HistoriDel Control StuartBennet

8/20/2019 HistoriDel Control StuartBennet

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A Brief History of Automatic ControlStua Bnnt

Auomac feedac cool sysems hae een ow ad used o moe an 00 yeas; some of te ealest eamles

are wer coc descred by Vruus ad arued o esbos (crca 20 C ome hee huded ears aer Hero oeadra desced a age o auoaa whic epoed aarey o feedac mechasms. The word feedac" s a 2thceury eologsm roduced he 190s rado engeers odscrb pa st, pse feedg a o te sigal f m heoupu of a amplfer o he pu cc. has eered ocommo usage he Egshspeag wod durg he aerhaf he er.

Ama feedac s foud a wde rage o sysems;Rs Odenge i 978 when eaig e oudao oIFAC, commeed o o he ame ad he eadh o hesujc fl ha he exrsson 'auomac corol vereal systes, ease all systes vlve varales ad e iscocered wh eeg hese raes a cosa or gearg aues hs amos o cocc aou corol of hesearales ee hough o acual auomac cool deces ma e eoall or oherwe ncoporaed n hese ysem I wasnkig o oogca ecoomc, olca as we\ as egieegsysems so haI pcued e scope ofIAC as a ery road oe.

h dcrsy poses dculs for soras o he ubec(and fo eds jals) and hs ate des na emp o coer all aplcao areas.

hc hsory o auomac corol ddes coeey o ma eods as follows:

• aly Corol: o 90

The Pre-Casscal Perod 90-190• e assical erd: 19596

• Mde onrol Pos-55hs arcle s cocered wh he frs hee of he aoe oher

aces hs ssue dea wh he more rece pcrod.

Ey 1900Kowledge of he corl sysems of he Helec peod was

peeed w e l le a ws redscoered heWes owd the end o he essance. ew eos adapplcaos o od pcls eg a ppear dng te 18hceuy-for exe Re-Aoie Fecal de Ram 68-17 pposed seeral aomac deces or coolg he mperare o caors hese wee ased o neo ofCoeus Drebe 1263) The emperaure was meared

h epa so of a qid held a ssel coneced o aU-uconng mecy A a he mrc eaed a wc,g a ecanca kage, cooled he draf o a uace ad

Te autor is wt the Deptment of Aomatc Cotol SyemEgieeg e Uvei eeld Mi eet eed

1 3J, .K po: +44 (0)4 28 520 ml be-

ett@eied k

hece he re of comuston ad hea oupu. Ioed emeate otl syses were devised y Bonea (cica 41828) who ased hs senso d acuaor o he dereaepaso o dee meals. Dng e 19h e an eenive ange of heotac deces were ed mafacuedad od. These deces were, predomy dctactg nrllers ha s he power equred o operae he cool acuaorwas daw fm the measuig sysem.

The mos sgfcn coo deeopme drg he 18hcery was he seam ege goernor he orgns of hs decee he l-eer mechasm whch wa ued corl e g

ewee h e grdngsoes o h wd a d waer lls Mahew o (728-89) descbed e fene i a eerdaed May 28788) o hs paer James Wa 16-189)who reaed cod e adaped o go h speed of h roarystea m engie The frs desgn was pded n Noveme 88ad a goero was frs used early 1789 he orgal Watgoeror had seeral dsadanages roded oy poporal ntol an ece eat conro of seed a ly eoperang codo (hs led o commes ha was a modeaor nt a conle ) ; could operae oly oer a small speedrage ad requred careful maeace

T frs 0 yers o h 19h eury aw eense efos ompoe o he W a govror, ad tsans gveo paeswere ganed hrough he world May were or mechasmsdesgned o aod he ofse here he Wa goerorTypcal of such mchaim wee e goves aeted yWa emes 82-188) 86 ad 8 whch substued egral aco or proporoal aco ad hece producedoag conroes wh o fe se po Paia mproemes came wh he loaded goeor of haes Porter 88)hs gove d e n a hgher speeds and enegreaer orces could e deeoped o operae a acuao A lelaer homas Pcerg 862) ad Wllam ael (182eed sprng-oa de goveror whch als opeaed a hgerspeeds han he Wa goernor and whch a te aed adaage of smaller phsca sze a e a ad Poter goves

From he el years o he 9h cer her wer es oproblems cased y goeros hg" ad aemps o aalyze hc goror mechasm o deermne he codos orsae ( o-h utg opea wee made Poelet (78-18) 1826 ad 1836, ad G. A 1801892) 840 and85 produced aper ha howed how dyamc moon of goeror coud e descrbed sg dferenal ea on, uoh me dfcues whe hey aemped o deerme heods r sae beha vior Ay 85 saed he codos fr sable operao u hs repor s s ese ha s oosle o deerme how hc avd a hcse condos. 868Jaes Cle Mawell 181-189 pushed hs owamouspe eie "On Goes" n e desed w deivehe ear dfeeal eqaos for aros goeor mechasms hs me mahemacas nd physss new ha he

