EECE 460 : Control System Design
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1 EECE 460 : Control System Design January 2012 Guy A. Dumont UBC EECE Introduction Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 1 / 24
2 Contents Contents Practical information Your instructor Course goals Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 2 / 24
3 Practical Information Practical Information Lectures on Tuesday and Thursday 12h30-14h00 MCLD 202 Instructor: Guy A. Dumont Tel: Office hours: Teaching Assistant: Pedram Ataee Performance assessment 3 midterm exams 25% each 1 Matlab project on PID tuning 25% Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 3 / 24
4 Practical Information Practical Information Textbook G.C. Goodwin, S.F Graebe and M.E. Salgado, Control System Design, Prentice Hall, 2001 Useful books: T. Glad, L. Ljung, Control Theory, Taylor and Francis,2000 K.J. Åström, T. Hägglund, PID Control, ISA Press, 2006 Course website Contains general information, lecture notes, homework, additional resources Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 4 / 24
5 Your Instructor... Education and Experience 1973: Diplôme d Ingénieur Arts et Métiers, Paris 1977: PhD, Electrical Engineering (Control), McGill University : Control Engineer, Tioxide, France : Head, Control Engineering Section, Paprican, Montreal and Vancouver 1989-Present: Professor EECE, UBC : NSERC/Paprican Industrial Research Chair : Associate Dean Research, APSC 2003-Present: Distinguished University Scholar : Director, Pulp and Paper Centre 2008-Present: Associate Member, UBC Dept. of Anesthesia, Pharmacology and Therapeutics : Peter Wall Distinguished Scholar in Residence Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 5 / 24
6 Research Your Instructor... Adaptive Control, predictive control, system identification, control of distributed parameter systems, control performance monitoring, signal processing, wavelet analysis Applications to process industries, particularly pulp and paper Biomedical applications of control and signal processing: automatic drug delivery, closed-loop control of anesthesia, physiological monitoring in the OR and ICU, modelling and identification of physiological systems (cardiovascular system, circadian rhythms), biosignal processing (EEG, ECG, etc...), detection of epileptic seizures, identification of the dynamics of the autonomic nervous system, technology for global health Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 6 / 24
7 Your Instructor... Current Collaborations Industry Honeywell Andritz Automation FPInnovations Cleveland Medical Devices Dräger Medical AG GE Healthcare Pulsar Informatics Academia UBC Departments: Mat. Eng; Chem Eng; Anesthesia, Pharmacology and Therapeutics; Pediatrics VGH; St Paul s; BC Women s and Children s Hospital; BC Cancer Agency McGill Douglas Hospital Centre for Study and Treatment of Circadian Rhythms INSA Lyon; Université J. Fourier, Grenoble, France Hopital Foch, Paris, France. Hopital Erasme, Brussels, Belgium. Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 7 / 24
8 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 the engineered world The concept of feedback is central to control theory The basic feedback loop consists of sensing, computation and actuation Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 8 / 24
9 Cruise Control Motivation from Åström and Murray, Analysis and Design of Feedback Systems Stability: system maintains desired operating point (hold steady speed) Performance: system responds rapidly to changes (accelerate to 65 mph)with minimal overshoot Robustness: system tolerates perturbations in dynamics (mass, drag, etc) Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 9 / 24
10 Motivation Do I really need this stuff? Control is a key-enabling technology Used whenever a physical variable is required to either stay at a specific value or to follow a desired trajectory. More and more, control is mission-critical, i.e. systems cannot be operated without it Murray et al., "Future directions in control in an information-rich world", IEEE Control Systems Magazine, April 2003 "The panel believes that control principles are now a required part of any educated scientist s or engineer s background..." See the recent report "The Impact of Control Technology" produced by the IEEE Control Systems Society and freely available at Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 10 / 24
11 Applications of Control Control is Ubiquitous Control is used extensively in industry to run plants efficiently, economically and with the least environmental impact while producing products with stringent quality specifications Most modern plants cannot properly or safely without control systems Concept of agile plants Although control is ubiquitous and essential technology, it is generally not visible to the end-user. For this, it has been called the Hidden Technology Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 11 / 24
12 Applications of Control Aerospace/Aeronautics Control technology was key to the success of the Apollo program This led to more efficient and safer aircrafts. Digital fly-by-wire technology has become standard on commercial aircrafts Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 12 / 24
13 Applications of Control Process Control Control is required for plants to operate optimally Control is key to energy efficiency Proportional-Integral-Derivative (PID) control still the workhorse of process control However, significant economic benefits usually require advanced control such as model predictive control (MPC) Domain knowledge is key to successful applications Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 13 / 24
14 Automotive Applications of Control Control is pervasive in today s automobiles Emission control systems New engines are mechatronic designs Antilock Braking Systems (ABS) Electronic Stability Control (ESC) Active suspension Self-parking Collision avoidance systems Electrice vehicles (EV s) and Hybrid Electric Vehicles (HEV s) rely heavily on control Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 14 / 24
15 Applications of Control Energy Systems Solar and wind energy require advanced control for efficient and reliable operation Uncertainty and intermittency of wind and solar power cause major challenges Smart grids with increased controllability and responsiveness Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 15 / 24
16 Applications of Control Biological Systems Applications of control in medicine are not as established and the field is not as mature as others Cardiac assist devices Controlled drug delivery Anesthesia delivery Blood glucose control: artificial pancreas Variabliity represents a major challenge Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 16 / 24
17 Applications of Control A Variety of Applications On a number of devices, control is used to obtain performance that would simply not be attainable otherwise Hard disc drives CD, DVD players Aircraft autopilots Automotive applications: ABS, combustion control, active suspension, self-parking Prosthetics, implantable devices Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 17 / 24
18 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 governs how we grow, respond to stress and challenge, and regulate factors such as body temperature, blood pressure, and cholesterol level.the mechanisms operate at every level, from the interaction of proteins in cells to the interaction of organisms in complex ecologies. Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 18 / 24
19 Control is Everywhere! Systems Biology from Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 19 / 24
20 Control is Everywhere! Control of Arterial Pressure Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 20 / 24
21 Control is Everywhere! Respiratory Control Carotid. Controller. Lungs. Delay Tissue. Brain. Delay Delay Delay Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 21 / 24
22 Objectives The Course Accessible treatment of rigorous material (i.e. no emphasis on math) Understanding of fundamental limitations of control systems Emphasis on design of SISO systems and simple MIMO systems Demonstration of the relevance of the material via examples Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 22 / 24
23 The Course Goals of the Course After this course, you should be able to Design a SISO or MIMO control system for a reasonably complex real-world system Understand Youla parameterization for analyzing and designing feedback loops Tune a PID controller Apply control theory to understand complex engineering systems Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 23 / 24
24 Course Contents The Course Brief review of basic control theory Fundamental limitations in SISO control PID control design and tuning Some advanced SISO control techniques Analysis of MIMO systems SISO techniques for MIMO systems Guy A. Dumont (UBC EECE) EECE 460 : Control System Design Introduction 24 / 24
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