lecture2

# lecture2 - MAE 171A Dynamic Systems Control Lecture 2...

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Unformatted text preview: MAE 171A: Dynamic Systems Control Lecture 2: Benefits of Feedback and Dynamic System Models Goele Pipeleers Recall from Lecture 1 . . . Two Control Strategies • 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 1 • 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) 2 • 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 • illustrate these statements on a simplified cruise controle example 3 Cruise Control Example • objective: use u ( t ) to keep the car velocity at a specified value y ( t ) = r throttle angle input signal u car velocity output signal y • simplified static model: u ± 1 ◦ → y ± 10 mph throttle angle input signal u car velocity output signal y 10 4 Feedforward Control • design: system inverse 10 system u y . 1 r controller • ideal performance: e id ( t ) = r ( t )- y ( t ) = 0 5 • effect of disturbance : grade d + 1% → y- 5 mph 10 system u y . 1 r- 5 d disturbance dynamics controller ⇒ e dist ( t ) = r ( t )- y ( t ) = 5 d ( t ) 6 •...
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lecture2 - MAE 171A Dynamic Systems Control Lecture 2...

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