EE 460 Advanced Control and Sys Integration Monday, August 24 EE 460 Advanced Control and System...
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Transcript of EE 460 Advanced Control and Sys Integration Monday, August 24 EE 460 Advanced Control and System...
EE 460 Advanced Control and Sys Integration
Monday, August 24 EE 460 Advanced Control and System Integration Slide 1 of 13
EE 460 Advanced Control and System Integration
Course Outline
Monday, August 24
• Course Web Page: mercury.pr.erau.edu/~bruders Canvas
o Please set the Time Zone in CANVAS to Arizona (NOT EASTERN TIME ZONE) in two places (go to Settings):– First when you first enter CANVAS, and then for each course
• Textbook(s): Required Text: Control Systems Engineering, 7th Edition by
Norman S. Nise Optional Text: Linear State-Space Control Systems by R.L.
Williams II and D.A. Lawrence - ISBN 978-0-471-73555-7
Slide 2 of 13
EE 460 Advanced Control and System Integration
Course Outline
Monday, August 24
• Software Usage: MATLAB and Simulink and Mathematica (optional) or MATLAB symbolic toolbox
• Lectures: (Section 01) When: M/W/F 2:00 p.m. – 2:50 p.m. Where: KEC Rm 130
• Office Hours: When:
o Monday, Wed, and Friday 10:00 am – 11:00 am &o Monday and Wed 3:00 pm – 4:00 pm
Where: KEC Rm 108
Slide 3 of 13
EE 460 Advanced Control and System Integration
Course Outline
Monday, August 24
• Instructor: Dr. Stephen Bruder Office: King Eng. Center Rm. 108 Email: [email protected]
Slide 4 of 13
Course Outline
Monday, August 24 EE 460 Advanced Control and System Integration
• Course Description
Study of modern control methods including state variables,
controllability and observability, and modern design
techniques. Topics covered include state space realization
theory, observability/controllability, linear feedback
control, observers and Kalman filtering or Optimal Control
A design project will be part of the coursework.
Slide 5 of 13
Course Outline
Monday, August 24 EE 460 Advanced Control and System Integration
• Course Description Brief Review of required linear algebra (2-weeks)
o Basic matrix theoryo Concept of rank, determinant, …o Eigenvectors, eigenvalues, transformations, etc.
State Space Representation(s) (3-weeks)o PVCF, observable, and controllable formso Solving for the state transition matrixo Relationship between state-space and classical controlo Basic Linearization
Slide 6 of 13
Course Outline
Monday, August 24 EE 460 Advanced Control and System Integration
Observability and Controllability (1-week) Linear Feedback Control (2-weeks)
o Full state fb, Output fb, and pole placemento Ackerman’s formulae
Linear Observer Design (2-weeks)o Full order observerso Reduced order observers
Kalman Filtering (2-weeks)o Intro to Random processeso Least squares estimationo The discrete Kalman Filter
Linear, Quadratic Optimal Control (alternative to KF)
Slide 7 of 13
Course Outline
Monday, August 24 EE 460 Advanced Control and System Integration
• Grading Scheme Ten Homework Assignments: 30%
o Your lowest hwk grade will be droppedo Must show work
– Providing only the answer is insufficient!!o The work you submit MUST be your own!!
Two Mid-Term Exams: 15% each (total 30%)o Open book and open noteso Exams will be cumulative
Class Participation: 5%
o Attend class and participate constructively
Slide 8 of 13
Course Outline
Monday, August 24 EE 460 Advanced Control and System Integration
• Grading Scheme
Final Project: 35%o Will include an in-class presentation and final project reporto Each student will analyze, design, and implement a state-
space controller– Hardware will be provided
» Linear or rotary inverted pendulum» Other systems (e.g., Qbot 2 mobile robot)
Slide 9 of 13
Course Outline
Monday, August 24 EE 460 Advanced Control and System Integration
• Class Schedule
Slide 10 of 13
Introduction to Modern Control: What is modern control?
Monday, August 24 EE 460 Advanced Control and System Integration Slide 11 of 13
Modern Control Classical Control
Applicability• MIMO systems• Time-varying systems
• SISO systems• Time-invariant systems
Required Math• Linear algebra • Laplace transform
Modeling• State-space equations• Continuous & discrete time
• Transfer functions• Continuous & discrete time
Analysis• Time domain• Pole placement, observability,
controllability, …
• Time & frequency domain• Root locus, Routh Hurwitz, …
Design• Observer, state -feedback
controller, …• Optimal, robust, nonlinear control
• PID controller• lead-lag compensator•
Implementation• Embedded computer• m- processor, DSP, FPGA, …
• PLC• OP-Amps, circuit elements, …
• What is modern control?
History of Control Theory
Monday, August 24 EE 460 Advanced Control and System Integration Slide 12 of 13
• Classical control: pre-1950 Transfer function based methods
o Time-domain design & analysis o Frequency-domain design & analysis
• Modern control: 1950 to 1980 State-space-based methods
o Optimal control o Adaptive control
• Post modern control: post-1980 H∞ control Robust control Non-linear control
Steps to Deploying a Controller
Monday, August 24 EE 460 Advanced Control and System Integration Slide 13 of 13
• Step1: Modeling & Identification Physics based ODE models
• Step2: Analysis Stability, controllability, and observability
• Step3: Design Classical, modern, and post-modern control
• Step4: Simulation MATLAB, Simulink, Mathematica, etc….
• Step5: Implementation PLC, Embedded computer, …
