Fall 2022 (111-1)
控制系統
Control Systems
Unit 1A
Introduction - Course Information
Feng-Li Lian
NTU-EE
Sep 2022 – Dec 2022
電機系課程關聯圖 CS1A-IntroCourse - 2
Feng-Li Lian © 2022
Feng-Li Lian © 2015
Technology, Engineering, Mathematics, and Graph –NTUEE-SS9-Laplace-3
Technology
Engineering
Mathematics
Graph
Feng-Li Lian © 2015
Flowchart of Signals and Systems –NTUEE-SS6-TimeFreq-4
Introduction (Chap 1) LTI & Convolution (Chap 2)
Bounded/Convergent
Periodic Aperiodic
CT CT (Chap 4)
FS DT FT
(Chap 3) DT (Chap 5)
Unbounded/Non-convergent
LT CT (Chap 9)
zT DT (Chap 10)
Time-Frequency (Chap 6) Communication (Chap 8) Digital
Signal (dsp-8)
CT-DT (Chap 7) Control (Chap 11)
Processing
Feng-Li Lian © 2015
Fourier Series, Fourier Transform, Laplace Transform, z-Transform
–NTUEE-SS6-TimeFreq-5
CT DT
time frequency time frequency
FS
FT
LT/zT
Feng-Li Lian © 2015
Plant, Input, Output, Action, Goal
Plant (P) Signals &
Systems
Ref (r) Input (u) Output (y)
Control
Systems
1. Model
2. Response
3. Analysis
4. Feedback
Controller
5. Control
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Outline of Textbook & Lectures Feng-Li Lian © 2022
1: Overview and Introduction
2: Dynamic Models 物理定律, 工程問題
3: Dynamic Response 函數, 方程式, 多項式
4: Feedback Analysis 系統特性,公式
5: Analysis & Design: Root Locus 多項式根的特性
6: Analysis & Design: Bode Plot 頻率響應的特性
7: State-Space Design 線性代數, 微分方程
8: Digital Control 離散時間, 數位信號
9: Nonlinear Systems 非線性函數, 特徵
10: Case Study
統整分析與設計
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Outline of Textbook & Lectures Feng-Li Lian © 2022
1: Overview and Introduction
2: Dynamic Models 建模 Modeling
3: Dynamic Response 分析 Analysis
4: Feedback Analysis
5: Analysis & Design: Root Locus 設計 Design
6: Analysis & Design: Bode Plot
7: State-Space Design
8: Digital Control
9: Nonlinear Systems
10: Case Study
統整分析與設計
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Outline of Textbook & Lectures Feng-Li Lian © 2022
1: An Overview and Brief History of Feedback Control
2: Dynamic Models
3: Dynamic Response 信號與系統
4: A First Analysis of Feedback
5: The Root-Locus Design Method
6: The Frequency-Response Design Method
7: State-Space Design
線性系統
8: Digital Control 數位控制
非線性系統
9: Nonlinear Systems
10: Control System Design:
Principles and Case Studies
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Lectures and Exams Feng-Li Lian © 2022
– U1A, U1B (Introduction)
– U2A, U2B, … (Dynamic Models)
Midterm Exam
– U3A, U3B, … (Dynamic Response)
– U4A, U4B, … (Feedback Analysis)
Final Exam
– U5A, U5B, … (Root-Locus Design)
– U6A, U6B, … (Frequency-Response Design)
Case Study& Projects
– U7A, U7B, … (Case Study)
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Grading Feng-Li Lian © 2022
作業 (20%)： 10次 (20-30%)
考試 (30%+30%)： 2次 (40-50%)
專題 (20%)： 1次 (20%)
» 兩人一組，自選主題
» 完成(A)建模， (B)分析與(C)設計三階段任務
» 拍攝一段 5min 報告影片，分享到影音平台 (e.g., YT, FB)
» 共同參與互相評分：A, B, C
互動學習迴授 (20%, Optional)： (20%)
» 分享課程進行過程
» 討論分析研究進階課題
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Grading Feng-Li Lian © 2022
A+： 所有目標皆達成且超越期望 作業：18-20
A ： 所有目標皆達成 考試：54-60
A-： 所有目標皆達成，但需一些精進 專題：18-20
總分：90-99 ( A )
B+： 達成部分目標，且品質佳 100+ ( A+ )
B ： 達成部分目標，但品質普通
B-： 達成部分目標，但有些缺失 作戰組：
• 電機三，電機四
C+： 達成最低目標
C ： 達成最低目標，但有些缺失 強化組：
C-： 達成最低目標但有重大缺失 • 電機二
獨立組：
F ： 未達成最低目標
• 其他
X: 因故不核予成績
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Syllabus Feng-Li Lian © 2022
Lecture Information: Textbook & References:
• Time: Fridays 9:10am-12noon • Feedback Control
• Room: EE2-229 or MS-Teams of Dynamic Systems
• Office Hours: by e-mail appointment • Modern Control Systems
• Website: NTU-Cool or • Control Tutorials
[Link] for MATLAB and Simulink
Teaching/ControlSystems/
Grading:
Instructor: • Exam x 2: 60%
• 連豊力 (Feng-Li Lian) • HW x N : 20%
• Office: MD-717 • Project x 1: 20%
• Email: fengli@[Link] • Optional: 20%
• Phone: 02-3366-3606
