LUND UNIVERSITY. Electronic Stability Program (ESP) is a new safety system which guides cars through...
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LUND UNIVERSITY
LUND UNIVERSITY
Electronic Stability Program (ESP) Electronic Stability Program (ESP) is a new safety system which guides is a new safety system which guides cars through wet or icy bends with cars through wet or icy bends with more safety….more safety….The key is a yaw-rate sensor, which The key is a yaw-rate sensor, which detects vehicle movement around its detects vehicle movement around its vertical axis, and software which vertical axis, and software which recognizes critical driving conditions recognizes critical driving conditions and responds accordingly. and responds accordingly.
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The Hidden TechnologyThe Hidden Technology
Widely usedWidely usedVery successfulVery successfulSeldom talked aboutSeldom talked about Except when disaster strikesExcept when disaster strikesWhy?Why?
Perhaps easier to talk about devices than ideasPerhaps easier to talk about devices than ideas
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ControlControl The Hidden TechnologyThe Hidden Technology
K. J. ÅströmK. J. Åström
Lund Institute of TechnlogyLund Institute of Technlogy
Lund UniversityLund University
SwedenSweden
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Engineering EducationEngineering EducationFollowed the pattern of emergingFollowed the pattern of emerging
industries in the last century: industries in the last century: Civil Engineering, Mining, Civil Engineering, Mining, Mechanical, Chemical, Electrical.Mechanical, Chemical, Electrical.
New fields such as New fields such as Automatic Control Automatic Control
and Systems and Systems which are not tied to a which are not tied to a
particular industry have appeared in particular industry have appeared in
this century.this century.
LUND UNIVERSITY
1.1. IntroductionIntroduction
2.2. A Brief HistoryA Brief History
3.3. State of the ArtState of the Art
4.4. The FutureThe Future
5. 5. ConclusionsConclusions
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Early use in many fieldsEarly use in many fields Process controlProcess control Vehicle controlVehicle control CommunicationCommunication
Servomechanism TheoryServomechanism Theory Consequences Consequences The Second WaveThe Second Wave Maturity?Maturity?
A Brief HistoryA Brief History
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Industrial Process ControlIndustrial Process Control
Windmills MeadWindmills Mead 17871787
Steam EnginesSteam Engines 17881788
GovernorsGovernors 18901890
Water TurbinesWater Turbines 18931893
Tolle’s BookTolle’s Book 19051905
The PID ControllerThe PID Controller 19301930
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Wilbur Wright 1901Wilbur Wright 1901
We know how to construct airplanes. We know how to construct airplanes. Men also know how to build engines. Men also know how to build engines.
Inability to balance and steer still confronts Inability to balance and steer still confronts students of the flying problem. When this students of the flying problem. When this one feature has been worked out, the age one feature has been worked out, the age
of flying will have arrived, for all other of flying will have arrived, for all other difficulties are of minor importancedifficulties are of minor importance
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A Quiz!A Quiz!
Robot Piloted Plane makes Robot Piloted Plane makes Safe Crossing of the AtlanticSafe Crossing of the AtlanticNo hands on controls from No hands on controls from
Newfoundland to Oxforshire Newfoundland to Oxforshire Take-Off, Flight and Landing are Take-Off, Flight and Landing are
fully Automatic. fully Automatic.
New York Times 19XXNew York Times 19XX
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The Wright BrothersThe Wright Brothers 19031903
Sperry’s AutopilotSperry’s Autopilot 19121912
Robert E. LeeRobert E. Lee 19471947
V1 and V2 (A4)V1 and V2 (A4) 19421942
SputnikSputnik 19571957
Apollo Apollo 19691969
Mars PathfinderMars Pathfinder 19971997
Flight ControlFlight Control
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TelecommunicationsTelecommunicationsThe Repeater ProblemThe Repeater Problem
Black’s InventionBlack’s Invention 1928 1928
““Singing” = InstabilitySinging” = Instability
Nyquist’s Theorem 1932Nyquist’s Theorem 1932
Bode’s PaperBode’s Paper 1940 1940Bode: Bode:
Network Analysis Network Analysis and and Feedback Amplifier DesignFeedback Amplifier Design
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The Feedback AmplifierThe Feedback Amplifier
Telephone Calls Over Long DistancesTelephone Calls Over Long Distances
The Problem: How to Increase Signal Strength?The Problem: How to Increase Signal Strength?