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tability of a dynmc sytem ws dermied y he oction ofhe os of te charctestc eqution nd ht a syte beceunsabl whe th rel rt of a comp oo cam oiiv;h prom wa how to determie the oaio of te rea pof te complex oots wihou findg he oos o e equoMawll showed for secod thd- ad ou-oder mht by xamiig h coefficients o he dfereal euatio

he tality o the sytem oud e deeied e w e oive th ecesay nd uficiet cnditons oly or eiop to forth oder for fihorde equations e gav two nce condio. axwel' paer ow see s sgifca waslttl otcd t the tie, and t w ot util he er yes os cenuy ht e wo ega o e aiilated engineeigknowlede

h prol formlted y Maxwe w ae p byEdwad Ro (181-190) wos f esuls wee shd in 187 n 877 he prodced a xted ease ot "tailiy o Moion n Whch rawg on he wo ofAuguti-Louis Cahy 89-18) d Cres tm(183855 he expondd wh w ow kow as the ohHurwtz abilit ctea. n 18 he Swis matemtiiaAdolf rwi 859-191 id th cir idpdentl asig hi wo o some sul o C. Hmite.e had ee asked fo ep wi the mthec oemb hi collaue Ael Bolsaw Sodo (18992 wow worin on a turbe cotro polem

Mo o h iion ad pitio o thi erod weecocd wth the basc activit f cotolli emperaeprues iquid el ad the peed of roang mcne: thedesie wa fo regulto ad for liy owee grow th ie of sp and aval uns d ntoduco o nw weaon sch s orpdoe reutd in th pplcon of sahdruli and pumi powe sem to opra osiocool ecnim the ited Ste B d raceengieer begn o wk o deviig powrd se gie

to sst the helma on lge ships the ydrodynamic foce

on he rdder wre such tht lae ro tw he hlmnd the rde w rerd d movig he dd too

og m fit of powed seerig engi deged by

Fdeck ick i U.. (pated 83 w n oe-oo e fist loed-loop seeig enge pee 6was deigned J McFrlne Gy o Brues amhip h

In Frace, aroud he me tim Jea oep

t dsed a ran o erin ege d oher cledlo

pition ot systems e sggese amg i de

sevo-motur or mour ervi hce ou tr ero

mechaims and ervomotouhe apcato o oto syste ee

wt te rowth knowled o elecct ad its apictos.or eamle C lamp ei t gp wee he erod

to b et cot nd galy i wa helpu o all urs ifeith th oltge o the crrent of the elcricit ppl was kep

contnt letricity aso poided ddiiol oolfo e

uemn for tranmiion and mnipto of ignl ad or

ctionwhih engies an to ue The elcc r

whh proided hgh gi powr mpitio ad he ri

aed senoid, which pided crude popoiona cotol

cion wr inicnt dvices.

T - (00-135)

Th ey yeas of the 2th centr saw the rpid ad widepradappicao of fedback cotrors for oltge, cet andeey egat oer ct f te geetineetc moto sped conrol ship nd aircraf steerin ad autosilo: and temprur pes nd ow conrol i th

pe due t twety ye between nd 99s of ume rew rapidly as ig. 1 how he majoritof the trumet old we meuring ndctig ndecordi deve bt toward he nd of the peiod the ale ofcoroes egn o icse h rane of devices deiedilt d mfcured w large howeer most we deinedwthot a cl udertadig of the dyami bh of thsytm to conroled ad of th meauing ad actuatidece sed o coto The maoriy of te pplictio weecoceed wit impe rultio ad in ch case ti ack odertdg w o a serios pom Howeer thre weresoe compe mcanis ivng coplicted cnto lwg deeopedor xam the atomatic sipsteerimchsm devd by lmer Sper (191 tha incorpoatedPID otol ad omaic an adjtet to cOpsae fo theditubc cd when the e codiio chaned nothexpe s e eectcity upp conie coceed outachein ecoomic opeaion o tameratng oies.oiler coro o cose a mltivarale proem in tht othwt le d em rese hve o be ontolld nd oefie combution he druh o the oler hs lo to beconold ug th 1s erl intumet copaniede opee oler ctro ysem

o eice d yem egan o be ed ay

dee es of engieeg two major problem bcme

apren () the wa a lack of hotcl udertd wt

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Fig 1. of srument achn le e Uned 918 936 (92 = 00 b) Idx uet U 909 o 93 92 00

