ECE 4951 - Spring 2010

Introduction to Intelligent Control

Part 1

Prof. Marian S. Stachowicz

Laboratory for Intelligent Systems
ECE Department, University of Minnesota Duluth

January 19 - 21, 2010

 Instructors
INSTRUCTORS: Prof. Marian S. Stachowicz,
MWAH 273, phone: 218- 726-6531,
[email protected]
http://www.d.umn.edu/ece/lis
TIME/LOCATION: Lectures (first three weeks)
T, Th, 8:00 8:50, MWAH 191
F 16:00 16:50, MWAH 175

Laboratories (first three weeks)

F 14:00 15:50, MWAH 293,
8 hours per week, MWAH 293 (next 10 weeks)

OFFICE HOURS: 14:00 - 15:30, T, Th, MWAH 273

CONSULTANT: Prof. Christopher Carroll

MWAH 252, phone: 218 - 726-7530,
[email protected]

OFFICE HOURS: TBA, MWAH 252

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 REFERENCES

1. M.S. Stachowicz and L. Beall , Fuzzy Logic Package

for Mathematica, Version 5.2, Wolfram Research, Inc.,
2003
2. R.C. Dorf and R.H. Bishop, Modern Control Systems,
11th Edition, Prentice Hall, 2008,
3. Kasuo Tanaka, An Introduction to Fuzzy Logic for
Practical Applications, Springer, 1997
4. J. Yen and R. Langari, Fuzzy Logic, Prentice Hall,
Inc., 1999
5. K.M. Passino and S. Yurkovich, Fuzzy Control,
Addison Wesley Longman, Inc., 1998

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 6. D. J. Pack, Steven F. Barrett, The 68HC12 Microcontroller:
The theory and Applications, Prentice Hall, 2008
7. F. M. Cady, Software and Hardware Engineering,
Oxford University Press, Inc.,2008
8. H.R. Everett, Sensors for Mobile Robots, A K Peters, 1995
9. ECE 4899-4999, ECE 4951 ECE Senior Design Project
Handbook, ECE Dep. 2009

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 References for reading

1. R.C. Dorf and R.H. Bishop, Modern Control Systems,

10th Edition, Prentice Hall, 2008,
Chapter 1.1 - 1.10

2. J.J. DiStefano, A. R. Stubberud, I. J. Williams, Feeedback

and Control Systems, Schaum's Outline Series, McGraw-Hill,
Inc., 1990
Chapters 1, 2

Control Systems
 Control

The word control is usually taken to mean :

- regulate,

- direct,

- command.

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 Control system

A control system is an interconnection of

components forming a system configuration that
will provide a desired system response.

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The Input Output relationship represent the Cause Effect relationship

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 Input

The input is the stimulus, excitation or

command applied to a control system.

Typically from external energy source,

usually in order to produce a specified
response from the control system.

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 Output

The output is the actual response obtained

from a control system.

It may or may not be equal to specified

response implied by the input.

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 Two Types of Control Systems

Open Loop Closed Loop

No feedback Must have feedback
Difficult to control Must have sensor on output
output with accuracy Almost always negative
feedback

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 Open-loop control

An open-loop control system utilizes an actuating

device to control the process directly without using
feedback.

A common example of an open-loop control system

is an electric toaster in the kitchen.

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 Closed-loop control

A closed-loop control system uses a measurement

of the output and feedback of this signal to
compare it with the desired output.

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 Manual control system

Goal: Regulate the level of fluid by adjusting the output valve.

The input is a reference level of fluid and is memorized by operator.

The power amplifier is the operator.
The sensor is visual.
Operator compares the actual level with the desired level and opens
or closes the valve ( actuator).

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The level of fluid in a tank control.

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 Terms and concepts
Automation - The control of a process by automatic
means.

Closed-loop feedback control system -

A system that uses a measurement of the output and
compares it with the desired output.

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Design-The process of conceiving or inventing the
forms, parts, and details of a system to achieve a
specified purpose.

Feedback signal - A measure of the output of the

system used for feedback to control the system.

Multivariable control system - A system with more

than one input variable or more than one output
variable.

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Negative feedback -The output signal is fed back so
that it subtracts from the input signal.

Open-loop control system - A system that utilizes a

device to control the process without using
feedback.

Optimization -The adjustment of the parameters to

achieve the most favorable or advantageous
design.
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Positive feedback -The output signal is fed back so that
it adds to the input signal.

Process -The device, plant, or system under control.

Productivity -The ratio of physical output to physical

input of an industrial process.

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Robot - Programmable computers integrated with a
manipulator.

Synthesis - The combining of separate elements or

devices to form a coherent whole.

System - An interconnection of elements and devices

for a desired purpose.