The Solution: The Feedback Amplifier The Solution: The Feedback Amplifier
Patented by Black 1928Patented by Black 1928
Patent Granted 1937Patent Granted 1937
Strong Development of Theory and Design MethodsStrong Development of Theory and Design Methods
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Mervin Kelley on Black 1957Mervin Kelley on Black 1957
It is no exageration to say that without It is no exageration to say that without
Black’s invention of the feedback amplifier, Black’s invention of the feedback amplifier,
the present long-distance telephone and the present long-distance telephone and
television networks, which covers our television networks, which covers our
entire country and the transoceanic entire country and the transoceanic
telephone cables would not exist.telephone cables would not exist.
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Make a system behave as desired Make a system behave as desired
Keep variables constant Keep variables constant
Stabilize unstable systemStabilize unstable system
Reduce effects of disturbancesReduce effects of disturbances
and component variationsand component variations New freedom for designersNew freedom for designers
The Magic of FeedbackThe Magic of Feedback
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The Scene of 1940The Scene of 1940
Widespread use of automatic control inWidespread use of automatic control in
many fieldsmany fields Power generation and distributionPower generation and distribution
Process controlProcess control
Autopilots for ships and aircraftsAutopilots for ships and aircrafts
TelecommunicationsTelecommunications
It was not realized that the problems It was not realized that the problems
were the samewere the same
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Industrial Process Industrial Process ControlControl
TelecommunicationsTelecommunications
Flight ControlFlight Control
MathematicsMathematics
PrinciplesPrinciplesTheoryTheory
Design Design MethodologyMethodology
ApplicationsApplications
A Discipline EmergesA Discipline Emerges
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The Black Box ConceptThe Black Box Concept
OutputOutputInputInput
AbstractionAbstraction
Information hidingInformation hiding
Transfer functionsTransfer functions
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Servomechanism TheoryServomechanism Theory
FoundationsFoundationsComplex variablesComplex variablesLaplace TransformsLaplace Transforms
System ConceptsSystem ConceptsFeedbackFeedbackFeedforwardFeedforward
Methodology Design Methodology Design Frequency ResponseFrequency ResponseGraphical MethodsGraphical Methods
Analog SimulationAnalog Simulation
ImplementationImplementation
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Theory of ServomechanismsTheory of Servomechanisms
Hubert M. James Hubert M. James Professor of Physics Purdue UniversityProfessor of Physics Purdue University
Nathaniel B. Nichols Nathaniel B. Nichols Director of Research Taylor Instrument CompaniesDirector of Research Taylor Instrument Companies
Ralph S. Phillips Ralph S. Phillips Associate Professor of Mathematics University of Southern CaliforniaAssociate Professor of Mathematics University of Southern California
Office of Scientific Research and DevelopmentOffice of Scientific Research and Development
National Defence Research CommitteeNational Defence Research Committee
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ConsequencesConsequences
EducationEducation
ApplicationApplication
IndustrializationIndustrialization
OrganisationOrganisation
JournalsJournals
ConferencesConferences
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The Second WaveThe Second Wave
Optimal ControlOptimal Control
Nonlinear ControlNonlinear Control
Computer ControlComputer Control
Stochastic ControlStochastic Control
Robust ControlRobust Control
System IdentificationSystem Identification
Adaptive ControlAdaptive Control
CACECACE
Driving ForcesDriving Forces
ApplicationsApplications
MathematicsMathematics
ComputersComputers
A New ParadigmA New Paradigm
State SpaceState Space
Rapid ExpansionRapid Expansion
SubspecialitiesSubspecialities
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Optimal ControlOptimal Control
EulerEuler
LagrangeLagrange
PontryaginPontryagin
HamiltonHamilton
JacobiJacobi
BellmanBellman
1707–17831707–1783
1736–18131736–1813
19621962
1805–18651805–1865
1804–18511804–1851
19571957
ATTITUDE AND THRUST CONTROLATTITUDE AND THRUST CONTROL€ € Swivel Outer Four EnginesSwivel Outer Four Engines
€ € Optimum to Desired End ConditionsOptimum to Desired End Conditions
€ € Inertial Updating of Position and VelocityInertial Updating of Position and Velocity
GUIDANCE – SATURNGUIDANCE – SATURN
NAVIGATIONNAVIGATION
SII STAGESII STAGEFive J-2 EnginesFive J-2 Engines
2, 500, 000N Thrust2, 500, 000N Thrust
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CSLCSL1957 The Control Systems Laboratory1957 The Control Systems Laboratory1959 Interdisciplinary, interdepartmental 1959 Interdisciplinary, interdepartmental graduate research center graduate research center1967 New building, physics, control 1967 New building, physics, control
communication, computer communication, computer engineering engineering
1992 This building, 80 faculty, 1992 This building, 80 faculty, 7 departments, 320 grad students7 departments, 320 grad students
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1.1. IntroductionIntroduction
2.2. A Brief HistoryA Brief History
3.3. State of the ArtState of the Art
4.4. The FutureThe Future
5. 5. ConclusionsConclusions
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Current StatusCurrent Status
A well established body of ideas, A well established body of ideas,
concepts, theory and design concepts, theory and design
methods.methods.
