Feedback-Control-of-Dynamic--Systems ppt.pdf

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Feedback Control of Dynamic Systems Yves Briere yves.briere@isae.fr

I. Introduction

Introduction • Aim of the course – Give a general overview of classical and modern control theory – Give a general overview of modern control tools • Prerequisites – Mathematics : complex numbers, linear algebra 9/23/2009 I. Introduction 3

Introduction • Tools – Matlab / Simulink • Book – « Feedback Control of Dynamics Systems », Franklin, Powell, Amami-Naeini, Addison-Wessley Pub Co – Many many books, websites and free references... 9/23/2009 I. Introduction 4

Introduction 270 BC : the clepsydra and other hydraulically regulated devices for time measurement (Ktesibios) 9/23/2009 I. Introduction 5

Introduction 1136-1206 : Ibn al-Razzaz al- Jazari “The Book of Knowledge of Ingenious Mechanical Devices” crank mechanism, connecting rod, programmable automaton, humanoid robot, reciprocating piston engine, suction pipe, suction pump, double-acting pump, valve, combination lock, cam, camshaft, segmental gear, the first mechanical clocks driven by water and weights, and especially the crankshaft, which is considered the most important mechanical invention in history after the wheel 9/23/2009 I. Introduction 6

Introduction 1600-1900 : pre-industrial revolution Thermostatic regulators (Cornelius Drebbel 1572 - 1633) Windmill speed regulation. 1588 : mill hoper ; 1745 : fantail by Lee ; 1780 : speed regulation by Mead Water level regulation (flush toilet, steam machine) Steam engine pressure regulation (D. Papin 1707) Centrifugal mechanical governor ( James Watt, 1788) 9/23/2009 I. Introduction 7

Introduction 1800-1935 : mathematics, basis for control theory Differential equations first analysis and proofs of stability condition for feedback systems (Lagrange, Hamilton, Poncelet, Airy-1840, Hermite-1854, Maxwell-1868, Routh-1877, Vyshnegradsky-1877, Hurwitz-1895, Lyapunov-1892) Frequency domain approach (Minorsky-1922, Black-1927, Nyquist-1932, Hazen-1934) 1940-1960 : classical period Frequency domain theory : (Hall-1940, Nichols-194, Bode-1938) Stochastic approach (Kolmogorov-1941, Wiener and Bigelow-1942) Information theory (Shannon-1948) and cybernetics (Wiener-1949) 9/23/2009 I. Introduction 8

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