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n mmn lne i wi t d prblem an trwr n simple easily aplied ayss sg mhds Teny vilble ni t w te differentil eqt nd epplitin e ti n widel kw Rurwitz tbilitytL is i a labiu pc, dndt n bei be tbin vue fr e preter nd ne tt giv n dneo deger te egree o sbiy r w mke

te tem tbeA appltn led eges bm p uled nd

fed ntrler t wrked iftril fr ne ppli-tin r f ne e f nditi were itry wen aplied o d ee ytem r difeent ndit pbemre wen ne in ne pr te yem re nol-l meurn ytem tur reued n ne in ter e cs f tt pt i eqety ued ntbil-ity in w hd prevuly been r eemed t ve been, tbeem Se te ever fr exple er ey ndMrri E Leed ned t e bet umn perr did n ue an n pr t nl but ued bt nptin bcng h pwer te nled vriale proed e epnd ml lw djumen wen te errr persed Sytied t irpre tee ide i devie, nd f mn

yer eed resited tchig ple n-f r utpt ti cd b e relzed tt ti wuld n pvidegd nrl

In 19 N � irk 197 peented er anl i f the c iolved i posi c sysms dfrmulted nt w t we nw refer reetem rPI rl e rrved his w by bervin e wy n wi lmm teere i Thi wrk dd nt bm wdeyknwn unti te lte 190 fter inrky d ntributed eri f r ile t The Engineer. B eve if deiner d beenwe f Misk wr thy wud il kd itblner, b mpitin devie t nvert e w werinl bnd meun intrumen t pwer leveitble t ee nrl tr. Side d vlvdevelped dur i e ery p f e 0t enury were benig prvide te slin f hymecl sy emslth vlve vl tt rld n ded pe nd itinwe prblm t d b verme Hwv ter w nimpse wi repet mplif ers elc ni pnecytem A erly 190 te mplitn prblem w rvin eriu be t e fter develmen lndneelepy Is i b dsig e s mpedne ldi d exended te dne ver wi teenetmi ld tk p w itt mlf tin. et etntinetl evc i te w deendent mpiin eene repeer bed on elei mpifin f i were se und 190 bt te ditrtin tey ntrdued limied te mbe t uld be ed i erie Exn inf trfi e netwr w uin prblem ne t essie cres in bndwid te lne wt enequen i i rnm iin l Hrd teen Blk19 ben wrk t p rblem in e ery 190. Heeied t if ome o he plfcti f ggi amlie rre ried b feedin bk prt te tpt n teditin due t ne nd mpnent dt ld be eded OnAut 19 ked iuit fr netve eedbkmpiir ollwin xnv dvlomn w. fll-crtil tril wer rred u n 93 nd te mplif ier ben

t be ud wtin AT&T in 91nfrmtin bt t miiews pblied e pen iau l 194 evpte prt il mplfier nd i ndetnd it bevi lkw ted by Nyqi (19196 w ppr Renerin Thr" ld dwn th ndtin th ledNut n i nd w blied in 193.

wrk prvided prtil devicee eive feed

bk mp iern ed t deeper ndrndng f te benef neve eedb in tem t l eventl d t metd f a yzin d dein nrl ytem wic didn require the de ivin nd nipltin differenl eqin nd r wc experiment dte meured frequeny repecld be mbined t ted dt rm tembied epne e dg biliy f te em uld beeimted nd tre ne neery t ipve eerfrmne uld be dedued

Cntemprneuly wi Blk wrk en E Ms fe Fxbr Cmpn developed peumti etive feedbkmpliier dr Bil n f fnder f e xbrCmpy d invened e flppe r-nzle mpife n 1914Te erly verin e pernle mlifie were highlnnner efetively nff bevir nd dng te 19

extenive mdiit d nly seeded i sg isiner rne t bu 7% fu rne In 192, Mn benexperimentin with feedig bk pr f te utt mvemen h mpif i d n 1930 prded feedbk rit ttinerized te vlve perin. i iui enbed interl ree in be e ily nrded int te bevr f teym n 1931, te Fb Cmpny ben ellin te tbilg pnemti ntrler wi inred bt liner lfc (bs o neive eb pcpe nnter (reet n i 2 Tere w me niti mrketreie t ti deve te nd f t nd beue tbv w so. Fxbr epnded b roucg,in 932 blein exp nn te r inile te ytem in lernd mple erm nd ren w e bevir w dieretfrm wt i e rmed nrwbnd ntrller t i e

wit limited liner rne T e eecric netiv eedck plif ier d e pnmi

ntrler were te me f wrk n nduri bemring e me peid extenve wk w bei ed l clt mine under e diretin f VnevrB t te uet Inite f enly. i wrkreltd in te dierentil nl w rvded men siltin e bevir dynm ysm d of biingnumel ltin difeetil equt ins. ld t tetdy nd den f i-perfrmne ervmenim b yHd ke Hen 90190 nd i tdent n ddiin dinn erv ytm Hen l ndertk te firt mjreeti tud f ervmem Hi pper pbed 93, rvided e tin int r te next enert in fnr ytem peiit

The Period: 9390D g te perd 193190 dvne in ndertdin

l yem a a d deign w md idepnd byeverl p in ever ne Te be knwn mtifueni wk me m tee up wrn in te .S. Tedevel ent Epe nd n u drin peri fllwe mew derent pt dervin m Vynerdy wrk in


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Ri nd hen hsns o in mny oloed bydlopmnts d o Cm onhd nd Mko.

