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lec04-handout-6up - 6.003: Signals and Systems Lecture 4...

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6.003: Signals and Systems Lecture 4 September 22, 2009 1 6.003: Signals and Systems Feedback and Control September 22, 2009 Feedback and Control Feedback is pervasive in natural and artificial systems. p V Turn steering wheel to stay centered in the lane. car driver desired position actual position Feedback and Control Feedback is useful for regulating a system’s behavior, as when a thermostat regulates the temperature of a house. thermostat desired temperature actual temperature heating system Feedback and Control Concentration of glucose in blood is highly regulated and remains nearly constant despite episodic ingestion and use. food digestive system glucose circulatory system glucose insulin tissues glucose insulin pancreas ( β cells) + glucose in glucose concentration pancreas ( β cells) insulin circulatory system tissues stored glucose Feedback and Control Motor control relies on feedback from pressure sensors in the skin as well as proprioceptors in muscles, tendons, and joints. Try building a robotic hand to unscrew a lightbulb! Shadow Dexterous Robot Hand (Wikipedia) Today’s goal Use systems theory to gain insight into how to control a system.
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6.003: Signals and Systems Lecture 4 September 22, 2009 2 Example: Steering a Car Algorithm: steer left when car is right of center and vice versa. steer left steer left straight ahead? steer right steer right steer right straight ahead? Bad algorithm poor performance. Here we get persistent oscillations! Outline of the lecture Understanding the structure of a control problem automatic control feedback Analyzing feedback systems feedback cyclic paths persistent outputs Designing control systems constructing well-behaved response properties Structure of a Control Problem (Simple) Control systems have three parts. + X Y E S C controller plant sensor The plant is the system to be controlled.
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This note was uploaded on 08/24/2011 for the course EECS 6.003 taught by Professor Dennism.freeman during the Spring '11 term at MIT.

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lec04-handout-6up - 6.003: Signals and Systems Lecture 4...

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