Control Systems Lab SC4070

Lecture 1, February 11th, 2013

dr.ir. Alessandro Abate

Delft Center for Systems and Control
Delft University of Technology
The Netherlands

e-mail: a.abate@tudelft.nl
tel: 015 27 85606
(slides modified from the original, drafted by Robert Babu
ska)

Lecture outline
Course Organization and Content.
Short Recap on System Modeling, Identification, and Practical
Control Synthesis.
Overview of Laboratory Setups.

Course Organization and Content

Control Systems Lab SC4070

Lecturer:
Alessandro Abate
Lab Assistants: Hans Yoo
Hildo Bijl
questions on theory, class organization lecturer
questions on models, implementation lab assistants

Control Systems Lab SC4070

4 lectures
Monday

11-02 2013, EWI-CZ D, 10:45-12:30

Friday

15-02 2013, 3mE-CZ F, 15:45-17:30

Friday

22-02 2013, 3mE-CZ F, 15:45-17:30

(TBC) Monday 25-02 2013, EWI-CZ D, 10:45-12:30

1 lab demo
Monday 18-02 2013, 3mE F-0-420, 10:45-12:30
home preparation, laboratory sessions

Control Systems Design Lab

Lab: Room 3mE F-0-420

Groups and setups

Group

Names

Lab Setup

Schedule of Lab

A
B
C
D
E
...

Lab groups are formed by three students. Send via email:

1. names, 2. student numbers, 3. emails of the three members

Goals of the course

Recall control system design techniques
Apply methodologies to a real process:
first in simulations
then on the actual experimental setup
Understand theory, develop hands-on experience
Prerequisites and background
Introduction to Modeling and Control
Basics of Classical Control Engineering
Basics of Control Systems Design
Experience with MATLAB and Simulink

Outline of the lectures

Logistics, introduction, modeling (I)
Dynamical systems, modeling and identification (II)
Control design methods (III)
Matlab & Simulink, implementation (III and IV)

Home work and Laboratory sessions

follow lectures and lab demo (first two weeks)
form group, choose laboratory setup (first week)
implement a Simulink model (home)
calibrate model (estimate parameters) to match process (lab)
identify a black-box model (lab), compare with above (home)
design a controller for the simulation model (home)
test and tune the controller on the process (lab)
Discuss with the lecturer / lab assistants your plans along the way,
and the possible theory / lab problems you may encounter.

Assessment
Work is done in groups of three students.
Participation to lab sessions.
Presentation of results.
(Week 12 (week of March 18th))
Written report.
(Deadline: Friday morning, 29-03-2013)
max 10 pages
clear and complete
stating exact contributions of each group member

Tips for presentations and reports

Include Table of content, Introduction and Conclusions
Motivate all choices made (e.g., sampling, design parameters)
Compare simulation and real-time results, evaluate critically
Plots:
label axes (variables and units), provide figure captions
use the Matlab function plot, do not paste Simulink scopes
Write concisely, do not include much theoretical background
Stress own experience, inventions, lessons learnt
Presentations: do not explain mathematical models in detail,
do explain what is measured and actuated

Course material
Book (background on control theory):
Franklin, Powell, and Emami-Naeini.
Feedback Control of Dynamic Systems.
Fifth Edition, Prentice Hall, 2006.
Slides and handouts:
available on the WEB
www.dcsc.tudelft.nl/sc4070

Course material
Book (elements of digital control):
Astrom K.J. and Wittenmark B.:
Computer Controlled Systems 3ed.
Prentice Hall, 1997.
(Chapters 1 9)
MATLAB/Simulink software

Course information on the WEB

public website: www.dcsc.tudelft.nl/sc4070
Course information
Material, files
Important dates, notifications sent via BlackBoard

Schedule

Study load
Week

7 8 9 10 11 12 13

Lectures

4 4

Home prep.

10 10 10 10 6

46

5 5 5

15

Laboratory
Presentation
Report
Total

Total
8

8 3

11

8 12

20

14 14 15 15 19 11 12

100

Some important concepts to refresh

Frequency IO models, transfer functions
State-space models
Linearization of nonlinear models
State feedback
Observers, output feedback

Matlab and Simulink

software is available via blackboard and on faculty desktops
Matlab basics (plot, load, save, M-files, etc.)
Control toolbox:
LTI class (ss, tf, zpk)
time-domain and frequency analysis (step, bode)
control design tools (place, acker)
Simulink (interface btw computer and experimental device)

Short Recap on
System Modeling, Identification,
and Practical Control Synthesis

Subject of the course: feedback control

disturbances
reference

inputs

Controller

outputs

Process

feedback

Digital implementation
design + implementation of computer-controlled systems
Computer
Clock

{y(t k)}

A-D

Algorithm

u(t)

{u(t k )}

D-A

y(t)
Process

How to obtain a process model?

1. physical, mechanistic modeling
(a) use first principles differential equations (possibly nonlinear)
(b) linearize around an operating point
(c) discretize to interface with controller

How to obtain process model?

