. on the left sh
o control the system. The controller can be in one of four mo

s in the diagram on the right. Transition between the mod

Control Systems: Muhammad Farooq Haydar

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Control Systems

Muhammad Farooq Haydar

Department of Aeronautics and Astronautics

February 23, 2018

Haydar (IST) Control Systems February 23, 2018 1 / 25

Wilbur Wright, 1901.

Haydar (IST) Control Systems February 23, 2018 2 / 25

Wilbur Wright, 1901.

Haydar (IST) Control Systems February 23, 2018 2 / 25

Wilbur Wright, 1901.

Haydar (IST) Control Systems February 23, 2018 2 / 25

Haydar (IST) Control Systems February 23, 2018 2 / 25

Figure: “Gyroscopic Stabilizer

Haydar (IST) Control Systems February 23, 2018 3 / 25

Haydar (IST) Control Systems February 23, 2018 4 / 25

Haydar (IST) Control Systems February 23, 2018 5 / 25

Figure: Closed loop system

Haydar (IST) Control Systems February 23, 2018 5 / 25

Figure: Closed loop system

Haydar (IST) Control Systems February 23, 2018 5 / 25

Figure: Closed loop system

Haydar (IST) Control Systems February 23, 2018 5 / 25

Figure: Centrifugal governor.

Haydar (IST) Control Systems February 23, 2018 6 / 25

Figure: Balancing a Rocket.

Haydar (IST) Control Systems February 23, 2018 7 / 25

Figure: Attitude of a Satellite.

Haydar (IST) Control Systems February 23, 2018 8 / 25

D/A Computer A/D Filter

The main objectives of this course are:

Haydar (IST) Control Systems February 23, 2018 10 / 25

The main objectives of this course are:

Haydar (IST) Control Systems February 23, 2018 10 / 25

The main objectives of this course are:

Haydar (IST) Control Systems February 23, 2018 10 / 25

The main objectives of this course are:

Haydar (IST) Control Systems February 23, 2018 10 / 25

1 Lecture Notes, exercises, case studies.

Haydar (IST) Control Systems February 23, 2018 11 / 25

1 Feedback and Feedforward Control

3 Simple Feedback Forms

4 Combining Feedback with Logic

Haydar (IST) Control Systems February 23, 2018 12 / 25

1 Feedback and Feedforward Control

3 Simple Feedback Forms

4 Combining Feedback with Logic

Figure: Closed loop system

Haydar (IST) Control Systems February 23, 2018 13 / 25

Figure: Closed loop system

Haydar (IST) Control Systems February 23, 2018 13 / 25

Figure: Closed loop system

Haydar (IST) Control Systems February 23, 2018 13 / 25

Figure: Open loop control system

Haydar (IST) Control Systems February 23, 2018 14 / 25

Figure: Open loop control system

Haydar (IST) Control Systems February 23, 2018 14 / 25

Figure: Open loop control system

Haydar (IST) Control Systems February 23, 2018 14 / 25

Haydar (IST) Control Systems February 23, 2018 15 / 25

Aerospace (Flight Control/Aerospace Subsystems)

Haydar (IST) Control Systems February 23, 2018 16 / 25

1 Feedback and Feedforward Control

3 Simple Feedback Forms