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Unformatted text preview: 6.003: Signals and Systems Lecture 11 March 11, 2010 6.003: Signals and Systems Feedback and Control 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 March 11, 2010 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 cells & tissues glucose insulin pancreas ( β cells) + − glucose in glucose concentration pancreas ( β cells) insulin circulatory system cells & tissues stored glucose Today’s goal Use systems theory to gain insight into how to control a system. Example: wallFinder System Approach a wall, stopping a desired distance d i in front of it. d i = desiredFront d o = distanceFront t d o K = − . 5 t d o K = − 1 t d o K = − 2 t d o K = − 8 What causes these different types of responses? 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. The sensor measures the output of the plant. The controller specifies a command C to the plant based on the difference between the input X and sensor output S . 1 6.003: Signals and Systems Lecture 11 March 11, 2010 Analysis of wallFinder System Analysis of wallFinder System: Block Diagram Cast wallFinder problem into control structure....
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- Summer '10