CDS 101, Lecture 1.2 29 Sep 04Richard Murray, Caltech CDS 1CDS 110: Lecture 1.2Applications of ControlRichard M. Murray29 September 2004Goals:y Describe modern engineering environment for controly Survey engineering applications of control and key featuresy Provide information on CDS 110 sections; explain schedule processy Honor System discussionReading (available on course web page): y Optional: R. Murray (ed), Control in an Information Rich World, 2003.29 Sep 04 R. M. Murray, Caltech 2Control = Sensing + Computation + ActuationSenseVehicle SpeedComputeControl “Law”ActuateGas PedalIn Feedback “Loop”Goalsy Stability: system maintains desired operating point (hold steady speed)y Performance: system responds rapidly to changes (accelerate to 6 m/sec)y Robustness: system tolerates perturbations in dynamics (mass, drag, etc)CDS 101, Lecture 1.2 29 Sep 04Richard Murray, Caltech CDS 229 Sep 04 R. M. Murray, Caltech 3Modern Control System ComponentsA/DComputerControllerActuators SensorsSystemnoise noiseexternal disturbancesProcessOutputProcess Physical system, actuation, sensingFeedback Interconnection between plant output, controller inputController Microprocessor plus conversion hardware (single chip)D/AOperator input29 Sep 04 R. M. Murray, Caltech 4Active Control MethodologiesBlack box methodsy Basic idea: learn by observation or trainingy Examples: auto-tuning regulators, adaptive neural nets, fuzzy logicAdvantages:y No need for complex modeling or detailed understanding of physicsy Works well for controllers replacing human expertsDisadvantages:y No formal tools for investigating robustness and performancey Don’t work well for high performance systems with complicated dynamicsModel-based methodsy Use a detailed model (PDEs, ODEs) for analysis/designy Examples: optimal regulators, HIcontrol, feedback linearizationAdvantages:y Works well for highly coupled, multivariable systemsy Rigorous tools for investigating robust-ness and performance (using models)Disadvantages:y Tools available only for restricted class of systems (e.g., linear, time-invariant)y Requires control-oriented physical models; not always easy to obtainCDS 101, Lecture 1.2 29 Sep 04Richard Murray, Caltech CDS 329 Sep 03 R. M. Murray, Caltech CDS 5CDS 101/110 Course SequenceCDS 101 – Introduction to the principles and tools of control and feedbacky Summarize key concepts, w/ examples of fundamental principles at worky Introduce MATLAB-based tools for modeling, simulation, and analysisCDS 110a – Analytical understanding of key concepts in controly Detailed description of classical control and state space conceptsy Provide knowledge to work with control engineers in a team settingCDS 110b – Detailed design tools for control systemsy Estimation and robust control tools for synthesis of control lawsCDS 111 – Implementation of control systems for engineering applicationsCDS Minor: CDS 110, CDS 140, senior thesis/project or Ae/CDS 125FallWinterSpringCS/EE/ME 75 – Intro toMulti-Disciplinary Eng’g29 Sep 04 R. M. Murray, Caltech 6CDS 110 Recitation SectionsGoalsy Respond to 2003 feedback: more worked out examplesy Provide more discipline-specific examples and discussionApproachy Weekly 1 hour meeting led by TAy Held after Wed lecture ⇒ reinforce concepts from class, answer questionsy Each recitation will provide additional details on lectures + worked examplesAvailable sectionsy Biomolecular and chemical processesy Information systemsy Mechanical and aerospace systemsy Electrical and electronic systemsy Robotics and autonomous systemsHow to sign upy Fill out scheduling sheetà List top 3 section choicesà List available times for sectiony Sections assignments will be announced on Mondayy OK to attend a different section than you are assigned, if you preferScheduling forms due by Friday (10/1) @ 5 pmCDS 101, Lecture 1.2 29 Sep 04Richard Murray, Caltech CDS 429 Sep 04 R. M. Murray, Caltech 7Biomolecular and Chemical ProcessesTAs: Domitilla Del Vecchio, Steve ChapmanInstructor: Anand AsthagiriApplication areasy Chemical process controly Biological feedback systemsPrimary options: BE, Bio, ChE, MS29 Sep 04 R. M. Murray, Caltech 8Information SystemsTAs: Morr Mehyar, Kevin TangInstructor: Steven LowApplication areasy Communications networksy Software systemsy Economic systemsPrimary options: CS, Ec, EE, SSCDS 101, Lecture 1.2 29 Sep 04Richard Murray, Caltech CDS 529 Sep 04 R. M. Murray, Caltech 9Mechanical and Aerospace SystemsTAs: Hao JiangInstructor: Tim ColoniusApplication areasy Servo systemsy Fluid systemsy Flight controlPrimary options: Ae, ME29 Sep 04 R. M. Murray, Caltech 10Electrical and Electronic SystemsTAs: Asa HopkinsInstructor: Ali Hajimiri, Hideo MabuchiApplication areasy Electronic systemsy Optical systemsy Photonics/quantum systemsPrimary options: APh, EE, PhCDS 101, Lecture 1.2 29 Sep 04Richard Murray, Caltech CDS 629 Sep 04 R. M. Murray, Caltech 11Robotics and AutonomyTAs: Haomiao Huang, Demetri SpanosInstructor: Richard MurrayApplication areasy Autonomous robot systemsy Sensor-based navigationy DARPA grand challengePrimary options: CS, EE, MEy Opportunities for hardware implemen-tation on “Bob” or “Homer”29 Sep 04 R. M. Murray, Caltech 12CS/EE/ME 75 – Multi-Disciplinary Systems EngineeringCourse Goalsy Provide an introduction to team-based multi-disciplinary engineeringy Introduce tools for coordinating work across a large groupy Design, build and document a complex engineering systemApproachy Select a major project each year (ideally with some prize money)y Link work in individual classes to CS/EE/ME 75 projecty First two terms focused on design (through individual classes)y Bring entire team together third term (and summer) to complete the projectNote: students interested in CDS 111, should consider taking CS/EE/ME 75abcCDS 110a CDS 110bME 72 ME/CS 132CS/EE/ME 75(2-9-1)CS 11CS 11EE/CS 148 Etc(3 units)See http://www.cds.caltech.edu/~murray/dgc75 for more info and signupCDS 101, Lecture 1.2 29 Sep 04Richard Murray, Caltech CDS 729 Sep 04 R. M. Murray, Caltech 13Honor SystemWhat is it?Why is it important?y Provides a framework for ethical conduct in an academic settingy Supports a community of scholars, working together to learn and educatey Allows greater academic freedom through mutual trust and respectHow does it apply to this class?y Homework: full collaboration allowed, but write up your own resultsy Tests: take home, open book, limited time, non-proctoredy Violations:
View Full Document
Unlocking...