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Chapter 1 - Introduction

This document provides information about an identification and control systems course taught by Dr. Vu Van Phong. It outlines the instructor's contact information, course rules and assessment, textbook references, and course contents. The course covers modeling, identification, and advanced control topics, including nonlinear control using Lyapunov theory, sliding mode control, optimal control with LQR and LQG, and digital control. Examples of applying these concepts to systems are also provided.

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Nguyễn Minh Tuấn
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30 views43 pages

Chapter 1 - Introduction

This document provides information about an identification and control systems course taught by Dr. Vu Van Phong. It outlines the instructor's contact information, course rules and assessment, textbook references, and course contents. The course covers modeling, identification, and advanced control topics, including nonlinear control using Lyapunov theory, sliding mode control, optimal control with LQR and LQG, and digital control. Examples of applying these concepts to systems are also provided.

Uploaded by

Nguyễn Minh Tuấn
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Identification and

Control System
Lecturer: VU VAN PHONG

Dr. Van-Phong Vu-Department of Automatic Control


 Instructor: Dr. Vu Van Phong
 Email: [email protected]
 Phone: 0981479507
 Websites: https://phongvuac.wixsite.com/vuphong/

Dr. Van-Phong Vu-Department of Automatic Control


Rules in Class

 Attend at least 80% of class hours


 Complete all homeworks and assignments (If any)

Dr. Van-Phong Vu-Department of Automatic Control


Assessment

 One assignment/homework. (20%)


 One midterm test (20%)
 Quiz (10%)
 Final Project (50%)
 Student have to complete a small project and present in the class.

Dr. Van-Phong Vu-Department of Automatic Control


Textbook and References
 [1] Linear Robust control, Michael Green, David J.N. Limebeer, Pearson
Education
 [2] Nonlinear system: Analysis, Stability, and Control, Sharnkar Sátry,
Springer, 1999.
 [3] D. L. Smith, Introduction to Dynamic Systems Modeling for Design,
Prentice-Hall, 1994.
 [4] L. Ljung, System Identification – Theory for the users, 2 nd Edition,
Prentice-Hall, 1999.
 [5] R. Johansson, System Modeling and Identification, Prentice-Hall, 1993.
 [6] L. Ljung, System Identification ToolboxTM Getting Started Guide in
Matlab, The MathWorks, Inc, 2016

Dr. Van-Phong Vu-Department of Automatic Control


Contents of This course

 Chapter 1: Introduction
 Part 1: Modeling and Identification
 Chapter 2: Modeling system
 Chapter 3: Identification system

Dr. Van-Phong Vu-Department of Automatic Control


Contents of This course

 Part 2: Advanced Control System


 Chapter 4: Nonlinear control
 2.1 Nonlinear system
 2.2 Lyapunov Theory
 2.3 Sliding mode control
 Chapter 5: Optimal Control
 3.1 LQR Controller
 3.2 Kalman filter
 3.3 LQG controller
 Chapter 6: Digital Control

Dr. Van-Phong Vu-Department of Automatic Control


Part 1: Introduction of Modelling
and System Identification

Dr. Van-Phong Vu-Department of Automatic Control


1.1 Purpose of this part

 Purpose: Study the methods to build the mathematical model


for the arbitrary system in practice.
 System model
 System identification.
 Why we need mathematical model?
 Understand the system
 Design the controller to control system.
 Simulate the system by software to verify the controller.
 Fault diagnosis

Dr. Van-Phong Vu-Department of Automatic Control


1.2 Definition of System/Dynamic
System/Models
 System: an object in which variables of different kinds interact
and produce the observable signals (called output).

System

u(t): input
y(t): output
v(t): unmeasurable disturbance
w(t): measurable disturbance
Dr. Van-Phong Vu-Department of Automatic Control
1.2 Definition of System/Dynamic
System/Models
 Dynamic System: is a system where the values of output is
dependent on not only present values of inputs but also past
behaviors of the system.
Input: Force F(t)
Output: position y(t)
Disturbance: friction

F(t) y(t)
System

Friction
Friction
Mass-Spring Damper System
Dr. Van-Phong Vu-Department of Automatic Control
1.2 Definition of System/Dynamic
System/Models

Solar Heated House

Dr. Van-Phong Vu-Department of Automatic Control


1.2 Definition of System/Dynamic
System/Models
 Model: A model is a mathematical relationship between a system’s
input and output variables.
 Expression: Models of dynamic systems are typically described by
differential or difference equations, transfer functions, state-space
equations, and pole-zero-gain models.
 Classification:
 Model in Time-Domain- Model in Frequency Domain
 Continuous/Discrete time Model
 Linear/Nonlinear Model
 Parameter/Non-parameter Model
Dr. Van-Phong Vu-Department of Automatic Control
1.2 Definition of System/Dynamic
System/Models
 Methods to build a model of a system:
 System modeling (white-box Model)
 System Identification (Black-box Model)
 Combination of System modeling and System Identification (Gray-
box Model)

Dr. Van-Phong Vu-Department of Automatic Control


1.3 System Modeling
 System Modeling: procedure to build the mathematical model of
the system based on the physical laws of the system
 Procedure of system modeling
 Step 1: Separate the system into the block diagram in which the mathematical
model of each block diagram is known or can be obtained from the physical
laws.
 Step 2: analyze the physical characteristics to obtain the mathematical model of
each block diagram.
 Step 3: connect all block to obtain the mathematical model of whole system.