A& contined h is ttemps to d ys o etendigth bdidth o its ommniio sysms d pon obiggood funcy spons chtistics he idl ch hye sein s onsnt gn o ide bndidh h sp co it smll ps l Egns in h BlTlephon Lbotoies oked ensly on ths obm bfound t if thy chid te dsied gn ctestc enh phs g s too lg n 1940 Hnd od o hdbeen sdying xtnsions to the ncy-domi dsignmethod od ht o dft nd teo dhs shft ltionship o physicl stu exists bu thth is ionshp beten gn ttenion chcscd h m ps t ht n b sod t nh sm p dotd h poi -1 s h ricl onthe thn e point +0 sed by ys nd ntoddthe oncet o gn nd phs mns nd t ginbndidthlimittion ul dtis of ods ok ped n 1945 n sbook Ntork ,1nalysis and Fedback Ampl Degn.

Th sond impon gou mnic ngies nd

physiss oking i te poss indses in te S encouged by Ed S Smith of th Blds Io dy Cmybegn systmicly deeloping toetc ndstdi oth ontol sysems tey sd hey sog o sbsh omon tnoogy nd ted to delop desig od hysdd th Amicn Soity of Micl Enginees ofom n Indst Istumnts nd Rgtos ommitee n196 ts beoming th ist mo pofssion body to fom sction spciicly to del ith uomt ool Sel mmbes of his loose going e e of deopments nGmny nd in Engnd ng this pod t mtusof numtic conoles contind to impo nd delo heiinstuments nd by 140 ddsbl insmens ih PDontl ilblfo mpl n imd son of thStblog nd h Tylo lsop In 1 Zgle nd B

Nchols o the yo nstmnt Compnis pubshd ppsdsibn ho to id th opmum stns o PI nd PIconoth so cled ZglNihols ung les. Thse eetendd n th mid5s by edine oon yo nsmn

The thid go octd ec ngeeeprmnt of MT nd s ld by Hod L Hn nd GodoS on. hy sd im-domn mtods bsd o ooteiqe be to deop e e of oc m d sedt dfntil ly o smult ontol ysms Scoyinthnges beeen MT nd the nisty of Mnchs dto dentl nlyz being bit t Mnces nistynd i 13 Dols H d t sd llnd o to s mn to smut n ndstlcontol system nd to dei dsign cts fo th systm

Th dnt of the scond old onttd ontolystem ok on e sci poblms. most motnt ofts s te imin o ntiift gns hs s omplpoblem tht inos the dttion of he ostion of t plne clcton o its ftue ostion d t ecs conoof th moem of hey gun Th opon qd up to1 ppe o y ot ompid obston nd tngtsks n coodnd y. e desig o n dqt seomechnism to conto te gn osition s dil ts t lso

2

. 2 I v f F S

becm l dng 1 tht the cumbesom sysm o ly mly fomtion obtind fom dr dis to tg oos s not dqut o comb h tet of scf nd ht the s need to deelop systm i hich utomi g d ysem s dit id to t gndito ich s in t lnd o he gn ostion conolle

Wok o ti ysms pobem boht toete mhnl ecc nd tonc ngns nd n otome o thiscoss-filon of ids s cogntion th neie tny spos poc usd by th ommiction engns no t tim domin ppoch foed by the mchnicngnees e sey eftie dign poch o omems W qid s n poch tt sedh bs ftus of e

Wok by Godon S on nd hs sdns t shodho mny mhn nd lticl sysms cold b p

eed nd ipd g lc ds be C Hlsd h by ting th block s tnse fnctonshe usd he p tnsfom ppoh th systm nsfeo coud b dn nd ene th yqist test fo stbityod b sd Mo monly the gin nd phs mgn coldb deemned nd e nodd the use of d N cieshh nb sims of h osd oop tim domn behioto b mde Anohe gop okng he so cld Rditionbooy t M his lbotoy s concnd dopn d sytms o h dteion nd tkg o ifdsignd th SCR58 d sstm h ined th th Mdo s deloyd southest ngld nd hd high n os M decto s dsigdy go d by Bd nd incdin Bkmn C. ollnd Cld Shnnon o ng in he el ephone Lbotoy o he ok o SR8 e h Nhols cht designmtod ok by R.S hllips on nois in somecnisms ndW. Hc's ok on smpld dt sysms. Afte th dets te o pblsd seml book j Srvmhanm

he Rdito oy o sd s dn citsn h fod loo to modify th fomne of thei contolsysem Sel oh os pticuly n th UK sdmno loop edbk to mod sysem sonse nd ne fond

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h Nyquist appoch diffult I n 942 A John Whitley of Brh Thson ouston Compny proposd an approahased on plottng th invrse fntions on a Nyquist diagram inhe sam y HT Mary Kllog ompany) indepndntypoposd a sa metho.

