Introduction to Automatic Control

Control Engineering”, Katsuhiko Ogata,
Prentice Hall.
“Automotive Control Systems for Engine, Driveline
and Vehicle”, U.Kiencke and L.Nielsen, Springer.
“Stabilization and Regulation of Nonlinear Systems. A Robust and Adaptive Approach” Zhiyong Chen • Jie Huang. 2014.
Khalil H (2002) Nonlinear systems. Prentice Hall, New Jersey
Isidori A (1999) Nonlinear control systems, 3rd edn. Springer, New York

Control
Engineering

important?

Good Improved control is a key enabling technology
underpinning:
- generally
- Convenience and Comfort
- doctor
- Precision of tools
- industry
- Enhance product quality
- Waste minimization
- Higher safety margins

Control
Engineering

System?

Control
Engineering

Open-Loop Control System (No feedback)

System? (2)

Control
Engineering

Dynamic Response Open-Loop Control System (No feedback)

System? (3)

Control
Engineering

Feedback
Feedback is a key tool that can be used to modify the
behavior of a system.
This behavior altering effect of feedback is a key
mechanism that control engineers exploit deliberately
to achieve the objective of acting on a system to
ensure that the desired performance specifications
are achieved.

System? (4)

Control
Engineering

Closed-Loop Control System (No feedback)

System? (5)

Control
Engineering

Response of a position control system showing effect of high and low controller gain on the output response

(1)

Control
Engineering

Temperature Control System ( Heater or Air Condition )

(2)

Control
Engineering

Open Loop

Closed Loop

(3)

Control
Engineering

Vehicle Control System

(4)

Control
Engineering

Autopilot Control System

Cycle

Control
Engineering

in Control

I. DYNAMIC MODELING
Deriving a dynamic model ( = set of differential
equations that describes the dynamic behavior of the plant)
Linearization the dynamic model if necessary
II. DESIGN OF A CONTROLLER: Several design methods
Classical control or Root Locus Design:
Define the transfer function; Apply root locus, loop shaping,
Modern control:
Convert ODE to state equation; Apply Pole Placement, Robust control, …
Nonlinear control: Apply Lyapunov’s stability criterion

Control
Engineering

space representations

Control
Engineering

of Modeling: DC Motor

Control
Engineering

of Modeling: Suspension

Control
Engineering

of Modeling: Suspension (2)

Control
Engineering

transfer function

Equivalence transfer function - state space representation

Control
Engineering