Dr. Van-Phong Vu-Department of Automatic Control


1.3 System Modeling
 System Modeling method is applied when the structure and physical
characteristics of system are known in advance.
 Physical laws:
 Electrical
 Chemistry
 Thermal
 Mechanics
 …

Dr. Van-Phong Vu-Department of Automatic Control


1.3 System Modeling
 Example:

Step 1:

Dr. Van-Phong Vu-Department of Automatic Control


1.3 System Modeling
Step 2:

Dr. Van-Phong Vu-Department of Automatic Control


1.3 System Modeling
Step 3:

Dr. Van-Phong Vu-Department of Automatic Control


1.4 System Identification
 System Identification: is a methodology for building mathematical
models of dynamic systems using measurements of the system’s input
and output signals.

System

Model

Dr. Van-Phong Vu-Department of Automatic Control


1.4 System Identification
 Procedure for system identification:
 Step 1: Measure the input and output signals from your system in time or
frequency domain.
 Step 2: Select a model structure
 Step 3: Apply an estimation method to estimate value for the adjustable
parameters in the candidate model structure
 Step 4: Evaluate the estimated model to see if the model is adequate for
your application needs.

Dr. Van-Phong Vu-Department of Automatic Control


1.4 System Identification

Dr. Van-Phong Vu-Department of Automatic Control


1.4 System Identification

Dr. Van-Phong Vu-Department of Automatic Control


1.4 System Identification

Energy flows in buildings System

Dr. Van-Phong Vu-Department of Automatic Control


1.4 System Identification

Energy flows in buildings System

Dr. Van-Phong Vu-Department of Automatic Control


Part 2: Introduction of Advanced
Control

Dr. Van-Phong Vu-Department of Automatic Control


Contents of this part

 1.1 Purpose of this course


 1.2 Introduction of nonlinear control system
 1.3 Introduction of Optimal Control
 1.4 Introduction of Robust control
 1.5 Introduction of Adaptive control

Dr. Van-Phong Vu-Department of Automatic Control


1.1 Purpose of this course

 Purpose:
 Understand the nonlinear system
 Understand and apply the Lyapunov theory for design both
controller and observer.
 Design the sliding mode controller
 Design the robust controller
 Design the Optimal Controller (LQR, LQG)

Dr. Van-Phong Vu-Department of Automatic Control


1.2 Nonlinear System

 Almost the system in practice is expressed under the nonlinear


form.
 The nonlinear control system was introduced from 19 century.
 After 1960, Nonlinear control system is significantly developed

Dr. Van-Phong Vu-Department of Automatic Control


1.2 Nonlinear System

 Method to analyze the nonlinear systems:


 Phương pháp mặt phẳng pha
 Phương pháp mô tả
 Phương pháp ổn định Lyapunov
 Phương pháp ổn định Popov
 Phương pháp độ lợi bé
 Phương pháp thụ động

Dr. Van-Phong Vu-Department of Automatic Control


1.2 Nonlinear System

 Methods to design controller:


 Sliding mode controller ( điều khiển trượt)
 Backstepping control ( điều khiển cuốn chiếu)

Dr. Van-Phong Vu-Department of Automatic Control


1.3 Optimal control

Dr. Van-Phong Vu-Department of Automatic Control


1.4 Adaptive control

Dr. Van-Phong Vu-Department of Automatic Control


1.4 Adaptive control

Dr. Van-Phong Vu-Department of Automatic Control


1.5 Robust control

Dr. Van-Phong Vu-Department of Automatic Control


1.5 Robust control

Dr. Van-Phong Vu-Department of Automatic Control


Example

Dr. Van-Phong Vu-Department of Automatic Control


Example

Dr. Van-Phong Vu-Department of Automatic Control


Example

Dr. Van-Phong Vu-Department of Automatic Control


Application in practice

Dr. Van-Phong Vu-Department of Automatic Control


Example

Dr. Van-Phong Vu-Department of Automatic Control


Example

Dr. Van-Phong Vu-Department of Automatic Control


Thank You For Your Listening

Dr. Van-Phong Vu-Department of Automatic Control

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