Th problems risd y antiairft contro wer systmdesign probms n hat sevral dffent units oen designdad anuatu y difen goups d o be ntgated the

overall prformance was ependent not so muh o the pformane o th indvua nits but on ow w thy workedogehr Dfficulte xprined in gting units to work togther l to a deeper undrtading of banwdh nose andonneat i sys By the nd of h wa peope such as Arnod ustin 1899-199) in ngand n R Phlips, WHurwcz, L. Mcol, N Minosky, and Goge bbitz in theUS w conenang o nonnea and amped data yt

The otr mjo development o emerge from h fi controwork durng th war was h tudy of stochastc systems: orbertWiene (1891964 wised o ontri o h wr ffo andproposed taklng t pobm o prediting the futur positionof an aaf. Hi poal was bad o th wo h had doen h 920s on gnralied hrmoni analyss Wiene 193)H work wth on Bigelow on mplemntng his prediton

ystm nd tey sud in deeopng an eeton systmfor peition. Wnr was disappoined tht in h end hssystem was only abe to aiev a margin mpvemnt sshan %) o th systm deloped empirally by the BelTephon Lbortoy Th work did led to Win pdngth rpot "Th Extrapolation nterpolaton and moothing ofStatoay ime Sees wh ngineng Appliaton (OSRReport 30 Fray 1942 known as the yelow pelbause o its yelow covrs and the formidable dulty of tsmatematis t was evnuay pubish in the open lieraturin 949

By he en of the wa h lasca ntrol chniqeihthe xption of the oot locu dsgn mhod of Watr vas19 1 95had ben estblshed h desgn metodoogeswe for linea inge-inu sytmstha s em tha an

b desrd by lna dfntial euations with constant coefet� n that hav a sng ontol ipt. he feunyresonse tehius, based on th use o Nyist Bod Nchosand nvese Nyqist hts assessed perfoman in terms obandwdth sonane and gain and phas magins an podeda grahcal pictoa view of te system behaior he trnatvappoach based on he solton of the drential uatons sngLaplae tanfom thniques exp essed peformanc in t ofrise tim prcentage oversoot stadystte o and dampingany nginees prfrd th la appoch bau the pcrfoane was xpesed i eal tm ht h m bhaioof the systm The dsavantage o cours s hat until hdeveopment of th root !ous metho th was no smple ndeasy wy n wih th dsgne ould elae praeter hangsto tim bevior hangs

Te ahemt o the lasca ea began to be onodat nd disseminated in books publised during th 94s ndeay 95s T fist book dedicated to contro sysems was dS S r r pblishd n 92;how ths book d a r-wa fl to it and t did not etthe cngs in pproach hat w devlopng from the wartmewo. h ate ooks oe ok (ref to aoe and eoy

aol's Fundamental Teo of Seomechanism, began tot out th nw appoache ncouraged by the B th govcment the Institution of Eectonc nginrs d a onerencein London n 9 on radr and the inerst shown n the ppcrsrlaing o romhnim eulted n fute oneenedevote to control eld in 94 In the Unted Sttes the govemnt aged to contne payng ey peope for period of sixmonths afte th end of h wr to eab em o wit up teir

wo. ne outom was th Radation aboratory Series ofbooks nudng eo o Seomechanm.

The conferen on Automti Conrol ld in uy 195 tCrnfied ngand and the eqeny Repon ymposiumhld in Dcembr 953 in New ork marked the beginings ofth transon po lding to moen ontol hoy he firstof these ogane by the Deprtment of Scientific and IndustriResarch with th assistane o the IE an the ch wasthe rst mor inetiona confren on automati ono Arnold ustin haired e organiing commtt nd 33 paperswere psented of whh deat wih pobems of noienonlinaiy or smpling systems. Tre wee also sessons oanaog coputing and th anaysis of bevior of eonosysems his latter reecting boh th partiur nterst of

Arno sn an th gowg iteet in appatons f fedbak thory)The watime expeienc dmonstratd t power o the fre

quncy rpon pprah to the deign of fdbc ystem; itso revealed the weaknss of any dsign mthod basd on theasupon of inea detemnist behao Rea syt aenon-inear a measurements contn errors an are onaminae by nose and n rea systms oth te proess and thenvironmn ar ncertain But what dsign tchniqus can beuse that allow th d sgr to onsdr non-lner and non-dernstic bhavior and o allow [o mment rros adnois? Aso the deign probm changed fom that of simplyacng a stab ontler to that o ahevng he bescontroller Bu what s e best controler