Wide and growing application areasWide and growing application areas
Still developing rapidlyStill developing rapidly
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Perhaps Most ImportantPerhaps Most Important
A good group of very talented A good group of very talented
and creative young researchers.and creative young researchers.
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System TheorySystem Theory
A large body of results with connections A large body of results with connections
to many branches of mathematicsto many branches of mathematics
Compactification badly needed!Compactification badly needed!
LinearLinear
NonlinearNonlinear
StochasticStochastic
DiscreteDiscrete
SampledSampled
DistributedDistributed
Discrete Discrete EEventvent
HybridHybrid
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Design MethodologyDesign Methodology
Modeling and IdentificationModeling and Identification
DesignDesign
SimulationSimulation
ImplementationImplementation
Computer Aided Control Computer Aided Control
EngineeringEngineering
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ApplicationsApplications
Energy generationEnergy generation
Energy transmissionEnergy transmission
Process controlProcess control
Discrete manufacturingDiscrete manufacturing
CommunicationCommunication
TransportationTransportation
BuildingsBuildings
EntertainmentEntertainment
InstrumentationInstrumentation
MechatronicsMechatronics
MaterialsMaterials
PhysicsPhysics
BiologyBiology
EconomicsEconomics
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CD Player CD Player
TrackingTracking
SearchingSearching
FocusingFocusing DC-motorDC-motor
photo diodesphoto diodesradial armradial arm
Optical Pick-upOptical Pick-upUnitUnit
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PhysicsPhysics
Particle AcceleratorsParticle Accelerators
The 1984 Nobel Prize Van Der MeerThe 1984 Nobel Prize Van Der Meer
Repetetive Control TakanoRepetetive Control Takano
Adaptive OpticsAdaptive Optics
Atomic Force MicroscopeAtomic Force Microscope
Quantum and Molecular SystemsQuantum and Molecular Systems
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EconomicsEconomics
Complex Dynamical Systems With Much Complex Dynamical Systems With Much
Manual Feedback and Complicated CriteriaManual Feedback and Complicated Criteria
H. Simon 1956: Certainty EquivalenceH. Simon 1956: Certainty Equivalence
Program Trading – Relay FeedbackProgram Trading – Relay Feedback
Merton-scholes – Stochastic ControlMerton-scholes – Stochastic Control
Wall Street and the CityWall Street and the City
The Financial CrisisThe Financial Crisis
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Feedback is a central feature of life. The process of Feedback is a central feature of life. The process of
feedback governs how we grow, respond to stress feedback governs how we grow, respond to stress
and challenge, and regulate factors such as body and challenge, and regulate factors such as body
temperature, blood pressure, and cholesterol level.temperature, blood pressure, and cholesterol level.
It also makes it possible for us to stand upright. The It also makes it possible for us to stand upright. The
mechanisms operate at every level, from the mechanisms operate at every level, from the
interaction of proteins in cells to the interaction of interaction of proteins in cells to the interaction of
organisms in complex ecologies. organisms in complex ecologies.
BiologyBiology
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It is not the strongest of the species that It is not the strongest of the species that
survive, nor the most intelligent, it is the survive, nor the most intelligent, it is the
one that is most adaptable to change.one that is most adaptable to change.
