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Crash Course on Control

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  1. Crash Course on Control Karl-Erik Årzén

  2. Contents • Introduction • A typical control problem • (Discrete Control Systems) • Continuous Control Systems • Basics • Discrete-Time Implementation • Example: PID Control • Resource-constrained control

  3. ”Control engineers don’t make things, they make things better”

  4. Dynamic System: • static y = f(u(t)) • dynamic y = f(u(t),u(t-1),…) • State

  5. Contents • Introduction • A typical control problem • (Discrete Control Systems) • Continuous Control Systems • Basics • Discrete-Time Implementation • Example: PID Control • Resource-constrained control

  6. Discrete Control Systems

  7. Contents • Introduction • A typical control problem • (Discrete Control Systems) • Continuous Control Systems • Basics • Discrete-Time Implementation • Example: PID Control • Resource-constrained control

  8. Continuous Control: Basic Setting

  9. Linear vs NonLinear • The world is nonlinear • Examples: • Nonlinear process dynamics • Nonlinearities is sensors • Nonlinearities in actuators (backlash, friction, ..) • Nonlinearities in implementation platform (quantization)

  10. Stability • A key issue for control engineers • Stability of a solution • Stability • Asymptotic stability • For linear systems, stability is a system property • Stability region – left half plane

  11. Contents • Introduction • A typical control problem • (Discrete Control Systems) • Continuous Control Systems • Basics • Discrete-Time Implementation • Example: PID Control • Resource-constrained control