MIT16_30F10_lec01

MIT16_30F10_lec01 - Lecture #1 16.30/31 Feedback Control...

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Lecture #1 16.30/31 Feedback Control Systems Motivation
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Fall 2010 16.30/31 1–2 16.30/31: Introduction d r G c ( s ) G p ( s ) e u y Goal: Design a controller G c ( s ) so that the system has some desired characteristics. Typical objectives: Stabilize the system (Stabilization) Regulate the system about some design point (Regulation) Follow a given class of command signals (Tracking) Reduce response to disturbances. (Disturbance Rejection) Typically think of closed-loop control so we would analyze the closed-loop dynamics. Open-loop control also possible (called “feedforward”) more prone to modeling errors since inputs not changed as a result of measured error. Note that a typical control system includes the sensors, actuators, and the control law. The sensors and actuators need not always be physical devices ( e.g., economic systems). A good selection of the sensor and actuator can greatly simplify the control design process. Course concentrates on the design of control law given the rest of the system (although we will need to model the system). September 9, 2010
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2010 16.30/31 1–3 Why Use Control Typically easy question to answer for aerospace because many vehicles (spacecraft, aircraft, rockets) and aerospace processes (propulsion) need to be controlled just to function Example: aircraft doing aggressive maneuvers difficult to fly by hand - dynamics are unstable and nonlinear (aerodynamic and geometric) Fig. 1: Vertical hover Fig. 2: MIT Urban Challenge LR3. Example: The LR3 dynamics of the MIT’s DARPA Urban Chal- lenge vehicle are nonlinear, unstable, constrained by limitations. Car will not track desired path without feedback control. But there are also many stable systems that simply require better performance in some sense (e.g., faster, less oscillatory), and we can use control to modify/improve this behavior. September
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MIT16_30F10_lec01 - Lecture #1 16.30/31 Feedback Control...

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