Charles DarwinCharles Darwin
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A DilemmaA Dilemma
Automatic control is a collection of Automatic control is a collection of
ideas, concepts and theories with ideas, concepts and theories with
very wide applications areas. How to very wide applications areas. How to
cope with:cope with: Coupling to hardwareCoupling to hardware
Coupling to industries Coupling to industries
Process knowledge Process knowledge
Academic positioningAcademic positioning
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A Soul but No BodyA Soul but No Body Technology transferTechnology transfer
Student attractionStudent attraction
No home courtNo home court
No base industryNo base industry
GeneralityGenerality
Academic positioningAcademic positioning
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1.1. IntroductionIntroduction
2.2. A Brief HistoryA Brief History
3.3. State of the ArtState of the Art
4.4. The FutureThe Future
5. 5. ConclusionsConclusions
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Understand Nature vs Man-made SystemsUnderstand Nature vs Man-made Systems
Design and Operation of SystemsDesign and Operation of Systems
Physical Laws vs System PrinciplesPhysical Laws vs System Principles
Equally ChallengingEqually Challenging
Useful for MankindUseful for Mankind
Theoretical Physics vs System TheoryTheoretical Physics vs System Theory
Use of MathematicsUse of Mathematics
Natural and Engineering SciencesNatural and Engineering Sciences
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ModelingModelingReal World Automatic ControlReal World Automatic Control
ProcessesProcesses System TheorySystem Theory
SystemsSystems Control DesignControl Design
ImplementationImplementation
CommissioningCommissioning
OperationOperation
A PerspectiveA Perspective
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Stability and ControllabilityStability and Controllability Wright Brothers rejected the dogma that aircraft Wright Brothers rejected the dogma that aircraft
should be inherently stable should be inherently stable
Minorsky 1922: It is an old adage that a stable Minorsky 1922: It is an old adage that a stable
ship is difficult to steership is difficult to steer
Integrated process and control designIntegrated process and control design
The cardinal sin of controlThe cardinal sin of control
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Co-Design of Process and ControlCo-Design of Process and Control
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The Mercedes A-classThe Mercedes A-classAutomatic control gives extra freedom to the designerAutomatic control gives extra freedom to the designer
Unstable behavior improved byUnstable behavior improved by
Electronic Stabilization Program (ESP)Electronic Stabilization Program (ESP)
ESPESP
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Educational ChallengesEducational Challenges
Theory and applications expanding Theory and applications expanding
How to compactify the knowledge? How to compactify the knowledge?
The engineering aspectThe engineering aspect
The field had changed a lot The field had changed a lot
The introductory courses have notThe introductory courses have not
Is it time for CSL to take an initiative? Is it time for CSL to take an initiative?
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Recipe for SuccessRecipe for Success
Good ideas and demanding problems Good ideas and demanding problems
Respect for solid theoryRespect for solid theory
Good engineeringGood engineering
ExamplesExamples
Servomechanisms, Optimal controlServomechanisms, Optimal control
Robust control, Digital controlRobust control, Digital control
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Interesting AreasInteresting Areas
CC33
Control, Computing and CommunicationControl, Computing and Communication
A very strong base at CSLA very strong base at CSL
BiologyBiology Many previous attempts will it work this time?Many previous attempts will it work this time?
Long tradition at UIUCLong tradition at UIUC
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Computer ControlComputer Control
0123456789
10
1960 1970 1980 1990 2000
Process controlRegularEmbedded
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1.1. IntroductionIntroduction
2.2. A Brief HistoryA Brief History
3.3. State of the ArtState of the Art
4.4. The FutureThe Future
5. 5. ConclusionsConclusions
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ConclusionsConclusions An exciting field An exciting field
Use of feedback often revolutionaryUse of feedback often revolutionary
Rapid growth of applicationsRapid growth of applications
Many unsolved problemsMany unsolved problems
Streamline knowledgeStreamline knowledge
Intellectual drivesIntellectual drives
Education is a key issueEducation is a key issue
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Take Care of Both Body and SoulTake Care of Both Body and Soul
Intellectual challenges (the soul)Intellectual challenges (the soul)
Basics that generalizes easilyBasics that generalizes easily
Give the general pictureGive the general picture
Particular attention to introductory coursesParticular attention to introductory courses The engineering aspect (the body)The engineering aspect (the body)
Educate students broadly so that theyEducate students broadly so that they
can take full systems responsibilitycan take full systems responsibility Learn theory and at least one applicationLearn theory and at least one application
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Thank You for the InvitationThank You for the Invitation
Congratulations!Congratulations!