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LUND INSTITUTE OF TECHNOLOGY
Black Boxes & White NoiseBlack Boxes & White NoiseThe Evolution of Automatic Control
K. J. Åström
Lund Institute of TechnologyLund, Sweden
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LUND INSTITUTE OF TECHNOLOGY
1. Introduction2. Early Ideas3. A Discipline Emerges4. The Second Wave5. Conclusions
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
Natural Science and Engineering ScienceNatural Science and Engineering ScienceMany similarities but also differencies
Natural PhenomenaAnalysis
Isolate phenomenaSimplicityBasic laws
Technical SystemsSynthesisInteractionComplexity
System principles
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LUND INSTITUTE OF TECHNOLOGY
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LUND INSTITUTE OF TECHNOLOGY
1.1.1. IntroductionIntroductionIntroduction2. Early Ideas3.3.3. A Discipline EmergesA Discipline EmergesA Discipline Emerges4.4.4. The Second WaveThe Second WaveThe Second Wave5. 5. 5. ConclusionsConclusionsConclusions
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LUND INSTITUTE OF TECHNOLOGY
Industrial Process ControlIndustrial Process Control
Windmills Mead 1787
Steam enginesWatt, Boulton 1788Maxwell 1868Routh 1875
Water turbinesStodola 1893Hurwitz 1895
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LUND INSTITUTE OF TECHNOLOGY
Accuracy & StabilityAccuracy & Stability
PID Control
u (t ) = k( t ) + e (s)ds +Tddedt∫
HoneywellTaylor InstrumentLeeds & NorthrupFoxboro
e ( ITi
t
o)
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LUND INSTITUTE OF TECHNOLOGY
Flight ControlFlight ControlThe Wright Brothers 1903
Sperry 1912
Fully Automatictransatlantic flight 1947
Apollo 1969
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LUND INSTITUTE OF TECHNOLOGY
Minorsky 1922Minorsky 1922
It is an old adage that a stable ship is difficult to steer.
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LUND INSTITUTE OF TECHNOLOGY
TelecommunicationTelecommunication
SYSTEM DATECHANNELS
PER PAIRLOSS IN DB
(3000 MI)REPEATERS
(3000 MI)
1st Transcontinental 1914 1 60 3–6
2nd Transcontinental 1923 1–4 150–400 6–20
Open Wire Carrier 1938 16 1000 40
Cable Carrier 1936 12 12000 200
First Coaxial 1941 480 30000 600
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LUND INSTITUTE OF TECHNOLOGY
The Feedback AmplifierThe Feedback Amplifier
V2V1
= −R2R1
⋅1
1+ 1A
1+R2R1
⎛
⎝ ⎜
⎞
⎠ ⎟
–A
R1
2R
V21V
Black's patent 1928
Granted 1937
“Singing” = Instability
Nyquist 1932
Bode 1945Network Analysis andFeedback Amplifier Design
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LUND INSTITUTE OF TECHNOLOGY
1.1.1. IntroductionIntroductionIntroduction2.2.2. Early IdeasEarly IdeasEarly Ideas3. A Discipline Emerges4.4.4. The Second WaveThe Second WaveThe Second Wave5. 5. 5. ConclusionsConclusionsConclusions
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LUND INSTITUTE OF TECHNOLOGY
Industrial Process ControlTelecommunications
Flight ControlMathematics
PrinciplesTheory
Design MethodologyApplications
A Discipline EmergesA Discipline Emerges
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LUND INSTITUTE OF TECHNOLOGY
War PressuresWar Pressures
National Defense Research CommitteeMIT Radiation LaboratoryMIT Servomechanism LaboratoryMIT Instrumentation LaboratoryMIT Lincoln Laboratory
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LUND INSTITUTE OF TECHNOLOGY
The Black Box ConceptThe Black Box Concept
OutputInput
AbstractionInformation hiding
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LUND INSTITUTE OF TECHNOLOGY
The Black Box View ofThe Black Box View ofDynamical SystemDynamical System
LinearitySuperpositionSinusoidsOne pair sufficies
Input Output
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LUND INSTITUTE OF TECHNOLOGY
2
0
–2
0 180° 360°
aϕ
The Notion of Transfer FunctionThe Notion of Transfer Function
u y
G
G (s ) =L y{ }L u{ }
(s ) = e−stg (t )dt = L (g)0
∞
∫
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LUND INSTITUTE OF TECHNOLOGY
System PrinciplesSystem PrinciplesFeedforward Feedback
Combination
FF Process
FB Process
–1
Σ ΣProcess
FB Process
–1
Σ
FF
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LUND INSTITUTE OF TECHNOLOGY
Two ParadigmsTwo Paradigms
Feedback
Open loopActs only on deviationsMarket drivenUnmeasurable disturbanceLess accurate model
Feedforward
Closed loopAct before deviations occurPlanningMeasurable disturbanceAccurate model
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LUND INSTITUTE OF TECHNOLOGY
Servomechanism TheoryServomechanism Theory
FoundationsComplex variablesLaplace transforms
System ConceptsFeedbackFeedforward
Design methodologyFrequency responseGraphical methods
Analog simulation
Implementation
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LUND INSTITUTE OF TECHNOLOGY
ConsequencesConsequences
EducationApplicationIndustrialization
OrganisationJournalsConferences
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LUND INSTITUTE OF TECHNOLOGY
1.1.1. IntroductionIntroductionIntroduction2.2.2. Early IdeasEarly IdeasEarly Ideas3.3.3. A Discipline EmergesA Discipline EmergesA Discipline Emerges4. The Second Wave5. 5. 5. ConclusionsConclusionsConclusions
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LUND INSTITUTE OF TECHNOLOGY
The Second WaveThe Second Wave
Feedback from applicationsChallenging problemsNew technologyNew ideas
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LUND INSTITUTE OF TECHNOLOGY
Key ElementsKey Elements
Reexamination of fundamentalsVital interaction with other disciplinesTheory to match new technology
