EECE460_Decoupling

EECE 460 : Control System DesignJanuary 2012

Guy A. Dumont

UBC EECE

Introduction

Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 1 / 24

Contents

Contents

Practical informationYour instructorCourse goals


Practical Information


Lectures on Tuesday and Thursday 12h30 - 14h00 MCLD 202Instructor: Guy A. Dumont

Tel: 822-2336Email: [email protected] hours:

Teaching Assistant: Pedram AtaeeEmail: [email protected]

Performance assessment3 midterm exams 25% each1 Matlab project on PID tuning 25%




TextbookG.C. Goodwin, S.F Graebe and M.E. Salgado, Control SystemDesign, Prentice Hall, 2001

Useful books:T. Glad, L. Ljung, Control Theory, Taylor and Francis,2000K.J. Åström, T. Hägglund, PID Control, ISA Press, 2006

Course websitehttp://courses.ece.ubc.ca/460Contains general information, lecture notes, homework, additionalresources


Your Instructor...

Education and Experience

1973: Diplôme d’Ingénieur Arts et Métiers, Paris1977: PhD, Electrical Engineering (Control), McGill University1977-1979: Control Engineer, Tioxide, France1979-1989: Head, Control Engineering Section, Paprican,Montreal and Vancouver1989-Present: Professor EECE, UBC

1989-1999: NSERC/Paprican Industrial Research Chair2000-2002: Associate Dean Research, APSC2003-Present: Distinguished University Scholar2006-2010: Director, Pulp and Paper Centre2008-Present: Associate Member, UBC Dept. of Anesthesia,Pharmacology and Therapeutics2011-2012: Peter Wall Distinguished Scholar in Residence


Your Instructor...

Research

Adaptive Control, predictive control, system identification, controlof distributed parameter systems, control performance monitoring,signal processing, wavelet analysisApplications to process industries, particularly pulp and paperBiomedical applications of control and signal processing:automatic drug delivery, closed-loop control of anesthesia,physiological monitoring in the OR and ICU, modelling andidentification of physiological systems (cardiovascular system,circadian rhythms), biosignal processing (EEG, ECG, etc...),detection of epileptic seizures, identification of the dynamics of theautonomic nervous system, technology for global health


Your Instructor...

Current Collaborations

IndustryHoneywellAndritz AutomationFPInnovationsCleveland Medical DevicesDräger Medical AGGE HealthcarePulsar Informatics

AcademiaUBC Departments: Mat. Eng; Chem Eng; Anesthesia,Pharmacology and Therapeutics; PediatricsVGH; St Paul’s; BC Women’s and Children’s Hospital; BC CancerAgencyMcGill Douglas Hospital Centre for Study and Treatment ofCircadian RhythmsINSA Lyon; Université J. Fourier, Grenoble, FranceHopital Foch, Paris, France. Hopital Erasme, Brussels, Belgium.


Motivation

What is control anyway?

What is control?Control is essentially the use of feedback in engineered systems

Feedback plays a crucial role in both the natural and theengineered worldThe concept of feedback is central to control theory

The basic feedback loop consists of sensing, computation andactuation


Motivation

Cruise Control

from Åström and Murray, Analysis and Design of Feedback Systems

Stability: system maintains desired operating point (hold steadyspeed)Performance: system responds rapidly to changes (accelerate to65 mph)with minimal overshootRobustness: system tolerates perturbations in dynamics (mass,drag, etc)


Motivation

Do I really need this stuff?

Control is a key-enabling technologyUsed whenever a physical variable is required to either stay at aspecific value or to follow a desired trajectory.More and more, control is mission-critical, i.e. systems cannot beoperated without it

Murray et al., "Future directions in control in an information-rich world", IEEEControl Systems Magazine, April 2003

"The panel believes that control principles are now a required part ofany educated scientist’s or engineer’s background..."

See the recent report "The Impact of Control Technology"produced by the IEEE Control Systems Society and freelyavailable at http://ieeecss.org/main/IoCT-report


Applications of Control

Control is Ubiquitous

Control is used extensively in industry to run plants efficiently,economically and with the least environmental impact whileproducing products with stringent quality specificationsMost modern plants cannot properly or safely without controlsystemsConcept of agile plantsAlthough control is ubiquitous and essential technology, it isgenerally not visible to the end-user.For this, it has been called the Hidden Technology



Aerospace/Aeronautics

Control technology was key to the success of the Apollo programThis led to more efficient and safer aircrafts.Digital fly-by-wire technology has become standard oncommercial aircrafts



Process Control

Control is required for plants to operate optimallyControl is key to energy efficiencyProportional-Integral-Derivative (PID) control still the workhorse ofprocess controlHowever, significant economic benefits usually require advancedcontrol such as model predictive control (MPC)Domain knowledge is key to successful applications



Automotive

Control is pervasive in today’s automobilesEmission control systemsNew engines are mechatronic designsAntilock Braking Systems (ABS)Electronic Stability Control (ESC)Active suspensionSelf-parkingCollision avoidance systemsElectrice vehicles (EV’s) and Hybrid Electric Vehicles (HEV’s) relyheavily on control



Energy Systems

Solar and wind energy require advanced control for efficient andreliable operationUncertainty and intermittency of wind and solar power causemajor challengesSmart grids with increased controllability and responsiveness



Biological Systems

Applications of control in medicine are not as established and thefield is not as mature as othersCardiac assist devicesControlled drug deliveryAnesthesia deliveryBlood glucose control: artificial pancreasVariabliity represents a major challenge



A Variety of Applications

On a number of devices, control is used to obtain performancethat would simply not be attainable otherwise

Hard disc drivesCD, DVD playersAircraft autopilotsAutomotive applications: ABS, combustion control, activesuspension, self-parkingProsthetics, implantable devices


Control is Everywhere!

Feedback: Essential to Life!

M. B Hoagland and B Dodson. The Way Life Works. Times Books,1995‘Feedback is a central feature of life. The process of feedback governshow we grow, respond to stress and challenge, and regulate factorssuch as body temperature, blood pressure, and cholesterol level.Themechanisms operate at every level, from the interaction of proteins incells to the interaction of organisms in complex ecologies.’



Systems Biology

from http://ieeecss.org/main/IoCT-report



Control of Arterial Pressure



Respiratory Control

Carotid. Delay Controller. Lungs. Delay Tissue. Delay Brain. Delay


The Course

Objectives

Accessible treatment of rigorous material (i.e. no emphasis onmath)Understanding of fundamental limitations of control systemsEmphasis on design of SISO systems and simple MIMO systemsDemonstration of the relevance of the material via examples


The Course

Goals of the Course

After this course, you should be able toDesign a SISO or MIMO control system for a reasonably complexreal-world systemUnderstand Youla parameterization for analyzing and designingfeedback loopsTune a PID controllerApply control theory to understand complex engineering systems


The Course

Course Contents

Brief review of basic control theoryFundamental limitations in SISO controlPID control design and tuningSome advanced SISO control techniquesAnalysis of MIMO systemsSISO techniques for MIMO systems


EECE460_Decoupling

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