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Input Output
variable variable
Processes
Most processes transform units:
Accelerator Engine
depth (deg) speed (rpm)
Engine
glucagon
(mg/dl) Glucose
(mg/sec)
insulin Tissues
(mg/dl)
Processes
Processes can encompass sub-processes
A system is just a process w/ sub-processes!
Actual Measured
a & b cells a & b cells Glucagon
glucose glucose
measure release Insulin
glucose hormones
Actual
Glucagon
glucose a & b cell
process Insulin
Measurement Processes
Processes that measure system outputs are
called sensors
Input is physical property (MPH, mg/dl, etc.)
Output is electrical or mechanical signal
Typically model output to have units of input
Actual Measured
speed Speedo- speed
meter
Feedback Control Systems
Many systems measure their output and use this
measurement to control system behavior
This is known as feedback control – the output is “fed
back” into the system
The summing junction is a special process that
compares the input and the feedback
Inputs to summing junction must have same units!
sensor
Generic Feedback Control System
Input is the output we want the system to have
Summing junction subtracts the measured output
from the desired output, difference is error signal
Controller acts based on magnitude of error signal
Actuator provides external power to system and
effects changes based on controller output
Plant is the process we are trying to control
desired
controller actuator plant output
output
sensor
Generic Feedback Control System
This is a general model, and may not be the same for
every feedback control system
Systems can have additional inputs known as
disturbances into or between processes
Can combine processes; typically controller and
actuator are combined
Describe and draw schematic, then recast your
model into this form if possible
desired
controller actuator plant output
output
sensor
Cruise Control System Revisited
input: desired speed controller: cruise control unit
output: actual speed actuator: engine
error: desired speed minus plant: vehicle dynamics
measured speed sensor: speedometer
disturbance: wind, hills, etc.
wind,
hills
speedo-
meter
Glucose Regulation Revisited
input: desired blood glucose controller: a and b cells
output: actual blood glucose actuator: glucose storing or
error: desired minus releasing tissues
measured blood glucose plant: glucose metabolism
disturbance: eating, fasting, sensor: a and b cells (again)
etc.
eating,
fasting
a&b
cells
Thermostat Example
Set thermostat to desired room temperature
Thermostat measures room temperature
Furnace or AC turn on if measured <> desired
Air from furnace or AC changes room air temperature
external
air
thermo-
stat
Toilet Flush Example
Float height determines desired water level
Flush empties tank, float is lowered and valve opens
Open valve allows water to enter tank
Float returns to desired level and valve closes
flush
float