AssociateProf.ZhangHaoOffice:E&I-Building,640E-mail:zhanghaotongji@163.comDepartmentofControlScienceandEngineeringCollegeofElectronicsandInformationEngineeringTongjiUniversityTime:Tuesday(3,4)+Thursday(3,4)Venue:綜B306TeachingMaterialsRichardC.Dorf,RobertH.Bishop.ModernControlSystems(TwelfthEdition),2010.7Modules(60hours)+Experiments(8hours)GradingProcedureHomework+Attendance+Experiment:20%Termpaperexamination:20%Finalpaperexamination:60%

Whatacontrolsystemis?

Typesofcontrolsystems

Briefhistoryofcontrolsystems

Thetheoryofautomaticcontrolstudiestheintegration,analysisanddesignofcontrolsystems.Itrevealsthegeneralrulesofautomaticcontrol.是研究自動控制系統組成，進行系統分析設計的一般性理論，是研究自動控制過程共同規律的技術學科。

/v_show/id_XMjYyMDU3MDQ0.htmlAcontrolsystemAnopen-loopcontrolsystem:Theoutputquantityhasnoeffectupontheinputquantity.Aclosed-loopcontrolsystem-----feedback:Outputhasadirecteffectupontheinput.Closed-loopfeedbacksystemwithexternaldisturbancesandmeasurementnoiseMultiloopfeedbacksystemwithaninnerloopandanouterloopMultivariablecontrolsystemClosed-loopcontrolversusopen-loopcontrolClosed-LoopversusOpen-LoopControlSystemsSomeexamplesofopen-loopcontrolsystems:Example1：ToasterInputquantity—settingofdarknessknob,ortimerOutputquantity—degreeofdarknessandcrispnessofthetoastDynamicpart—heaterportionofthetoasterReferenceselector—timerNofeedback:theoutputquantityhasnoinfluenceontheinputquantityExample2：DCshuntmotorInputquantity—armaturevoltageVa(fixedvalueoffieldcurrent)Outputquantity—speedoftheshaftΩDynamicpart—motorReferenceselector—voltageselectorDifferentmechanicalloadontheshaft----differentspeedoftheshaft,inspiteofthesameVaNofeedback:theoutputquantityhasnoinfluenceontheinputquantitySomeexamplesofclosed-loopcontrolsystems:AutomobilesteeringcontrolsystemManuallycontrolledclosed-loopsystemCoordinatedcontrolsystemforaboiler-generatorTemperatureControlSystemSomeexamplesofclosed-loopcontrolsystems:Example4:Home-heatingsystemExample5:AutomaticelevatorExample6:RobotExample7:Sun-followingcontrolsystemThecomponentsofacontrolsystemProcess:controlledobjectControldevice:SensorComparatorActuatorAmplifierClassificationofcontrolsystemsInputsignal

constantsystem/

servosystemSuperpositionprinciplelinearsystem/non-linearsystemSystemparametertimeinvariantsystem/timevariantsystemSignaltransfer

continuoussystem/discretesystemNumberofinputsandoutputs

SISO/MIMOBasicstructureofnegativefeedbackcontrolsystemComputercontrolsystemJamesWatt’sflyballgovernor,1769I.Polzunov’swater-levelfloatregulator,1765

intuitionandinvention,preceding18681868,J.C.Maxwell,mathematicalmodelforagovernorcontrolofasteamengine,differentialequation;1876,I.A.Vyshnegradsky,moredetailed.PriortoWorldWarII(1937-1945)U.S.andWesternEurope,

1927,H.W.Bode,1934,Black,feedbackamplifiers1932,H.Nyquist,stabilityanalyseofstabilitySovietUnion,timedomain,differentialequationsDuringWorldWarII,basedonfeedbackcontrolapproach---frequencydomainPriorto1940s,anartinvolvingatrial-and-errorapproach.Duringthe1940s,mathematicalandanalyticalapproach,controlengineeringdiscipline.Duringthe1950s,developmentanduseofs-planemethods,especiallytherootlocusapproach(1948,Evans)1952,MIT,NC1954,GeorgeDevol,industrialrobot1960,Unimate,robot,basedonDevol’sdesign1970,state-variablemodelsandoptimalcontrol1980,robustcontrolsystem1990,export-orientedmanufacturingcompaniesemphasizeautomation1994,feedbackcontrolwidelyusedinautomobiles.Reliable,robustsystemsdemandedinmanufacturing1997,firsteverautonomousrovervehicle(Sojourner),explorestheMartiansurface1998-2003,advancesinmicro-andnanotechnology.Firstintelligentmicro-machinesaredevelopedandfunctioningnano-machinesarecreated.ClassicControlTheory

(since1900s)timedomain

complexdomain(rootlocus)frequencydomain

ModernControlTheory

(since1960s)linearsystem

self-adaptivecontrol

optimalcontrol

robustcontrol

optimalestimation

fault-tolerantcontrol

systemidentification

distributedcontrol

complexsystemIntelligentControl

(since1970s)expertsystem

fuzzycontrol

neutralnetwork

geneticalgorithm1.Stability：Thesystemshouldbestable2.Accuracy：（steady-staterequirement）Thesteady-stateresponseshouldtractthesystem

referenceinput3.Quickresponse：（dynamicrequirement）ShorttransientresponseSmooth&quickBasicconceptsSystemmodelingPerformanceissuesanalysi