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Lecture 13
Feedback and Control
E
controller
C
plant
S
sensor
Changes in F0 (due to changes in temperature, for example) lead to undesired changes in sound level.
KF0 H(s) = 1 + KF0 If K is made large, so that KF0 1 H(s) independent of K or F0 ! 1, then
Lecture 13
Crossover Distortion
Feedback can compensate for parameter variation even when the variation occurs rapidly. Example: using transistors to amplify power. +50V
Crossover Distortion
This circuit introduces crossover distortion. For the upper transistor to conduct, Vi Vo > VT . For the lower transistor to conduct, Vi Vo < VT . +50V Vo
Crossover Distortion
Crossover distortion can have dramatic eects. Example: crossover distortion when the input is Vi (t) = B sin(0 t). +50V Vo (t)
Vi
Vo
VT VT
Vi Vi 50V
Vo
50V
Crossover Distortion
Feedback can reduce the eects of crossover distortion. +50V
Crossover Distortion
As K increases, feedback reduces crossover distortion. +50V Vo (t)
K=4
MP3 player
K Vi speaker 50V
Vo
50V
Lecture 13
Feedback and Control
Using feedback to enhance performance. Examples:
Vi
Vo
50V Vo (t)
improve performance of an op amp circuit. control position of a motor. reduce sensitivity to unwanted parameter variation. reduce distortions. stabilize unstable systems magnetic levitation inverted pendulum
J.S. Bach, Sonata No. 1 in G minor Mvmt. IV. Presto Nathan Milstein, violin
i(t) = io i(t) = io fm (t) y(t) y(t) Mg Equilibrium (y = 0): magnetic force fm (t) is equal to the weight M g. Increase y increased force further increases y. Decrease y decreased force further decreases y. Positive feedback!
fm (t)
y(t)
Mg y(t)
Lecture 13
Levitation with a Spring
Relation between force and distance for a spring is opposite in sign. F = K x(t) y(t) = M y (t) x(t)
y(t) f (t)
y(t)
magnet
1 M
y(t) Mg K y(t)
Block Diagrams
Block diagrams for magnetic levitation and spring/mass are similar. Spring and mass F = K x(t) y(t) = M y (t) x(t) y(t) + K M y (t) A y (t) A y(t)
Check Yourself
How do the poles of these two systems dier? Spring and mass F = K x(t) y(t) = M y (t) x(t) + K M
y(t)
Lecture 13
Stabilizing Magnetic Levitation
fm (t) y(t)
y(t)
y(t)
magnet
y(t)
Magnetic Levitation
Increasing K2 moves poles toward the origin and then onto j axis. x(t) +
KK2 M
y (t)
y(t)
y(t)
s-plane
Magnetic Levitation
Adding a zero makes the poles stable for suciently large K2 . x(t) +
KK2 M
Inverted Pendulum
As a nal example of stabilizing an unstable system, consider an inverted pendulum. d2 x(t) dt2
(s + z0 )
y (t)
y(t)
(t) l mg
s-plane
force
distance
Lecture 13
Inverted Pendulum
This unstable system can be stablized with feedback. Where are the poles of this system? d2 x(t) dt2
(t) l mg x(t)
d2 x(t) dt2
(t) l mg
ml2
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