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References Feng-Li Lian © 2022
Feedback Control of Dynamic Systems (Franklin19)
• by Gene F. Franklin, J David Powell, Abbas Emami-Naeini, (8th Ed., 2019)
• 出版社： Pearson 代理商： 滄海書局
Modern Control Systems (Dorf17)
• by Richard C. Dorf, Robert H. Bishop, (13th Ed., 2017)
• 出版社： Pearson 代理商： 巨擘書局
Control Tutorials for MATLAB and Simulink (Messner19)
• by Bill Messner and Dawn Tilbury, (1996, 1997, 2011, 2017, 2019)
• 資料： Website: Control Tutorials
Feedback Systems:
An Introduction for Scientists and Engineers (Astrom19)
• by Karl J. Astrom and Richard M. Murray, (2nd Ed., 2019)
• 出版社： [Link]
Feedback and Control for Everyone (Albertos10)
• by Pedro Albertos, Iven Mareels, (13th Ed., 2010)
• 出版社： Springer
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Unit 1 - Introduction Feng-Li Lian © 2022
Unit 1
Introduction
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Unit 1 - Introduction Feng-Li Lian © 2022
U1A Introduction to Course
–
U1B Introduction to Feedback and Control
–
U1C Overview and History
–
U1D Examples
–
U1E Examples
–
U1F Examples
–
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Unit 3 - Dynamic Response Feng-Li Lian © 2022
Unit 2
Dynamic Models
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Unit 2 - Dynamic Models Feng-Li Lian © 2022
For the plant to be analyzed and controlled
– Dynamic Models
– Mathematical Models
Methodology
– Based on Physics and By Differential Equations
– From Experimental Data (System Identification)
Key Ingredients:
– Physics, Chemistry, Biology, Sociology, Economics, etc.
– Differential Equations (Equations of Motion, Dynamic Equations)
– Laplace Transforms, Fourier Transforms
– Transfer Function (From Input to Output)
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Unit 2 - Dynamic Models Feng-Li Lian © 2022
Mechanical Systems
– U2A: Translational Motion
– U2B: Rotational Motion
– U2C: Combined Rotation and Translation
– U2D: Distributed Parameter Systems
Electrical Circuits
– U2E: Kirchhoff's Current Law (KCL)
– U2E: Kirchhoff's Voltage Law (KVL)
– U2E: Operational Amplifier
Electromechanical Systems
– U2F: Loudspeakers
– U2F: Motors
– U2F: Gears
Heat and Fluid-Flow Models
– U2G: Heat Flow
– U2G: Incompressible Fluid Flow
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Unit 3 - Dynamic Response Feng-Li Lian © 2022
Unit 3
Dynamic Response
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Unit 3 - Dynamic Response Feng-Li Lian © 2022
U3A Review of Laplace Transforms
– Laplace Transforms: From Differential Eqns to Algebraic Eqns
– Transfer Functions, Frequency Response, Poles and Zeros
– Step, Ramp, Impulse Functions
– Laplace Transforms and Inverse LT, The Final Value Theorem
– Using Laplace Transforms to Solve Differential Equations
U3B System Modeling Diagrams: Model Visualization
U3C Effect of Pole Locations
U3D Time-Domain Specifications
– Rise Time
– Overshoot and Peak Time
– Settling Time
U3E Effects of Zeros and Additional Poles
U3F Stability
– Bounded Input–Bounded Output Stability
– Stability of LTI Systems
– Routh’s Stability Criterion
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Unit 4 - Feedback Analysis Feng-Li Lian © 2022
Unit 4
Feedback Analysis
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Unit 4 - Feedback Analysis Feng-Li Lian © 2022
U4A The Basic Equations of Control
– Open-Loop and Closed-Loop Systems
– Stability, Tracking, Regulation, Sensitivity
U4B Control of Steady-State Error to Polynomial Inputs:
System Type
– Control of Steady-State Error to Polynomial Inputs
– System Type for Tracking
– System Type for Regulation and Disturbance Rejection
U4C PID Control
– PID Control (Proportional, Integral, Derivative)
– P, I, D, PI, PD, PID
– Examples
U4D Ziegler–Nichols Tuning
– Ziegler–Nichols Tuning of the PID Controller,
– Examples
U4E Feedforward Control by Plant Model Inversion
