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lecture7

lecture7 - MAE 171A Dynamic Systems Control Lecture 7...

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Unformatted text preview: MAE 171A: Dynamic Systems Control Lecture 7: Framework of Control Systems Goele Pipeleers Overview So Far: Mainly Systems Theory • L1: review of the Laplace transform and transfer function • L2: deriving a transfer function model from a physical model • L3: system poles, zeros and impulse response • L4: system step response and relation with pole locations • L5: effect of zeros of system response • L6: system stability In This Lecture: Framework of Control Systems 1 Two Control Strategies Recall From Lecture 1/2 • feedforward control system u y feedforward y des disturbances model errors controller – design : inverse of system model – advantages : * simple, no need for sensors * no problems with stability – disadvantages : sensitive to system variations and disturbances 2 • feedback control system u y e disturbances model errors sensor y des feedback controller – design : based on system model, but more involved that just inverting – advantages : less sensitive to system variations and disturbances – disadvantages : * more complex, sensor needed * affects stability * inherently slower (compensating instead of preventing the error) 3 • combination system y disturbances model errors sensor y des feedback controller u e feedforward controller – feedback control: deals with system variations and disturbances – feedforward control: provides fast tracking In This Lecture • formalizing these statements 4 Framework of Control Systems Control Configuration and Notation • feedforward control (open-loop control) r D ( s ) G ( s ) controller system u y w : disturbance r : reference...
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lecture7 - MAE 171A Dynamic Systems Control Lecture 7...

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