MECH 3610 Control Principles
Lilong Cai
Department of Mechanical and
Aerospace Engineering
HKUST
melcai@[Link]
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Outline
•Introduction
-What is a control?
- Concept of feedback control
- Brief history of automatic control
- Control applications
-Syllabus
-Terms and concepts
-Examples of modern control
-Control design procedures
-Examples
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What is Control?
The word control is usually mean to take some actions to:
- regulate,
- direct, What do you do when you feel cooled ?
- command of object ….?
Control is a sequence of decisions and actions aimed at
the attainment of specified objectives in an environment
of uncertainty and presence of disturbances.
To control an object means to influence its behavior so
that to achieve a desired goal. In order to implement this
influence, engineers build devices that incorporate various
mathematical techniques.
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The concept of feedback Control (Why and How)
Water
Steam
Float
Boiler water-lever
regulator
Valve
Heat
With the water-lever regulator the boiler
can be operated automatically. 4
The concept of feedback control (Why and How)
Water
Steam
Float
Boiler water-lever
regulator
Valve
Heat
With the water-lever regulator the boiler
can be operated automatically. 5
The concept of feedback control
• Speed control of a steam engine
? ?
?
6
The concept of feedback control
• Speed control of a steam engine
? ?
?
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Brief History of Automatic Control
18th Century (1769) James Watt’s centrifugal governor for the speed control of a steam
engine developed.
1920s Minorsky worked on automatic controllers for steering ships.
1930s Nyquist developed a method for analyzing the stability of controlled systems
1940s Frequency response methods made it possible to design linear closed-loop control
systems
1950s Root-locus method due to Evans was fully developed
1960s State space methods, optimal control, adaptive control and
1980s Learning controls are begun to investigated and developed.
Present and on-going research fields. Recent application of modern control theory
includes such non-engineering systems such as biological, biomedical, economic and
socio-economic systems, from GPS to Internet of Things (IoT) 8
The Discipline of Control
• The central goal of control engineering is the design
of a technically feasible way to act on a given
process so that it behaves in a prescribed manner.
• Control is a key enabling technology in all braches
of engineering.
• It is often invisible to the user.
• Most modern industrial plants could not operate
without control systems.
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Applications of Control
• Control is used in a variety of devices to obtain
performance that simply would not be attainable
otherwise.
• Black invention of feedback amplifier
• Airplane autopilots
• Disk drives and CD player
• Cellular phones
• ABS in cars
• Unman vehicle , Drone
• Etc.…..
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Use of Control Theory
• Systems and control theory can be used to understand
• Biological systems
• Cell regulation mechanisms
• Population dynamics
• Epidemiology
• Economic systems
• Inflationary mechanisms
• Fiscal policies
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Goals of the Course
• Understand the role of control in engineering systems
• Know key ideas and concepts of Dynamics and Feedback
• Understand relevant mathematical theory
• Be able to solve simple control design problems
• Know relevant computational tools
• Recognize difficult control problems
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Syllabus
Course Description:
Introduce to basic control concepts, system equation, block diagrams, signal flow
graphs, transient response using convolution integral, root locus and frequency
response methods. Design controller using root locus, PID.
T.A.: Dr. Sunny Chan (Teaching Asso.) sunnychan@[Link] Rm 2567, Tel:34692219
QU, Yang yquae@[Link] , Rm 4226A, Tel:34692786 (Ex. 2786)
ZHANG, Guanlan gzhangaq@[Link]
ASLAM, Shoaib saslamaa@[Link]
Grading Policy: Homework 15% and Lab. 5%
Midterm Exam: 35%
Final Exam: 45%
Textbook:. MODERN CONTROL SYSTEMS, 13th edition, by Richard C. Dorf.
Supplementary Texts: Modern Control Engineering, 3nd edition, by Katsuhiko Ogata
Feedback Control of Dynamic Systems, 2nd edition,
by G. F. Franklin, J. D. Powell and A. Emami-Naeini.
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More to be find at Canvas
Terms and Concepts
System – An interconnection of elements and devices for
a purpose.
Control System – An interconnection of components forming
a system configuration that will provide a
desired response for a given process.
Process – The device, plant, or
system under control. The input
and output relationship represents
the cause-and-effect relationship Process to be controlled.
of the process. 14
Terms and Concepts
Two Types of Control Systems
• Open Loop • Closed Loop
-No feedback -Must have feedback
- Difficult to control -Must have sensor on
output with accuracy output
-Almost always negative
feedback
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Terms and Concepts
Open-Loop Control Systems utilize a controller or control
actuator to obtain the desired response.