– Feedforward Control by Plant Model Inversion
– Examples
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Unit 5 Root Locus Feng-Li Lian © 2022
Unit 5
Root Locus
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Unit 5 Root Locus Feng-Li Lian © 2022
U5A Root Locus of a Basic Feedback System
– Root-Locus Method of Evans
U5B Guidelines for Determining a Root Locus
– Formal Definition of Root Locus
– Rules for Determining a Positive (180◦) Root Locus
– Selecting the Parameter Value
U5C Selected Illustrative Root Loci
– PD, Lead Compensator
– Collocated vs Non-Collocated Flexibility, Complex Multiple Roots
U5D Design Using Dynamic Compensation
– Lead Compensation, Lag Compensation, Notch Compensation
U5E Design Examples Using the Root Locus
– Autopilot Design in the Smaller Airplane - Piper Dakota
U5F Extensions of the Root-Locus Method
– Rules for Plotting a Negative (0◦) Root Locus
– Consideration of Two Parameters
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Unit 6 Bode Plot Feng-Li Lian © 2022
Unit 6
Bode Plot
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Unit 6 Bode Plot Feng-Li Lian © 2022
U6A Frequency Response
– System Response and Frequency Response
U6B Bode Plot Techniques
– Bode Form of the Transfer Function
U6C Nonminimun-Phase & Steady-State Errors
U6D Neutral Stability
U6E Nyquist Stability Criterion
U6F Stability Margins
U6G Bode’s Gain–Phase Relationship
U6H Closed-Loop Frequency Response
U6I PD Compensation and Lead Compensation
U6J PI Compensation and Lag Compensation
U6K PID Compensation
U6L Compensation Characteristics & Design Considerations
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Unit 7 Case Study Feng-Li Lian © 2022
Unit 7
Case Study
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Unit 7 Case Study Feng-Li Lian © 2022
From Chapter 10
• Outline of Control Systems Design
• Satellite’s Attitude Control
• Lateral and Longitudinal Control of a Boeing
• Fuel–Air Ratio in an Automotive Engine
• Read Write Head Assembly of a Hard Disk
• RTP Systems in Semiconductor Wafer Manufacturing
• Chemotaxis, or How E. Coli Swims Away from Trouble
• Quadrotor Drone
From Control Tutorials Website
• Cruise Control
• Motor Speed
• Motor Position
• Suspension
• Inverted Pendulum
• Aircraft Pitch
• Ball & Beam
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Unit 8 Final Project Feng-Li Lian © 2022
Unit 8
Final Project
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Unit 8 Project Feng-Li Lian © 2022
主題與工作：
• 兩人一組，自選主題
• 可以從下面資料之中，挑選一個主題：
– 課本第十章
– Control Tutorial 網站
– 自行挑選有興趣的主題
• 主要工作：
– 研讀上述資料
– 整理關於 Model, Analysis, Design 的資料：
> Models: Differential Equations, Transfer Function
> Analysis: Timing Properties, Frequency Properties, Pole/Zero, etc.
> Design: By Root Locus, By Bode Plot, etc.
繳交報告：
• 一份 pptx 報告 與 一段影片
• 報告使用 pptx 編輯，整理Model, Analysis, Design 的資料
• 文字與方程式符號等資料，需要重新編輯，不可以直接貼圖的方式
• 所有數據圖，需要用 Matlab 重新產生，不可以直接從資料中複製過來
• 拍攝一段 5-10min報告影片，上傳到NTU-Cool
• 共同參與互相評分： A, B, C or 9, 6, 3
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Unit 8 Project Feng-Li Lian © 2022
A or 9：
• 針對所挑選的主題，完成：Model, Analysis, Design 等三部分的工作
– Models: Differential Equations, Transfer Function
– Analysis: Timing Properties, Frequency Properties, Pole/Zero, etc.
– Design: By Root Locus, By Bode Plot, etc.
• 編輯專題報告，文字，方程式，數據圖等，
都是從新編輯或自行撰寫程式執行的結果，
並不是從參考資料上，直接複製貼上的圖片資料。
B or 6：
• 針對所挑選的主題，完成：Model, Analysis, Design 等三部分的工作
• 但是，專題報告上的文字，方程式，數據圖等大部分內容，
都是從其他資料直接複製貼上而來的，
看不出來，是否已經瞭解該問題的核心內容以及會使用與控制系統有關的分析工具！
C or 3：
• 各方面（主題，分析過程，論述）都很缺乏！
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Unit 8 Final Project Feng-Li Lian © 2022
Appendix
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Plant, Input, Output, Action, Goal Feng-Li Lian © 2022
Plant (P)
Ref (r) Input (u) Output (y)
1. Model
2. Response
3. Analysis
4. Feedback
Controller
5. Control