MAAE 4500

Feedback Control Systems

Prof. Jie Liu (Sections B)
Mechanical and Aerospace Engineering

Lecturers & TA Office Hours

Section B: TB342, MW 13:00 14:30
Prof. Jie Liu (3146 ME)
Phone:
613 520-2600 ext. 8257
Email:
jliu@mae.carleton.ca
Office hours: Every Monday, 14:30pm 15:30pm

MAAE4500: Feeback Control

Course Information
Textbook:
Text Book: Modern Control Engineering (5th Edition)
by Katsuhiko Ogata. Prentice Hall, Upper Saddle
River, New Jersey
The book should be available at the bookstore
You could use the 4th edition, but it is your
responsibility to make sure you are on the right
sections

MAAE4500: Feeback Control

Course Information
Course communication: all through cuLearn
Take your notes in the class. If any further material is
used outside the suggested text, then some notes will
be posted
Evaluation:
2 Tests
Final
Total

40%
60%
100%

MAAE4500: Feeback Control

Problem Sets
A series of problems will be announced on the website
regularly. Students must solve the assigned problems
on their own to succeed in the course. No assignments
will be collected and marked.

MAAE4500: Feeback Control

Tests
Will consist of written problems
Test 1: in October (date TBD)
Test 2: in November (date TBD)
All tests are closed-book and regular engineering
calculators are allowed. A common formula sheet will be
provided with the exam paper.
Material: all material covered up to the lecture before the
exam

MAAE4500: Feeback Control

Final Exam
University scheduled
Closed-book, formula sheet will be provided.
The final examination is for evaluation purposes
only and will NOT be returned to the student
Material covered: all

MAAE4500: Feeback Control

Lectures
I mainly use a combination of the blackboard
and occasionally slides when necessary.
Attendance is very important
We follow chapters of Ogata for most of the
course as guideline
Key to success: distribution of your work load
over the whole term (by completing the
assignments) rather than waiting for exams to
study

MAAE4500: Feeback Control

Other Notes
Students that require any accommodation
should do so early on during the term (2
weeks into the term). Please read the
statement on the outline. Students that need
to register with PMC, please do so as soon as
possible.

MAAE4500: Feeback Control

Chapter 1
Introduction

Speed Control System

(James Watt, 1769)

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Control Systems Development

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Many examples of controls in robotics

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Historical Development
1) Classical (Conventional) Control Theory (1760s-1950s)
Linear Time Invariant (LTI) System
Single Input Single Output (SISO) System
Proportional-Integral-Derivative (PID) controller
Frequency-response and Root-locus methods
Transfer functions (Laplace Transform)
Fundamental and Important; Widely used in over 50% industrial
control applications right now; Simple, low cost, easy
implementation, reliable.

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Historical Development
2) Modern Control Theory (1950s-present)
LTI systems or time-varying systems (more complex)
Multiple Input Multiple Output (MIMO) System
Time domain analysis
State variables (state space representations)
Optimal control, nonlinear control, adaptive control, intelligent
control (rough classification)
More advanced for better performance in more complex
systems; High cost, stability issue.

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Historical Development
3) Robust Control Theory (1980s-present)
Uncertainties (e.g., modelling, sensing)
Performance usually not optimal, but robust.
Mathematically elegant (matrix), but complex.

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Topics (classical control) covered in this course

Introduction to Control Systems

The Laplace Transform (Review)

Mathematical Modeling of Dynamic Systems
Root-Locus Analysis
Control Systems Design by the Root-Locus Method
PID Controls

Frequency Response and Analysis of Systems (Some Review)

Control System Design in Frequency Domain

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Closed- and Open-loop Systems

Feedback controls three elements:
Sensors, Actuators, Control law (implementation options)

Feedback structure:
Ref.
input

e (error)

d (disturbance)
y (output)

u (input)
Plant

Control

Sensor
v

y = Controlled variable
u= manipulated variable

(measurement noise)
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Definitions
Plants
Any physical object to be controlled (e.g., a car)

Processes
Any operation to be controlled

Controlled Variable:
The quantity or condition that is measured and controlled
(e.g., speed)

Control Signal or Manipulated Variable

The quantity or condition that is varied by the controller
so as to affect the value of the controlled variable.

Disturbance
A signal that tends to adversely affect the value of the
output of a system.
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Closed- and Open-loop Systems

Closed-loop or feedback control systems
A system that maintains a prescribed relationship
between the output and a reference input signal in
the presence of disturbances
A control signal is generated by the controller and
added to the disturbances to correct the system
response

Open-loop systems
Systems for which the output signal has no effect
on the control signal
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Closed- and Open-loop Systems

Open Loop control has:

Simpler implementation
Lower cost
No stability issue
Convenience with hard-to-measure outputs

But has issues:

Prone to errors in the presence of disturbance
Prone to system parameter uncertainty

Therefore:
feedback control is used (ex: position control)
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Control Objectives
Output, y, should follow the input, r or:
y(t) / r(t) 1 as t
As fast as possible
Without too much oscillations ( be stable)
Equivalently, error should converge to zero:
e(t) 0 as t
The output, y, should be least affected by disturbance, d:
(y/d) 0 as t
The output, y, should not be least affected by
measurement noise, v:
(y/v) 0 as t

Control Implementation Example

Objective: design a time-delayed feedback controller to control

the vibration of the primary structure excited by sinusoidal force.

J. Liu, K. Liu, Application of an active electromagnetic vibration absorber in vibration suppression, Structural
Control and Health Monitoring, 2010. [check the paper to get a rough idea about control implementation]

Till your next lecture:

Review your past material on systems including
Laplace Transforms and related theorems. This is
very important.

Review the feedback control concept by trying to

find a few real-life problems. Devise it into elements
involved in a control system. You should be able to find
numerous examples.

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Course Information
What we learn in this course:
Understand how the dynamic systems behave
Define the desired behaviour: using performance
criteria for controlled system

Learn how to design controllers to achieve the

desired behaviour
Note: we do the above in time domain or frequency
domain

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MATLAB
MATLAB with Controls Toolbox license is
available at Carleton
Rooms: 3290 ME, 3149 ME, 6065 MC,
514 AA
Textbook examples and Assignments will
require MATLAB
MATLAB is not required for evaluation
(Tests or Final)
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