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Talal Mandourah
Introduction to Control
INTRODUCTION TO
CONTROL
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Introduction to Control
Control
Control
function
Actuator
control
input
Actuator
Manipulated variable
Measurement
Controlled variable
error
reference
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Introduction to Control
EPC Representation
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Introduction to Control
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Introduction to Control
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Introduction to Control
EPC Methodology
Modeling
Analytical
System IDs
Dynamic model
Mp= 0
Design of
controller
Control algorithm
Satisfy
ess = 0
ys
Required
analysis
ts, tr, tp
time(s)
Performance Specifications
Why EPC
Systematic theoretical approach for analysis and design
Predict system response and stability to input
Note: the adjustment is carried out on every observation with no substantial cost
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Introduction to Control
Examples
Cruise system
Open loop
Engine
Control
Algorithm
Desired
speed
Road
grade
Automobile
Speed
Speedometer
Close loop
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Introduction to Control
Controlled variable
Overshoot
Transient state
tr
Steady state
Settling time ts
time
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Introduction to Control
Controlled variable
tp
Overshoot
Transient state
tr
Settling time ts
SS error
Steady state
time
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Introduction to Control
!!!Controller Design
(PID) control:
Proportional: C(s)= K
Integral: C(s) = KKi/ s
Derivative: C(s) = KKd s
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Introduction to Control
Mp
ess
ys
ts , t r , t p
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time(s)
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Introduction to Control
We say that the controller is optimum if we know a value thatgives the best output
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We say that the system is stable if any bounded inputproduces bounded output for all bounded initial conditions
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