1. Control Design for Machines and Manufacturing Professor Walter W. Olson Department of Mechanical, Industrial and Manufacturing Engineering University of Toledo Sense Compute Actuate

2. Who Am I? Most of you are new students to me… Welcome to my class! Professor Walter W. Olson Graduate of West Point 1973 Dual Degrees in Physics and EE MS and PHD Rensselaer Polytechnic Institute, ME Retired after 24 Years US Army Combat Engineer Commander Professor, United States Military Academy Commander, US Army Cold Regions Research and Engineering Laboratory Professor University of Alaska, Fairbanks Michigan Technological University Ford Motor Company University of Toledo PSG Institute of Technology, Coimbatore, India

3. Outline of Today’s Lecture Course outline Course Administration Book Policies Assignments Academic Dishonesty Grading What is Control? Sense-Compute-Act Sense Compute Actuate

4. Course Outline Please see the Syllabus What is Control? Role of Feedback Modeling with Differential and Difference Equations Linear Systems State feedback designs Output feedback designs Frequency domain analysis and design Stability Proportional, Integral and Differential (PID) Control Design Performance Design and Robustness

5. Course Administration: BOOK Book: Online at http://www.cds.caltech.edu/~murray/amwiki/index.php/Version_2.10e recommend that you download it to a file on your computer or memory stick You will be required to read this BEFORE coming to class. I prefer to teach using the Socratic method: the role of the Professor is to guide, answer questions regarding the materials and to clarify “muddy” points Because of the nature of this course, I will prepare and deliver lectures BUT I will frequently ask questions and will award recitation points for correct answers

6. Course Administration: Classroom Policies Cell phones will be turned off during class. Students are expected to be at class on time. Students who know that they will be late should notify the instructor. There will be no eating or drinking in class.

7. Course Administration: Assignments This is probably the most difficult course material conceptually you will ever take You will not learn how do control system design without doing problems Experience of 20+ years of teaching this has shown that students who get good grades in this course do all of the homework religiously Homework is due on the date shown in the syllabus at the beginning of the class period Late homework will not be accepted All pages of an assignment must be stapled at the time submitted Neatness counts!

8. Course Administration: Academic Dishonesty Academic dishonesty (cheating, plagiarizing, and related offenses,) will be harshly dealt with. Except where explicitly stated, all work is expected to be done individually. You may ask another student how to do a problem but you must perform all calculations and state the results based on your individual work. You may not compare your work to that of another student. If you do, both you and the student you have compared it with will be cheating. Students caught cheating will be dismissed from the course and awarded a failing grade. There will be no 2 nd chance!

9. Course Administration: Grading 10% Classroom Recitation 20% Homework 20% Project? 25% Mid Term Test 25% Final Test A>93A-90-93 B+87-90B83-87B-80-83 C+77-80C73-77C-70-73 D65-70F<65

10. What is Control? Split mu video Split mu pumping Split mu with ABS Split mu with reduced braking

11. What is Control? Control = Sensing + {Where are you at? Is it where you want to be?} Computation + {Can you find a path to where you want to go?} Actuation { Make things happen to get you there!}

12. What is Control? Control = Sensing Car beginning yawWheel Speeds different

13. What is Control? Note: Wheels slow and car begins yaw

14. What is Control? Control = Sensing + Computation Get off the brakes: pump or reduceReduce braking until speeds match

15. What is Control? Control = Sensing + Computation + Actuation Note: Control systems solutions are not unique!

16. What is Control? Pumping Reduced Brakes ABS

17. Control Control = Sensing + {Where are you at? Is it where you want to be?} Computation + {Can you find a path to where you want to go?} Actuation { Make things happen to get you there!}

18. Why Controls? Things move Too many things happening Things move too fast for the human brain to compute and for muscles to act Noise and disturbances Accuracy and precision Cost

19. Where Do You Find Controls? Everywhere!

20. Clips DARPA Challenge Bosh Rexroth Stuart 9 Engine

21. Next Class Feedback!