1. physical, mechanistic modeling
(a) use first principles differential equations (possibly nonlinear)
(b) linearize around an operating point
(c) discretize/digitalize to interface with controller
2. from data, system identification
(a) measure inputoutput data (around single operating point)
(b) define model structure (order), mostly linear
(c) estimate model parameters from data (e.g., via least squares)

Example: Physical Modeling of a DC Motor

R

L
+

T
J

Vb = K w
-

w, q
bw

Example: Physical Modeling of a DC Motor

R

L
+

T
J

Vb = K w
-

w, q
bw

di
L dt
+ Ri = V Vb , Vb = K = K d
dt

Example: Physical Modeling of a DC Motor

R

L
+

T
J

Vb = K w
w, q

bw

di
L dt
+ Ri = V Vb , Vb = K = K d
dt

d 2
J dt 2 b d
dt

= T , T = Ki

Example: System Identification

u
Process

Example: System Identification

Input data
u

u
Process
t

Example: System Identification

Input data

Output data
y

u
Process

u(1), u(2), . . . , u(N)

y(1), y(2), . . . , y(N)

y(t) = G(s)u(t)

Controller Design in the Industrial Practice

Order the controller.

Controller Design in the Industrial Practice

Order the controller.

Unpack and connect.

Controller Design in the Industrial Practice

Order the controller.

Unpack and connect.
Turn the knobs until it works.

Controller Design in the Industrial Practice

Order the controller.

Unpack and connect.
Turn the knobs until it works.

This is of course slightly exaggerated, notable exceptions exist

aerospace, mechatronics, automotive, process/chemical . . .

In-Class Controller design procedure

Develop a mathematical model of the process.

In-Class Controller design procedure

Develop a mathematical model of the process.
Implement the model for simulation purposes, estimate parameters.

In-Class Controller design procedure

Develop a mathematical model of the process.
Implement the model for simulation purposes, estimate parameters.
Analyze dynamic properties of the system.

In-Class Controller design procedure

Develop a mathematical model of the process.
Implement the model for simulation purposes, estimate parameters.
Analyze dynamic properties of the system.
Determine the specifications (objective) for the controller.

In-Class Controller design procedure

Develop a mathematical model of the process.
Implement the model for simulation purposes, estimate parameters.
Analyze dynamic properties of the system.
Determine the specifications (objective) for the controller.
Design a controller to comply with specs.

In-Class Controller design procedure

Develop a mathematical model of the process.
Implement the model for simulation purposes, estimate parameters.
Analyze dynamic properties of the system.
Determine the specifications (objective) for the controller.
Design a controller to comply with specs.
Test controller in simulations, redesign (if necessary).

In-Class Controller design procedure

Develop a mathematical model of the process.
Implement the model for simulation purposes, estimate parameters.
Analyze dynamic properties of the system.
Determine the specifications (objective) for the controller.
Design a controller to comply with specs.
Test controller in simulations, redesign (if necessary).
Implement on the process, test, evaluate.

In-Class Controller design procedure

Develop a mathematical model of the process.
Implement the model for simulation purposes, estimate parameters.
Analyze dynamic properties of the system.
Determine the specifications (objective) for the controller.
Design a controller to comply with specs.
Test controller in simulations, redesign (if necessary).
Implement on the process, test, evaluate.

At least, this is the desired situation . . .

Overview of Laboratory Setups

Inverted pendulum / wedge setup

Inverted wedge
g

km

d
m

a
c

M, J



1
d =
kmu ma bd + md 2 + mg sin()
m

1
2md
+ mga sin()

=
ma
d
d
J + ma2 + md 2

+mgd cos() + Mgc sin()

Parameters for inverted wedge

Symbol

Parameter

Value

acceleration due to gravity

9.81 ms2

height of track

0.11 m

distance from COG to axis

0.045 m

mass of cart

0.49 kg

mass of balance

3.3 kg

inertia of balance

0.42 kgm2

km

input-to-force gain

5.0 N

damping coefficient

4 to 10 kgs1

Inverted pendulum
g

m, l, J

km

1
=
J + ml 2


1
kmu + ml 2 sin() bd ml cos()
d =
M+m



mgl sin() ml dcos()

Parameters for inverted pendulum

Symbol

Parameter

Value

acceleration due to gravity

9.81 ms2

half length of pendulum

0.30 m

mass of pendulum

85 or 210 g

inertia of pendulum

1
2
ml
3

mass of cart

0.49 kg

km

input-to-force gain

5.0 N

damping coefficient

4 to 10 kgs1

Helicopter setup

Helicopter
w

+ = K1u

+ b + K2 sin = f ()

( approximation . . . = K3)

Propeller nonlinearity
y

also, new helicopter setup

Gantry crane

Gantry crane

Gantry crane

Rotational pendulum

Rotational pendulum
m2

l2

m2 g

m1

l1

km u

M() +C(, ) + G() =

m1 g
motor

Rotational pendulum: matrices

P1 + P2 + 2P3 cos 2
M() =
P2 + P3 cos 2

b1 P3 2 sin 2

=
C(, )
P3 1 sin 2

P2 + P3 cos 2

P2

P3( 1 + 2) sin 2

b2

g1 sin 1 g2 sin(1 + 2)
G() =

g2 sin(1 + 2)