Ziglr and Nichos ad hown how to hoos paam

of a given tye of ontollr to obtain a optimm perfoanceof a gvn ontrol stuture PI I) Smiarly iteeysstandrd foms enabe dgnes o hooe a paricular pforance for a rnge of sysms Wo was don on evuatng awhole ange of peforman natos nldng I AE EITA, and I Graham and Lthop, 193. Stei agumntsevoped about whh he pefoane iaorwas te esn i was aceptd tha what was imporant was th choice oan appropriat prfomance ndicator for a partiular applicationIn addiion to peforan cteri based on mnimiing someeor funtion th was for crain lasses o systm, interest inmming the tme to eac a st-poit obiou appatiosare military target seeking servomchansms and cetan laesof machn ools. onad Monads NonLnear Thnius for Iproing eo rormnce 1950 was oowed

ung te 1950s by extnsive work on the tmeoptmal probmrlating to th singe conoled vaab wih a satuating onoThe probem ws stuid by Bushaw 1952) and by Bellmn(6 Tn dfnt pape P aSae 6 ) gnraized allte priou resu nd showd hat f opia ontol xs s uniu nd bangbang The pogess mad in ths ara isuarized n dnbrgr's ook Opal C (966


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he o difclt probl wa how o chooe the oosrct tha would give th bt prorc and how o dnhi bt" peoae o do thi, a ode o the pn waded: ithe phial-atheatical blce qti on of ang whi h paa r ft h psidt of h proce or blak box" odl baed o expeienaeetfor cxapl equn rpo n whch thpraeer e ot diretl reltd the ph d o he

W devopig repons de d dehod cotied hrouho th 1950 en ethd ote coaiin olritie wre deveoped, a we thel udaon o sapdda te h thnof servoechais ad corol theor pread, initi hroughpcia co r fo practicig girs ad grduat sudet ad thn hrgh inpotio with h tndd lb of an engig cores

M Althogh h dirtion o o o-wa wor ws nd

b h inghts d w uderstdig dvopd dur hw, the raeto of develpet, listr JG. MaFalne979 rges wa lrl deterined two actos irs thpble ht gn w s pot h anhiguvering gidane ad tring of iile ad pace vel; ad d, b advt of t dig copue fir probe wa eentiall otrol of bllsc obet andhee dailed phial odes could be oscd te ofdiffre qati bth lnr d ola lo aingitrunt ad other opone of ge aurac a peiio ould be devoped d used nineer woin in theope du wi h p ntrned o orulatng he genel dieenti euato teso a st o irtordr equaton and th eg th appoach th kow th epa appoh

ew 194 and 192 Richd Ba woi i thhis dpn f h RAN Crio, tudid the

pobl of dering the alocaion of e to trgt o ato lit h axiu daae h wor d h o ouahe pnip o pilit d t d pri hchoi of wa, ccordig o an cou pbihed 18,dtincd b politia xpedin h eah wa ppordb h ir r bu h hr o Dfs hd navei to the word reseach ad wa ed he woud hva vn gatr avrio to ahacal rearch Dynami wasd ll is word wih poitiv ooaio, ad pograigwas thogh to be oe acptabe tha plaig. (a aeiporan and lookg ba ovr 50 a t do se hat th h a or ngnerng, auat ndsye ng have ot achievd fo our subjct the reognitio hat ight hav bc xpctd. a uh a cb- d grar dgr of pbreogo d pare udertdig

h a pat of th 195 Ba bgan worig p l heo t rt usi he l o vaonut aer, becas o the bondar ve pole inheren heccu f vito appra sng t fout dtinisi opiizatio probles i a wa whih the ould beolvd b usg di progang is inight wa to tt b applg a pu t p t wd

22

reah a rego tt-pa ad there wold b a pcifiedaout o . ouatd i hi wa th probl ca bteaed s a ltsage deiio akng pocess Workg withtrt D Ba devopd coputr pogra to produe utios an of prls d h rstwe pubhd 96 he princpal diicu with dicpoaig is h disonait prob ad vn thoghe w ha opu powe a bnd thi ilbl tBl ad efu we ill ned o e pproxiatio tohnde opex ste.

s iol positin r pr ee alo ivolve costant exprsble a optiizatonruirn o xap rcg a pcied poti i i , o caig o t a e o aeuver wth i fueopon onsquntl ttio oc again foccd on thcdntil qatn pprh to h lsi n deig ofono sse cal poble that vove iizigo xzin o prfoa dx hav n obvo ado no wih he sil vil orltis olica ehnc ven b arg and lton henriton f aio's pproah o otric optic o 9) i h fr o his x pip lidhe oudton of opal cool ho his and Belasih no th v nd suls of h copt o tat rhe oain nd luti o n ol ad iio pobe led o xenve nd deep tdies of atheatical problef o d gowg vibli f dgiaoper durg he ae 950s de a recursv algorithicol pose ( oppoed to he search for closedforol n t sa ppoch)

