CONTROL SYSTEM

AN INTRODUCTION



Contents
1. An Motion Control System
2. Purpose of Closed-Loop Control
3. Servo and Regulation Systems
4. Controller
5. How to Identify System
6. Summary
1. An Motion System
Plant: Input-output relationship (transfer function) may
vary uncertainties (including time-varying) and
Disturbances
Nominal Model G(s)=5/(s+1)
Actual Model G(s)=5.9/(s+1.3)
Sensor: output may be digital or analog. Its input: real
speed, its output: readable data of speed
Actuator: Its input: readable data of the voltage of the
power source.
Its output: voltage, with needed current


Decision Making: Controller

Analog Controller

Digital Controller


2. Purposes
Open-loop: speed varies with the motor and
load for a given drive voltage
Closed-loop: Compensates for the influence
of the variations in the motor and the load
(uncertainties and disturbances) on the
speed.
3. Types of Systems
Servo Systems: the desired speed (set-point)
changes fast. Major requirement: to follow the
changing set-point at an acceptable speed and
accuracy.
Regulation Systems: the desired speed does not
changes very fast. It may be constant. Major
concern: substantial uncertainties/disturbances and
high accuracy.
4. Controller
What does a controller do? Decides how to respond to the
observed difference between the measured speed and the
desired speed set-point.
How should the controller respond? Primarily based on
the model, which describes the relationship between the
input (voltage) and the output(speed) Robust
Control: also largely based on the uncertainties
An important Step in System Design: Find the model
(system identification)
Design: compromise between the uncertainties
/disturbance and the response speed.
5. How to Identify the System
Analyze the input-output data pairs to fit the parameters in
the used model (structure)
How to analyze and how to generate the data pairs for
analysis:
System Identification


6. Summary
This class: Part One: Identification
Part Two: Control Design Based on Model
Part Three: Discrete Control
Project 1: Parts One and Two
Project 2: Part Three
SYSTEM IDENTIFICATION
INTRODUCTION

Dr. YuMing Zhang
College of Engineering
University of Kentucky


Contents
1. System
2. System Identification
3. Importance
4. Why Specific Techniques?
5. Example
6. Summary
1. System
System: an object in which variables of
different kinds interact and produce
observable signals
Control engineers views:
Process producing outputs from inputs
Outputs:
Inputs: manipulated to change the outputs
Disturbances:
2. System Identification
End products: empirical models of systems
Model: description of relationship among related
variables
Theoretical Models: from first principles
Empirical models:
Observations of system variables
==>Relationship among variables
==> Models linking the variables
3. Importance
Control algorithms & system dynamics
First principles
4. Why Specific Techniques?
- Model structure:
y t ay t bu t ( ) ( ) ( ) = + 1 1
- Given:
{ ( ), ( )},{ ( ), ( )},...,{ ( ), ( )} u y u y u N y N 1 1 2 2
- To determine:
a
and b
- Equation system

y ay bu
y ay bu
y
y
y u
y u
a
b
( ) ( ) ( )
( ) ( ) ( )
( )
( )
( ) ( )
( ) ( )
2 1 1
3 2 2
2
3
1 1
2 2
= +
= +

(
=

(




Problem:

y t ay t bu t e t ( ) ( ) ( ) ( ) = + + 1 1


a b
u y
u u
y y y
a b
e e e
y y y
a b
= =
= =
= =
= = =

= = =
= = =

0 95 2
0 0 0 0
1 1 2 12
1 0 2 2 3 4 3
0 95
1 01813 2 01205 3 0 3318
1 01813 2 2 0517 3 4 6809
. ,
( ) , ( )
( ) , ( ) .
( ) , ( ) , ( ) .
, : . ,
( ) . , ( ) . , ( ) .
( ) . , ( ) . , ( ) .
, : ,

2
1.2097 1.8324
5. Example
- Model Structure
y t ay t bu t e t ( ) ( ) ( ) ( ) = + + 1 1
- Given:
{ ( ), ( )},{ ( ), ( )},...,{ ( ), ( )} u y u y u N y N 1 1 2 2
- To determine:
a
and
b
- Prediction

( ) ( ) ( ) y t ay t bu t = + 1 1

- Prediction Error
y t y t y t ay t bu t ( )

( ) ( ) ( ) ( ) = 1 1
- Cost Function
J a b y t ay t bu t
t
N
( , ) { ( ) ( ) ( )} =
=

2
2
1 1
- Results

( )

( )
( )
...
( )
( ) ( )
( ) ( )
......
( ) ( )
a
b
y
y
y N
y u
y u
y N u N
T T
|
\

|
.
| =
|
\

|
.
|
|
|
|
=

|
\

|
.
|
|
|
|

u u u
u
1
2
3
1 1
2 2
1 1



for
y t ay t bu t e t ( ) ( ) ( ) ( ) = + + 1 1
6. Summary
Data Generation (Experiment Design)
Model Structure Determination
Parameters Estimation
Model Validation