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Terms and Concepts
Closed-Loop Control Systems utilizes feedback to compare the
actual output to the desired output response
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Unorthodox Sprite drone
video-537772-h264_high.mp4
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Terms and Concepts
• Typical Feedback Loop
Figure 1.3 Closed-loop feedback control system (with feedback).
The sensor and the actuator are key components of feedback loop.
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The concept of feedback
(+) Actual
Water Desired
Water Water
lever level
Steam
Float
?
Valve
Boiler water-lever
regulator
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Terms and Concepts
The idea of feedback:
• Compare actual behavior with desired behavior
• Take corrective action based on the difference (error)
• Deceivingly simple idea, but very powerful concept
• Feedback is a key idea in control
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Terms and Concepts
Quiz: Open-loop and Closed-loop control system? 22
Terms and Concepts
There are two broad classes of control problems
• The regulator problem:
Controlled output is held as close as possible to a constant
set-point, despite disturbances.
Temperature control, water lever control, etc.
• The servomechanism or tracking problem:
Controlled output follows as closely as possible a time-
varying command, despite disturbances
Tanker autopilot, radar tracking device
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Terms and Concepts
An Example of tracking problem
24
Terms and Concepts
25
Examples of Modern Control Systems
How to maintain the clear photos by auto focus
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Examples of Modern Control Systems
• Ultrasonic • Phase detection
• Infrared light • Contrast detection
System
Desire Histogram +
Controller Lens Clear Picture
-
Measured Histogram
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Sensor
Examples of Modern Control Systems
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Examples of Modern Control Systems
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The Future of Control Systems
Autonomy
Flexibility
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Control System Design
Control System Design
Conceptual
Design
Quantitative
Design
Hardware
Implementation 31
Design 1
Chapters 1,3, and 4
32
Design 2
Chapters 2-4
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Design 3
Optimization: The adjustment of the parameters to achieve the
most favorable or advantageous design.
Chapters 4-9
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Design Example
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1800 and 7200 rpm
Track number ?
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Design Example
Step 1. Control goal
• Design a system that will hold the position the reader
head to read the data stored on a track on the disk.
Step 2. Variable to be controlled
• Position of the reader head
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Design Example
Step 3. Control design specification
• Design a system that will ensure that the head :
- “flies” above the disk at a distance of less than
100 nm,
- with the position accuracy is 1 m,
- with speed from track to track 50 ms
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Design Example
Step 4. Preliminary system configuration
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Example
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Example
What is the shaper of the train wheel that
make the turning possible ?
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Example
V rω
Vleft rleft ω
Vright rright ω
Vleft Vright straight rleft rright
Vleft Vright turing right rleft rright
Vleft Vright turing left rleft rright
Shape of the wheel 42
Examples
How to draw the control system for a high-
performance car with an adjustable wing?
43
Examples
A control system for a high-performance car with
an adjustable wing:
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Example
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• The student-teacher learning process is inherently
Examples a feedback process intended to reduce the system
error to a minimum.
• Construct a feedback model of the learning
process and identify each block of the system
& HW
How can students survival or thrived the class?
By asking questions, understanding the concepts and practice to gain thoroughly
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understanding the subject and can apply it to solve problems.
Examples
The story is told about the sergeant who stopped at the jewelry store every morning at
nine o’clock and compared and reset his watch with the chronometer in the window.
Finally, one day the sergeant went into the store and complimented the owner on the
accuracy of the chronometer.
“Is it set according to time signal from Arlington?” asked the sergeant.
“No,” said the owner, “ I set it by the five o’clock (PM) cannon fired from the fort. Tell
me, Sergeant, why do you stop every day and check your watch?” The Sergeant relied,
“I am the gunner at the fort”.
Is the feedback prevalent in this case positive or negative? The jeweler’s chronometer
loses two minutes each 24-hour period and the sergeant’s watch loses three minutes
during each eight hours. What is the net time error of the cannon at the fort after 12
days?
Assume that the cannon fires initially at exactly 5:00 p.m..
Chronometer: 16 4
From 5:00pm 9:00am =16 hours: error: 2 min .
24 3
Watch: From 9:00am 5:00pm= 8 hours: error: 3min.
4 13 Positive feedback
Δt total =
+3= min . ?
3 3
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Total error after 12 days: Δt total = 12 52min. 47
3
Example: Wire bonding process
ASM Eagle 60
ASM PACIFIC TECHNOLOGY
• [Link]
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Terms and Concepts
Typical Feedback Loop
?
Desired Actual
output Closed-loop output
Chapter 2 49
Examples: Robots
• Murata Boy, the Robot that can Ride Bicycles
• [Link]
• [Link]
ps://[Link]/watch?v=mT3vfSQePcs
Honda's Asimo: the penalty-taking, bar-tending robot
• [Link]
• ASM Innovation Centre video
• [Link]
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