chapter1 comparison of control system
TRANSCRIPT
CHAPTER 1CHAPTER 1CHAPTER 1CHAPTER 1Comparison of Control System
RZAR/MKH/KEE/UPM/EEE4404
Outline
� Comparison between modern and classical
control and requirement of modern control
techniques.
Learning Outcome
� Able to differentiate between classical and
modern control and its importance
• Youtube
• intelligent home
– http://www.youtube.com/watch?v=48TFYpZQJpM&feature=related
• 3D Face - Face Reader - Access Control - Live
– http://www.youtube.com/watch?v=OAk_L_SesQQ&feature=related
• http://www.youtube.com/watch?v=cP035M_w82s&feature=related– This video shows the evolution of coordinated behavior of simulated robot soccer players. In the simulation,
each soccer player is controlled by a neural network. The neural networks are evolved using an evolutionary
algorithm, so generation after generation the strategy improves.
• http://www.youtube.com/watch?v=D21TF1WeNfM&feature=related– Artificial Intelligence is evolving 10 million times faster than the human brain!
• http://www.youtube.com/watch?v=IhVu2hxm07E&feature=related– Humanoid Talking Robot
• http://www.youtube.com/watch?v=_i-_1QdY2Zc&feature=related– A team of scientists funded by the US Defense Advanced Research Projects Agency (DARPA) have
implanted miniature neural and muscle stimulation systems into beetles to enable their flight to be remotely
controlled.
3
Motivation of Control Design
4
Objectives
5
Terminology of Control
6
7
Control System
CLASSICAL CONTROL MODERN CONTROL
Ex:
Bode Diagram
Nyquist Diagram
Root Locus
Compensating Networks
PID Controller
Nichols
Ex:
Optimal Control
Digital Control
System Identification
Adaptive Control
Robust Control
Fuzzy Control
Neural Control
• Transfer function representation of dynamic systems
�A dynamic system can have different transfer
functions.
�Transfer functions are independent of inputs and
initial conditions
Review of Classical
Control Theory
G(s)R(s)(i/p)
Y(s)(o/p) )(
)()(
sR
sYsG =
• Control system classification
� Open-loop control system
� Open-loop control is used when the model is accurate
and/or the performance requirement are not stringent.
� Example: washing machines, toaster, traffic lights
� Closed-loop control systems (feedback control
systems)
� Advantages: disturbance rejection, reduction of effects of
uncertain dynamic, improvement of system performance
(stability, transient and steady-state response)
Review of Classical
Control Theory (cont)
• Analysis tools:-
� Laplace transform
�Block diagram
• Commonly used control laws:-
�PID control
� Lead and lag compensation
Review of Classical
Control Theory (cont)
• Performance Evaluation:-
� Transient response analysis (impulse, step &
ramp response)
� 2nd-order systems (maximum overshoot,
settling time, rise time)
� Steady-state error analysis (ess)
� Stability analysis (Routh’s criterion, root
locus, Nyquist criterion)
Review of Classical
Control Theory (cont)
• Controller design tools
�Root locus
�Frequency response (bode diagrams, polar
plots)
�Nyquist criterion
�Gain and phase margin (bode diagram)
Review of Classical
Control Theory (cont)
• Multivariable plants (MIMO) � much more difficult to control than single-input-single-output (SISO) plants.
• Noise disturbances and errors in system modeling � need robust control laws
• Time-varying parameters � need adaptive control
Difficulties in Control
Difficulties in Control (cont)
• Nonlinearities (backlash, dead zone, friction in mechanical systems) � need nonlinear controls
• Data sampling in control implementation on computers � need digital controls
• Distributed parameters – which is an infinite-state (or infinite dimensional system)
Comparison of Classical and Modern Control Theories
Classical Control Theory Modern Control Theory
Dynamic system Linear time-invariant Linear time-invariantLinear time-varyingNonlinear
Input/outputs Single-input-single output (SISO) Multi-input-multi-output (MIMO)
Representations Transfer function State-space form
Domain of analysis Frequency domain 9s-domain) Mainly time domain and frequency domain
Mathematical tools Laplace transformComplex analysis
Matrix theoryLinear algebraSpace and operator theories
Feedback Output feedback Output feedbackState feedback
Typical control laws PID controlsLead/lag compensation
LQRPole assignment
Intelligent Control
• The term ‘INTELLIGENT CONTROL’ has a more general meaning and addresses more general control problems.
• That is, it may to systems which cannot be adequately described by a differential/ difference equations framework but require other mathematical models, as for example, discrete event system models.
Intelligent Control (cont)• More often, it treats control problems, where a
qualitative model is available and the control strategy is formulated and executed on the basis of a set of linguistic rules.
• Intelligent control may be used to denote a control technique that can be carried out using the “intelligent” of a human who are knowledgeable in the particular domain of control.
• If a human in the control loop can properly control a plant, then that system would be good candidate for intelligent control.
• Intelligent control seeks to achieve good
performance in machines, industrial processes,
consumer products, and other systems, by using
control approaches that, in a loose sense, tend
to mimic direct control by experienced humans.
• Information abstraction and knowledge-based
decision making that incorporate abstracted
information, are considered important in
intelligent control.
Intelligent Control (cont)
• Intelligent control techniques possess
capabilities of effectively dealing with incomplete
information concerning the plant and its
environment, and unexpected or unfamiliar
conditions.
• Many of these techniques can learn, adapt to
compensate for parameter changes and
disturbances, and are able to provide
satisfactory control even in incompletely-known
and unfamiliar situations.
Intelligent Control (cont)
• Overall, intelligent control technique can be applied to ordinary systems and more important to systems whose complexity defies conventional control methods.
• There are three basic approaches to intelligent control:
� fuzzy logic
� neural networks
� evolutionary computation : GA and GP
Intelligent Control (cont)
INTELLIGENT CONTROL
TECHNIQUES
• FUZZY LOGIC
� representing human knowledge in a specific domain of application and reasoning with that knowledge to make useful inferences of actions
• NEURAL NETWORKS
�massively connected networks that can be trained to represent complex nonlinear functions at a high level of accuracy.
�analogous to the neuron structure in a human brain
INTELLIGENT CONTROL
TECHNIQUES (cont)
• EVOLUTIONARY COMPUTATION�GENETIC ALGORITHMS (GA)
� optimization techniques that can evolve through procedures analogous to human evolution, where natural selection, crossover, and mutation are central
�GENETIC PROGRAMMING (GP)
� symbolic-based nonlinear optimization
� computationally simulated the evolution process by applying fitness-based selection and genetic operators to a population of parse trees of a given programming language.
INTELLIGENT CONTROL
TECHNIQUES (cont)
INTELLIGENT ADAPTIVE
CONTROL• Adaptive Control
�Is used to denote a class of control techniques where the parameters of the controller are changed (adapted) during control, utilizing observations on the plant (i.e. with sensory feedback), to compensate for parameter changes, other disturbances, and unknown factors of the plant.
• Intelligent Control + Adaptive Control (Intelligent Adaptive Control)
�the techniques that rely on intelligent control for proper operation of a plant, particularly in the presence of parameter changes and unknown disturbances.
INTELLIGENT ADAPTIVE
CONTROL (cont)