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Feedback Vs Feedforward
Feedback Vs Feedforward
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Mechatronics and Haptic Interfaces
Types of Control: open loop
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Mechatronics and Haptic Interfaces
Types of Control: feedback
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Mechatronics and Haptic Interfaces
Types of Control: feedback
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Mechatronics and Haptic Interfaces
Types of Control: feedforward
o Feedforward control –
the egg toss
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Mechatronics and Haptic Interfaces
Negative vs. Positive feedback
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Mechatronics and Haptic Interfaces
Why use feedback control
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Mechatronics and Haptic Interfaces
How do we ‘tell’ a system how to behave?
• turn a dial
• type a number
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Mechatronics and Haptic Interfaces
• 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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Mechatronics and Haptic Interfaces
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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Mechatronics and Haptic Interfaces
Sample control systems
reference
Feedforward
Controller
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Mechatronics and Haptic Interfaces
Feedback
Sensor
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Mechatronics and Haptic Interfaces
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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Mechatronics and Haptic Interfaces
The Simplest feedback controller
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Mechatronics and Haptic Interfaces
Limitations of P-control
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Mechatronics and Haptic Interfaces
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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Mechatronics and Haptic Interfaces
Summary of Integrator behavior
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Mechatronics and Haptic Interfaces
Integral control in a digital system
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Mechatronics and Haptic Interfaces
Performance, Stability, Robustness
Stabilize a response
(e.g., reduce oscillatory effects)
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Mechatronics and Haptic Interfaces
Two main principles of feedback
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Mechatronics and Haptic Interfaces
Limitations of Feedback
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Mechatronics and Haptic Interfaces
Summary of closed-loop feedback control
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Mechatronics and Haptic Interfaces
Feedforward control
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Mechatronics and Haptic Interfaces
One implementation of feedforward
Input needed
Desired output Inverse model for desired output
PLANT
of system output
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Mechatronics and Haptic Interfaces
Limitations of feedforward control
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Mechatronics and Haptic Interfaces
Combining feedback and feedforward
reference Feedforward
Controller
input output
reference error Feedback
Controller
PLANT
-
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Mechatronics and Haptic Interfaces