Fall 2001 16.311-3 Feedback Control Approach Establish control objectives -Qualitative- dont use too much fuel Quantitative- settling time of step response <3 sec Typically requires that you understand the process(expected commands and disturbances)and the overall goals(bandwidths Often requires that you have a strong understanding of the phys ical dynamics of the system so that you do not "fight"them in appropriate(i. e, inefficient)ways . Select sensors actuators What aspects of the system are to be sensed and controlled? Consider sensor noise and linearity as key discriminator Cost, reliability, size Obtain model Analytic(FEM) or from measured data(system ID Evaluation model>reduce size/complexity>Design model Accuracy? Error model? ● Design controller Select technique(SISO, MIMO),(classical, state-space) Choose parameters(ROT, optimization Analyze closed-loop performance Meet objectives? Analysis, simulation, experimentation Ye→done,No→ iterateFall 2001 16.31 1—3 Feedback Control Approach • Establish control objectives — Qualitative — don’t use too much fuel — Quantitative — settling time of step response <3 sec — Typically requires that you understand the process (expected commands and disturbances) and the overall goals (bandwidths). — Often requires that you have a strong understanding of the phys￾ical dynamics of the system so that you do not “fight” them in appropriate (i.e., inefficient) ways. • Select sensors & actuators — What aspects of the system are to be sensed and controlled? — Consider sensor noise and linearity as key discriminators. — Cost, reliability, size, . . . • Obtain model — Analytic (FEM) or from measured data (system ID) — Evaluation model → reduce size/complexity → Design model — Accuracy? Error model? • Design controller — Select technique (SISO, MIMO), (classical, state-space) — Choose parameters (ROT, optimization) • Analyze closed-loop performance. Meet objectives? — Analysis, simulation, experimentation, . . . — Yes ⇒ done, No ⇒ iterate . .