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00 Lec10-Control PDF
00 Lec10-Control PDF
00 Lec10-Control PDF
Lecture 10:
Feedback Control
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“Big Dog”, www.bostondynamics.com 3Mechatronics and Haptic Interfaces Lab
Engineering Intelligent Systems
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Roeder KD (1948) Organization of the ascending giant fibre system in the cockroach. 4Mechatronics and Haptic Interfaces Lab
Disturbance Rejection: Natural System
• “Preflexes”
(Recovery in ~27ms!)
Jindrich, D. L. and Full, R. J. (2002). Dynamic stabilization of rapid hexapedal locomotion. Journal of 5
Experimental Biology. 205,2803-2823. (Video and picture courtesy Devin Jindrich) 5Mechatronics and Haptic Interfaces Lab
Controlling Engineering Systems
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Types of Control: open loop
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Types of Control: feedback
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Types of Control: feedback
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Types of Control: feedforward
o Feedforward control –
the egg toss
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Why use feedback control
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How do we ‘tell’ a system how to behave?
• turn a dial
• type a number
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• OK, I know what I want the system to do. and
I can monitor what the system is actually
doing. Now what?
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Control
Ensure stability
• System maintains desired
operating point (hold steady Actuate Sense
speed) Throttle Speed
Improve performance
• System responds rapidly to
changes (accelerate to 6 m/sec) Compute
Guarantee robustness
• System tolerates perturbations in
dynamics (mass, drag, etc)
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Sample control systems
reference Feedforward
Controller
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Feedforward control
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One implementation of feedforward
Input needed
Desired output Inverse model for desired output
PLANT
of system output
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Limitations of feedforward control
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Feedback
Sensor
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Features of feedback
Reactive / Error-driven
Automatically compensates for disturbances
(controller acts on error)
Automatically follows change in desired state (set
point can change)
Can improve undesirable properties of system/plant
Can be very simple
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Combining feedback and feedforward
reference Feedforward
Controller
input output
reference error Feedback
Controller PLANT
-
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Negative vs. Positive feedback
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[whiteboard – PID control]
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The Simplest feedback controller
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Limitations of P-control
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Integration
• An integral is really the area under a curve.
Let's assume that the independent variable is time, t.
Then as time goes on the area accumulates.
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Summary of Integrator behavior
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Integral control in a digital system
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Performance, Stability, Robustness
Stabilize a response
(e.g., reduce oscillatory effects)
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Two main principles of feedback
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Limitations of Feedback
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Summary of closed-loop feedback control
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