Mhae than has paced the origi o what is now reedto ode ool ho as 956 and eptb of atear ntaon onc on auoati otol ogaedb he jon ontro oitee o he VDI ad VD, wa hed idb Gen Dug he ofre a roup o dle areed o fo a taoal ogizatio o prootepors n hc d o auoa oro A orgaipBrd (Fn Chira, Grbe Ge), LovUR Nowac (oad Oldbgr (. WelboU.) wih Rpp (Gra) a rtaws chard withdwin p pl o a in fedraio he rgniton, the Inatona Fedton o Aoatic Cotol (FCwas oii od at a ci hld i a o p ad 19 hos we td Hrld Chtut th fipredent wth M Letov ad V Boida eetd a vi prsids G. Rppl as rtr, d G h a asr hs een the Rusi delge xteded a invtatio o hodth ir coneene i Moow in 1960

he Mosw onfeen wa a potat ad hghl viibesb of h hne directio that had be lw dvlg durg h 9s d it i ti tht at corecK prsd a ppr O the Gera her o Crle, that cle showd tha dee ad exa daltexed betwee he proble of uvariabe edb rod uvb b rig h uhg in neweaten o the optia ontol prob

ipo p ws l trent of th liealtivriabe opt cotrol proble wih a qdti perforanc dcx, and in pticl th povio of thss pocedu Fhe pus o th ta-p ppoch s ie wh


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F xutv Coun of IA 159 (rpducd moaa ol 7, 7)

Kalmas work on the cnceps f obserablity ad cnrollablty, and wt oscnbroc's idea o moda coo whch d eive w o pole sifting A fh ip an sl

was Wonhams prof ta a sfficen codtion fo all te closedlop caactersc freqecies f a cntollabl system o bearbtrarly acatab ud fdback ta a e tate f tsystem ae accessle.

Te fial tmp of timrespns metod appared tocom we Kaman ad ucy ataked the fteng pobem. Ther wr as w l as producig t Kama-Bcy ftr, dmnrad te baic rle f fedbac in lterig heoy and thedualty hat exsted betwee the mltvaiable cotr problemad mvariabe feedc ilteig owig e oscowconference e aespace appach domiated te sujec foalmost two decades Isaac Hrowi wh cniued towrk o qency rspos das to a g of solatn ado a lame wrt 984 h odr P hDs m t havpor uderstadg of ee sch a fndameta concept o

andwdh d t eos ida f ctal oac needback teoy. is amazng ow may ae unawa hat emary reason or eedbac n cont s ucertanty.

Tee was a rapd realzatin that he powerfl pmal conol mthods cold be sed n eneal indsrial oblmsecase accuat plant mdels were not avalable and i manycaes nt achcval. As Asom and P. yko wrtng i1971, aed a segh e casical fqncy esponseaac i its vey owerfl tecnie fr sysems dentifiaton, .c., requncy analyss togh wc transr nconsca b fod accratel y for s i h sysis tchique moden cno te modes used ae "aratmdels i termsf state quato" ad this ha ed o interst n paamtrso and rld ece.

Fher blems ose n mpt ng o pplyng he ae-paceapproach to indtra rbems e bei the oatin of aapproat rmac dex no always obvos and the terbeig comliy h collr eslg frm h dsig x he o a almnBuy e ithe cool systems reuts i he cnoller avng a dyamccompleiy ev ha o he ln beig cod s coseqece there was a evva of ntrest in e freencyre

spose appoach and a systcmac atac n te pbems odevelpng qy ss mehods fo tviabe systems began n 1966 wi a aer by owad Rosebrock.

Tng o MacFalanes second inuence on the deeopmen oodr contrlte digital compterw nd tha thmain mpact drng h 90s and 90s was t suppo theortcal ivstigatns ad arcuay (sg oams definton) synesis. The desig and implementatio practca

systm wer muh me strogy nncd hrugh h rlacemen o elecroic bes by semcodcors ch a doderasistos and thyrsors n the ifties as Gerecke commetedand th replacmen of mchancal ad lcrca compntsy olid-state and croelectric devcs. By e erly 960 hedigital cmter had been used n-ine coec daa frpmatn and sprvsry cotrol Monsato ChemcalCpany Lulng, a., i 960 ad n a iited ube fapplcatons fr direc digtal control fr example at an CI platat etwd h UK 1962 owv its wdpad uor n-lne cnol did o occ until the early 90s.

