Introduction to Automatic Control

1. Introduction to Automatic Control

2009 Lecture Slide
2004
JanuaryJuly
2009
Lecture by
Suradet Tantrairatn
Instructor and Researcher
Introduction to Automatic Control
Chapter One
week1

2. Reference Book

- “Modern Control Engineering”, Katsuhiko Ogata,
© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
-
Prentice Hall.
“Automotive Control Systems for Engine, Driveline
and Vehicle”, U.Kiencke and L.Nielsen, Springer.
“Stabilization and Regulation of Nonlinear Systems. A
Robust and Adaptive Approach” Zhiyong Chen • Jie
Huang. 2014.
Khalil H (2002) Nonlinear systems. Prentice Hall, New
Jersey
Isidori A (1999) Nonlinear control systems, 3rd edn.
Springer, New York
2009 Subject Name Automotive Automatic Control
Month 200X
Page 2

3. How is it important?

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
How is it important?
Good Improved control is a key enabling technology
underpinning:
- generally
- Convenience and Comfort
- doctor
- Precision of tools
- industry
- Enhance product quality
- Waste minimization
- Higher safety margins
2009 Subject Name Automotive Automatic Control
Month 200X
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4. What is Control System?

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
What is Control System?
Open-Loop Control System (No feedback)
2009 Subject Name Automotive Automatic Control
Month 200X
Page 2

5. What is Control System? (2)

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
What is Control System? (2)
Dynamic Response Open-Loop Control
System (No feedback)
2009 Subject Name Automotive Automatic Control
Month 200X
Page 2

6. What is Control System? (3)

Feedback
© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
•Feedback is a key tool that can be used to modify the
behavior of a system.
•This behavior altering effect of feedback is a key
mechanism that control engineers exploit deliberately
to achieve the objective of acting on a system to
ensure that the desired performance specifications
are achieved.
2009 Subject Name Automotive Automatic Control
Month 200X
Page 2

7. What is Control System? (4)

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
What is Control System? (4)
Closed-Loop Control System (No feedback)
2009 Subject Name Automotive Automatic Control
Month 200X
Page 2

8. What is Control System? (5)

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
What is Control System? (5)
Response of a position control system showing effect of high
and low controller gain on the output response
2009 Subject Name Automotive Automatic Control
Month 200X
Page 2

9. Example Control System? (1)

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
Example Control System? (1)
Temperature Control System ( Heater or Air Condition )
2009 Subject Name Automotive Automatic Control
Month 200X
Page 2

10. Example Control System? (2)

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
Open Loop
Closed Loop
2009 Subject Name Automotive Automatic Control
Month 200X
Page 2

11. Example Control System? (3)

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
Example Control System? (3)
Vehicle Control System
2009 Subject Name Automotive Automatic Control
Month 200X
Page 2

12. Example Control System? (4)

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
Example Control System? (4)
Autopilot Control System
2009 Subject Name Automotive Automatic Control
Month 200X
Page 2

13. Control System Design Cycle

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
Control System Design Cycle
2009 Subject Name Automotive Automatic Control
Month 200X
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14. Modeling & Design in Control

Modeling & Design in Control
© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
I. DYNAMIC MODELING
• Deriving a dynamic model ( = set of differential
equations that describes the dynamic behavior of the
plant)
• Linearization the dynamic model if necessary
II. DESIGN OF A CONTROLLER: Several design methods
1. Classical control or Root Locus Design:
Define the transfer function; Apply root locus, loop
shaping,
2. Modern control:
Convert ODE to state equation; Apply Pole Placement,
Robust control, …
3. Nonlinear control: Apply Lyapunov’s stability criterion
2009 Subject Name Automotive Automatic Control
Month 200X
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15.

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
Definition of state space representations
2009 Subject Name Automotive Automatic Control
Month 200X
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16. A first example of Modeling: DC Motor

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
A first example of Modeling: DC Motor
2009 Subject Name Automotive Automatic Control
Month 200X
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17. A second example of Modeling: Suspension

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
A second example of Modeling: Suspension
2009 Subject Name Automotive Automatic Control
Month 200X
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18. A second example of Modeling: Suspension (2)

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
A second example of Modeling: Suspension (2)
2009 Subject Name Automotive Automatic Control
Month 200X
Page 2

19. Linear systems : transfer function

© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
• Equivalence transfer function - state space representation
2009 Subject Name Automotive Automatic Control
Month 200X
Page 2

20.

State-Space Representations of
Transfer-Function Systems
© AIRBUS UK LTD 2002. All rights reserved. Confidential and proprietary document.
Go to Ogata Book 723
2009 Subject Name Automotive Automatic Control
Month 200X
Page 2