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LUND INSTITUTE OF TECHNOLOGY
Two views of Dynamical SystemsTwo views of Dynamical Systems
External DescriptionElectrical engineeringInput/OutputBlack Box
Internal descriptionsMechanical EngineeringThe notion of state
y = g (x,u)
dxdt
= f (x,u)
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LUND INSTITUTE OF TECHNOLOGY
““Modern” Control TheoryModern” Control Theory
Optimal controlComputer controlStochastic controlRobust control
CACESystem identificationAdaptive controlIntelligent control
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LUND INSTITUTE OF TECHNOLOGY
Optimal ControlOptimal Control
EulerLagrangePontryaginHamiltonJacobiBellman
1707–17831736–181319621805–18651804–18511957
ATTITUDE AND THRUST CONTROL€ Swivel Outer Four Engines
€ Optimum to Desired End Conditions
€ Inertial Updating of Position and Velocity
GUIDANCE – SATURN
NAVIGATION
SII STAGEFive J-2 Engines
2, 500, 000N Thrust
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LUND INSTITUTE OF TECHNOLOGY
Modeling DisturbancesModeling Disturbances
Power spectraWhite noiseInnovations
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LUND INSTITUTE OF TECHNOLOGY
Stochastic Control TheoryStochastic Control Theory
Filtering and prediction
Merger of calculus ofvariations and theory ofrandom processes
Decision making underuncertainty
Industrial process control
••
•
•
Probability density
Set point for regulatorwith low variance
Set point for regulatorwith high variance
Testlimit
Process output
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LUND INSTITUTE OF TECHNOLOGY
System IdentificationSystem Identification
Simplified diagram of a kraft paper machine
Thick stockdilution valve
Thick stockflow valve Beta ray
gauge
Moisturemeter
White water
MODEL OF PROCESS DYNAMICS AND DISTURBANCES
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LUND INSTITUTE OF TECHNOLOGY
Control of Basis WeightControl of Basis Weight
Wet basis weight
Set point of stuff gate level
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LUND INSTITUTE OF TECHNOLOGY
Adaptive ControlAdaptive Control
Design Estimator
Regulator Processr
uy
Regulatorparameters
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LUND INSTITUTE OF TECHNOLOGY
Dual ControlDual ControlControl actions should be both directing and investigating
Consequences for decision making decisions under uncertainty
•
•
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LUND INSTITUTE OF TECHNOLOGY
Two PrinciplesTwo Principles
Certainty Equivalence (H. Simon 1956)Make the best estimate act as if it was true.
Dual ControlControl should be investigating as wellas directing.
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LUND INSTITUTE OF TECHNOLOGY
Computer Aided Control EngineeringComputer Aided Control Engineering
How to disseminate complicated technology?Conceptual simplicity computational sophisticationCombine human intuition with computational powerNice way to package theory
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LUND INSTITUTE OF TECHNOLOGY
Computer ControlComputer Control
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LUND INSTITUTE OF TECHNOLOGY
Control Design & Process DesignControl Design & Process Design
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LUND INSTITUTE OF TECHNOLOGY
The Internal Model PrincipleThe Internal Model Principle
Controller Process
y
K� –LΣ
xC
B
–y–C
xΣ
uB Σ � Σ
A
v e
A
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LUND INSTITUTE OF TECHNOLOGY
ApplicationsApplicationsEnergy generationEnergy transmissionProcess controlDiscrete manufacturingInstrumentationTelecommunication
TransportationHeating, ventilation, airconditionEntertainmentPhysicsBiologyEconomics
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LUND INSTITUTE OF TECHNOLOGY
Mission CriticalMission Critical
Flight ControlSpace flightAutomotiveCD playerCamcorder manufacturing
DC-motor
photo diodes radial arm
Optical Pick-upUnit
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LUND INSTITUTE OF TECHNOLOGY
The Mercedes AThe Mercedes A--classclassAutomatic control gives extra freedom to the designer
Unstable behavior improved byElectronic Stabilization Program (ESP)
ESP
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LUND INSTITUTE OF TECHNOLOGY
Committee on Policy Optimisation HSO 1978
To consider the present state of developmentof optimal control techniques as applied to macro-economic policy. To make recommendationsconcerning the feasibility and value of applyingthes techniques within Her Majesty’s Treasury.
Control and EconomicsControl and Economics
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LUND INSTITUTE OF TECHNOLOGY
1.1.1. IntroductionIntroductionIntroduction2.2.2. Early IdeasEarly IdeasEarly Ideas3.3.3. A Discipline EmergesA Discipline EmergesA Discipline Emerges4.4.4. The Second WaveThe Second WaveThe Second Wave5. Conclusions
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LUND INSTITUTE OF TECHNOLOGY
Some ChallengesSome Challenges
The gap between theory and practice“Intelligent” systemsMan–machine interfacesTechnology / society interfacesAcademic positioning
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LUND INSTITUTE OF TECHNOLOGY
Mathematical Modeling
Implementation
Commission
Operation
Real World Automatic Control
EnergyTransportationCommunicationManufactoringInstrumentationEntertainmentBiologyEconomics
AnalysisSimulationSynthesis
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LUND INSTITUTE OF TECHNOLOGY
ConclusionsConclusions
A glimpse of an emerging fieldAutomatic control is pervasiveSome system principlesMany challenges ahead