EE3CL4 C01: control engineering Introduction to Linear Control - - PowerPoint PPT Presentation

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EE3CL4 C01: control engineering Introduction to Linear Control - - PowerPoint PPT Presentation

Jul 01, 2023 212 likes •445 views

EE 3CL4, 1 1 / 27 Tim Davidson Why are you here? What is EE3CL4 C01: control engineering Introduction to Linear Control Systems Examples What tools will Section 1: Introduction we use? Administrative details Tim Davidson Learning

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EE 3CL4, §1 1 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

EE3CL4 C01: Introduction to Linear Control Systems

Section 1: Introduction Tim Davidson

McMaster University

Winter 2020

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EE 3CL4, §1 2 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

Outline

1

Why are you here?

2

What is control engineering

3

Examples

4

What tools will we use?

5

Administrative details

6

Learning

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EE 3CL4, §1 4 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

Why are you here?

You might be interested in:

  • Athletic ability of drones

https://www.youtube.com/watch?v=w2itwFJCgFQ

  • Parkour-ing robots

https://www.youtube.com/watch?v=fRj34o4hN4I

  • Autonomous driving

https://www.youtube.com/watch?v=cdgQpa1pUUE

  • (Semi-)autonomous medicine
  • surgical robots
  • automated insulin pumps
  • industrial scale production of personalized medicines
  • Integration of renewable energy sources into the grid
  • Regulation of financial markets
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EE 3CL4, §1 6 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

What is control engineering

  • First we have to understand the behaviour of the

process/plant/system that we want to control

  • Often, that involves constructing a math. model;
  • this quantifies insight;
  • may actually yield insight, too
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EE 3CL4, §1 7 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

What is control engineering II

  • Then we use that understanding to design a secondary

system that controls the behaviour of the process

  • Typically, this takes the form of closed-loop (feedback)

control

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EE 3CL4, §1 8 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

What is control engineering III

  • Secondary system: sensors, actuators, electrical controller

(or digital algorithm)

  • Sensors: (noisy) conversion of physical conditions to electrical

signals (or samples)

  • Actuators: (imperfect) conversion of electrical signals (or digital

commands) to physical actions

  • Controller: processes measured signals according to what is

known about the process; generates signals to drive actuators in

  • rder for the system to approximate some desired behaviour
  • Sensor and actuator selection are important; they change how the

controller perceives and can influence the process,

  • However, in this course we will focus on development of techniques

that enable (analogue) controller design

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EE 3CL4, §1 9 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

Mathematical models

  • In a wide range of applications, mathematical models

facilitate the process of control system design

  • Must balance accuracy against insight generated
  • Similarly, controller design must balance performance

against implementation complexity

  • This course: process models and controllers will be

linear

  • Hence, tools available for insight: superposition,

transfer function, Laplace

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EE 3CL4, §1 10 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

Single variable control

We will focus on systems in which a single output is to be controlled using a single command and measurements of that output:

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EE 3CL4, §1 11 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

Multivariable control

Something for fourth year!

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EE 3CL4, §1 13 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

You driving a car

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EE 3CL4, §1 14 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

Doritos

  • John MacGregor (Chem Eng):
  • Visual feedback control of flavours
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EE 3CL4, §1 16 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

What tools will we use?

  • Newtonian mechanics, linear and rotational

(Phys 1D03)

  • Basic electromagnetism (Phys 1E03, EE 2CJ4)
  • Electric circuit analysis (EE 2CI5, EE 2CJ4, EE 2EI5)
  • Step response of first and second order systems

(Math 2ZO3, EE 2CI5, EE 2CJ4)

  • Laplace transforms

(Math 2ZO3, EE 2CJ4, EE 3TP3)

  • Transfer functions (EE 2CJ4, EE 3TP3)
  • Bode diagrams (EE 2CJ4)
  • Structured problem solving methods

(EE 2CI5, EE 2CJ4, EE 2EI5, EE 3TP3, . . . )

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EE 3CL4, §1 18 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

