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Feedback Controller Employs A Feedback Loop. It Takes

A controller modifies a dynamic system to achieve an objective. A control system includes controllers, sensors to measure outputs, and actuators to influence inputs. For this course, emphasis is on single-input, single-output control systems, but some systems have multiple inputs and outputs. The plant is the process being controlled, typically represented by state variables or a transfer function. Closed-loop controllers employ feedback to calculate actuator inputs based on sensor signals and control algorithms. Open-loop controllers do not use feedback. The main weakness of open-loop control is uncertainty can cause deviations from the desired output.

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44 views3 pages

Feedback Controller Employs A Feedback Loop. It Takes

A controller modifies a dynamic system to achieve an objective. A control system includes controllers, sensors to measure outputs, and actuators to influence inputs. For this course, emphasis is on single-input, single-output control systems, but some systems have multiple inputs and outputs. The plant is the process being controlled, typically represented by state variables or a transfer function. Closed-loop controllers employ feedback to calculate actuator inputs based on sensor signals and control algorithms. Open-loop controllers do not use feedback. The main weakness of open-loop control is uncertainty can cause deviations from the desired output.

Uploaded by

Jonathan Zhang
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOC, PDF, TXT or read online on Scribd
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Control Definitions

A controller is a device / scheme that modifies a dynamic system to


achieve some objective (e.g. a thermostat, steering wheel, shower,
etc.).

A control system is a system with one or more controllers and related


components (sensors, actuators, power supply, etc.).

A sensor is device that allows you to measure something in your


control system. For each sensor there will typically be an output
variable Yi (i=1,2,…) in your control system. In this course, we often
consider systems with one output. Examples: thermocouples,
pressure transducers, optical encoders, etc.

An actuator is a device that allows you to influence something in your


control system. For each actuator there will typically be an input
variable Ui. In this course we often consider single input systems.
Examples: DC motor, AC motor, brushless DC, solenoids / woofers,
valves, etc.

For this course, the emphasis is on single input single output (SISO)
control systems (e.g. DC motor with an encoder angle sensor).
However, sometimes we have multiple input multiple output (MIMO)
systems (e.g. aircraft).

The plant is the process or system we want to control. The plant


typically represented by a set of state variables Xi (and state variable
equations) or a transfer function G(s). Developing the relationship for
these variables involves dynamic modelling.

A closed loop / feedback controller employs a feedback loop. It takes


the sensor signals (i.e. the outputs) and uses a control algorithm (i.e.
equations) in order to calculate the actuator inputs.

Typically in industry a digital computer (PC, microcontroller, etc.) is


used to implement the controller. Historically, controllers have been
used normally implemented with analog circuits.
The controller typically calculates a control error which is the
difference between the desired/reference output (Ri,Ydi,Yri) and the
measured output as read from the sensors. Note the desired /
reference output can also be considered a reference input for the
overall control system.

The system error is given by:

E = R(desired/ref output) - Y(actual output)

This is one of the main performance specifications of a feedback


control system.

An open loop controller (i.e. manual control) is a controller that does


not employ feedback.

These systems typically have lower performance than closed loop /


feedback controllers (eg. Steering wheel in an older car) but are less
expensive and more simple.

What is the main weakness of open loop control ?

Uncertainty in the plant and actuator will cause a deviation from the
desired output. Note disturbances such as unknown torque / load on
a motor is also a source of uncertainty.
For example, consider a system with the following equations:
x = cu
y=x
open loop controller (assuming c is known):
u=R/c
which gives:
y=R
E=Y–R=R–R=0

– Without uncertainty we wouldn’t need feedback control

Uncertainty is one of the main reasons why we use feedback control.

In industry, the perform experiments, and test systems many times


with simulations to evaluate the effects of uncertainty.

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