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Jenny Zhen Yu
zhenyu@cpp.edu
Department of Electrical and Computer Engineering
California State Polytechnic University, Pomona
Fall 2016
Outline
Control System Engineering Introduction
Modeling in the Frequency Domain
Time Response
Reduction of Multiple Subsystems
Stability
Steady-State Errors
Root Locus Techniques & Design Via Root Locus
Frequency Response Techniques
Outline
Control System Engineering Introduction
Control System
Reason
System
Block Diagrams of open-loop and closed-loop system
Design Process
Test Waveform used in Control Systems
Control System Examples
Power amplification
Remote control
Convenience of input form
Compensation for disturbances
Block Diagrams of
open-loop and closed-loop system
PC - Proportional Controller
PI - Proportional Plus- Integral Controller
PD - Proportional Derivative Controller
PID - Proportional Integral Derivative
Controller
Launched on 11/26/2011
http://mars.nasa.gov/msl/
Landed on Mars: 8/6/2012
https://en.wikipedia.org/wi
ki/Curiosity_(rover)
Journey: 563 million km
2.4 km from the targeted point
http://www.airflite.com.au/avionics/
Controller
K
K
Speed
sensor
Radar distance
sensor
Car engine
& car
Steering
wheel angle
Desired
difference
error
Controller
K
Actuator
(DC or stepper
motor)
Left sensor
Right sensor
car
Heading
angle
Input
Steady-State Error
step
Kp=
ramp
Kv=constant
1/Kv=25.79/K
parabola
Ka=0
Find the value of gain, K, to yield a 10% error in the steady state.
K=257.9, which is within the gain for stability 0<K<2623.3
Reference
N. Nise, Control Systems Engineering, 7th Edition,
Wiley, 2015, ISBN 978-1-118-17051-9c
F. Golnaraghi, B. Kuo, Automatic Control
Systems, 9th Edition, Wiley, 2009, ISBN: 978-0470-04896-2
R.C. Dorf and R.H. Bishop, Modern Control
Systems, 12th Edition, Pearson, 2011, ISBN: 9780-136-02458-3