Contact details for C01

  • Tim Davidson

ITB–A111A

  • Ext. 27352

davidson@mcmaster.ca, “EE3CL4” in subject line

  • Public web site

http://www.ece.mcmaster.ca/~davidson/EE3CL4

includes some additional resources that you may find interesting

  • Avenue to Learn site:
  • For submission of pre-labs and lab reports,
  • For interim mark distribution
  • Some distribution of material, such as ECHO360

recordings of lectures; some announcements

  • A formal course outline appears on the web site and on

Avenue

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EE 3CL4, §1 19 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

Marking scheme

  • Laboratory reports: 30%
  • Midterm test: 25% (no simplified MSAFs)

Monday 2 March 2020, 6:30pm, 90 mins

  • Final examination: 45%
  • Students must personally complete all laboratories and

all laboratory reports in order to be eligible for a final grade

  • Formally deferred tests & exams may be conducted
  • rally
  • Remarking requests will require documentation
  • On tests & exams, expect to see problems that you

have not seen before

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EE 3CL4, §1 21 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

The number one FAQ

  • How should I study for this course ?
  • The advice I used to give:
  • Be active in lectures
  • Participate in tutorials
  • Take advantage of the labs
  • Prepare summaries of concepts in your own words
  • Do half of the assigned problems under examination

conditions

  • In exams, explain your methodology
  • Arguably a better question:

How do I learn concepts that will enable me to be creative enough that I can enrich the lives of people in my community through control system design?

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EE 3CL4, §1 22 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

How to learn

  • But what do I know about learning?
  • Who should we ask?
  • Perhaps some cognitive psychologists
  • The work of Henry Roediger and Mark McDaniel strikes

a chord with me (Make it Stick)

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EE 3CL4, §1 23 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

Learning: common short-term tactics

  • Re-reading notes and text, including highlighting
  • Massed practice: single-minded repetition of a new skill
  • Cramming
  • Emphasis: stuffing information into long-term memory
  • Feels comfortable; especially familiarity with the text
  • May provide the “illusion of mastery”
  • May enable you to look at the solution of a problem and

think “yeah, I could do that if it comes up on the test”

  • What if what comes up in your job (or on the test) is a

little bit different?

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EE 3CL4, §1 24 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

Learning: strategies for durable learning

  • Emphasis: retrieving information from long-term memory
  • Encourages the brain to invest energy in changing the

structure of its network

  • Facilitates generalization of knowledge;

i.e., application outside our previous experience

  • How can we encourage the brain to invest energy in durable

learning?

  • Spaced and interleaved recall:

try to remember only once you have started to forget!

  • Uncomfortable: really takes effort;

sometimes you won’t be able to remember!

  • Experimental evidence suggests that for a large fraction of

students it is worth it in the long run

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EE 3CL4, §1 25 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

Learning: tactics for durable learning

  • Retrieval practice:
  • short summaries (half-page) of a concept in own words;

try to teach someone else

  • self-quizes: practice problems under exam conditions
  • Space out retrieval practice. Try to remember material:
  • at the end of that day
  • after having a full night’s sleep
  • a week later
  • Interleave retrieval practice
  • Perhaps do only an hour at a time on one course,
  • r an hour at a time on one topic within a course
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EE 3CL4, §1 26 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

Learning: more tactics for durable learning

  • Elaboration:
  • Explore connections between aspects of material
  • Explain ideas in own words, visualization or metaphor
  • Association:
  • Connect the new material to previously acquired

knowledge

  • Generation:
  • try to solve problems (just) before the material is

covered in class; helps build associations

  • Reflection:
  • Summarize each week in own words (∼ 1 page)
  • Summarize larger components towards the end;

make these summaries cumulative

  • Calibration:
  • Test how you are going; yes, really test yourself out
  • Evaluate the outcomes; address weaknesses
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EE 3CL4, §1 27 / 27 Tim Davidson Why are you here? What is control engineering Examples What tools will we use? Administrative details Learning

My goals

  • I will be trying to introduce these tactics into the

classroom

  • There will be interleaving of concepts
  • May be a bit different from what you have experienced
  • I hope that they will be effective in the long run