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The Control System Design Process
 Engineering design

Design is the process of conceiving or inventing

the forms, parts, and details of a system to
achieve a specified purpose.

It is the central task of the engineer.

It is a complex process in which both creativity and analysis play major role.

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 Complexity, trade-off, gaps, and risk are inherent
in designing new systems and devices.

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 Trade-off
The result of making a judgment about how
to compromise between conflicting criteria.

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 Goals

Twin goals of understanding and controlling are

complementary because effective systems
control requires that the systems be
understood and modeled.

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 Control engineering

Control engineering is based on the foundations

of feedback theory and linear system analysis,
and it integrates the concepts of network theory
and communication theory.

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 Given a process, how to design a feedback
control system?

Three steps:

Modeling. Obtain mathematical description of the systems.

Analysis. Analyze the properties of the system.

Design. Given a plant, design a controller based on performance

specifications.

The course spans each of these steps in that sequence.

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The basis for analysis of a system is the
foundation provided by linear system theory,
which assumes a cause-effect relationship for
the components of a system.

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Design 1

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Design 2

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Design 3

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The design of control systems is a specific
example of engineering design.

The goal of control engineering design is to

obtain the configuration, specifications, and
identification of the key parameters of a proposed
system to meet an actual need.

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The design process consists of seven main
building blocks, which are arrange into three
groups:

1.Establishment of goals and variables to be

controlled, and definition of specifications
against which to measure performance.

1.System definition and modeling.

1.Control system design and integrated system

simulation and analysis
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Design examples
Rotating disk speed control

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 Step 1. Control goal

Design a system that will held a rotating disk

at a constant speed. Ensure that the actual speed
of rotation is within a specified percentage of
desired speed.

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 Step 2. Variable to be controlled

Speed of rotation disc

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 Step 3. Control design specification

Design a system that will ensure that

the actual speed of rotation is within a
specified percentage of desired speed.

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Step 4. Preliminary system configuration

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Step 4 Preliminary system configuration

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With precision components, we could expect
to reduce the error of the feedback system to
one-hundredth of error of the open-loop system.

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Insulin delivery system
 Step 1. Control goal

Design a system to regulate the blood sugar

concentration of a diabetic by controlled
dispensing of insulin.

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The blood glucose and insulin concentrations for a healthy person.

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 Step 2. Variable to be controlled

Blood glucose concentration

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 Step 3. Control design specification

Provide a blood glucose level for the diabetic

that closely approximates the glucose level of
a healthy person.

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Step 4 Preliminary system configurations

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E 4.1 Tracking the sun

Gc(s) = 1

H(s) = 1

N(s) = 0

G(s) = 100/( s + 1)

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P 4.17 A robot gripper control

Km = 30
Rf = 1 ohm
Kf = Ki = 1
J = 0.1,
b=1

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AP 4.1 Tank level regulator

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Performance Indices

Elevator

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Simplified description of a control system

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 Elevator input and output

When the fourth floor button is pressed on the first

floor, the elevator rises to the fourth floor with a
speed and floor level accuracy designed for
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Push of the fourth-floor button is an input that
represent a desired output, shown as a step function.
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 Transient response

Passenger comfort and passenger patience are

dependent upon the transient response.
If this response is too fast, passenger comfort
is sacrificed; if too slow, passenger patience is
sacrificed.
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 Steady-state error

Passenger safety and convenience would be

sacrificed if the elevator is not properly level.

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 Performance Indices

A performance index is a quantitative

measure of the performance of a system and
is chosen so that emphasis is given to the
important system specifications.

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Response of the system

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ISE - Integral of Square of Error

T
I1 = e (t)dt 2

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 The Integral Squared Error

T
I1 = e (t)dt
2

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IAE - Integral of the Absolute Magnitude of the
Error

T
I2 = e(t) dt
0

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ITAE - Integral of Time Multiplied by Absolute
Error

T
I3 = t e(t) dt
0

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ITSE - Integral of Time Multiplied by Squared
Error

T
I4 = te (t)dt 2

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General form of the performance integral

T
I= f [e(t),r(t),c((t),t]dt
0

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 Section 5.9
T
T
ISE = e (t )dt 2
IAE = | e(t ) | dt
0 0

T T

ITAE = t | e(t ) | dt ITSE = te 2 (t )dt

0 0

T
I = f (e(t ), r (t ), y(t ), t )dt
0

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 Performance criteria

1
T(s) = 2
s + 2s + 1

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 Optimum system

A control system is optimum when the elected

performance index is minimized.

The optimum value of the parameters depends

directly upon the definition of optimum, that is,
the performance index.

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Open-loop and closed-loop systems

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Thank you.

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