A eadng advocate fr te use f e digtal computer n hepcess indses was Doald P ckman who in the eay 90sesuaded severa comanies to suport a esearch rgrambased at the ase sttte f Technogy lveand Oi. he

pg am ogily nie cess aio was renamedCoro Compe Sysem" because ckman wihed todisngush what he was dong from the poua image o autmo eaing te chaao of mafactung ad thdisplacemen of labor By e end of he decade Eckman wasargn spot o ysms Egnrng wt t da hatwhat duty eeed w engieer wih a bad bacgrond[cuting] acoss covenoal bondaes f the pyscal engeing and atheatica cc ad wt a abity oaroach bems aaycaly educe phycal sysems o anapprorate matematcal mdel o whch a he ower o matemaical maplaton xtaplatin ad tpreao ca bappied

hc cofceccs f 19 ad 93 ogcher wh hc publi

cao f mers tbos; rcles sch as Tsn's n-nernn 950 ad Brow's in Set mran i 195 ad

umros acls o cotl pcs n Mehna nneerndrg the early 95s brogt atomatic conrol t he tteiono egieers The pblcato o Wers bk h Hn Use Humn Bng ad a seies o aices pblhd i Senteran in 192 arce h atnio o a wider chnclcomity. By he md1950s tee was a grwin geealawaes of t poetal of atomatc cnol ay bos nte subec ineded for te geeral ader were pbld, dte Britsh gvement qetly encuaged a deate on thebec Th empass i these popla nd se-ppa wwas o amao in he ese of mecanzatin and mocotrl f producto es ad ther assembly rocesses here

ws a gies e psbties f eca ctol omachie tols

Ceral o hs dbat wee ises ha ay h giesand admiistatrs involved n cotro system wo dug thwa had ancpatecnrol sysems had moved eynd fedbck amplies d sgop svmchn ad ad becom ccerned wh largescae cmplex sysems Godn


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Brow a Duca Campbell in 199 laid ot lerly what eyaw as t aa o appao o coo t u:

"Improed automac control . s the co-odinaed den oplant, instuments and contl eu pmen We have n mind morea ph loopi aluation of em hh mgh lad o himpoement ofproduct qual o better o ordnation opanoperaton to a claaton ofh economc rlated o nplantdesign and to the ae operaon o plants in ou r comp tesocialindustrial communiy Thee geneal remarks are llustraed by mention that ean nduses operatng at lagepdution migh sho appecable nceas in eonomy andqual on sandard produton ems b mroed automaticonro ] e onseration of ra matera ued n a procesten p mps en deaion o ono. he expnd opoer or nergy n product manufacur i another mpoanfacor related to onl. The poteton oheath ote populaion adjaen to large ndusral aeas agans amospec osonng and waer-stream polluion i a uienly erouspbem to keep u onta ntly alertfo adance n the tudy andtehnque o atoa ontol no only beuse ohe apect but beause ofhe economy aspec

h thy vw a a log- tm pogam wth many haa huma poblems that "may ae a deae o moe o reso e.

Se Brow and Campell wrote thee wor, he peetrtion o onrol systm no vyday l as go uth hanthey pea execte. The complexity o what we ow see ocoro. t techniqes tha we have aaae n te pow ofth tcogypatcay t dgta computpla omos rposiilies on as eer a iz

Andx: ks n C Puw 1940 d 955

19Garner M. A an Barn J Transent n L near SyemsSmih .S, Au omai Contol Enginerng

9Griffhs, , ermosta and emperaure eglatng n

sumensHalA.C, he Analysis and Synhesis ofLinear Servomecha

nism

19Olebor R. C. S artori, Dynamik Selbttiges Re

glungenProo. Vektoelle RegelteorieV Regelungsechnik: Beg re und Bezeichnungen

95Boe, W Netork Analsi and Feedbak Ampler

Degnkma Doa e Prniples of Indusal rocess

ControlMaol, L.A. undamental heor oSevomehansm

9Ah WR Talin .. Automatc Reulaon

19ame, J Nhols .B. Pllip . . Teo ofSevo

Oet W Grundesetze der Reelun;

Lauer, H Lek R, Matso , eomehansm undamenals

9rown S and Campbell, D. niples ofeomeha

nsmsOdenog, R. arou he Dynamis of Automatc

C(nl

Wiener 1 Cybeetcs or Control and Communication nte Ana and the Mahine

99Shan C War, W he ahemal heo of

Communiaton

Wen N Extapolaon nerpolaton and Smooting ofSaiona me See h ngineeng Applations

o A. nduon o Seomehanms

951

roanis Slctd ovmt Reach Rpot

hed . apl, J., 1utomac eedback Controlha M Hndbok oMsurmnt and Corol

hent Harod Mayer R.W. eomechansms and egulaing Sysem esgn ol

Faington G Fundamentals oAuomati Cono dba ontrol SyesMacmila, .HAn Introduon to h heo ofConl n

eancal ngineering

195ut A, ret Current Mahneor Contl ystem

195ugge-ot Dconnuou Automat Contlane .E. Auomati ontl o eatn and Air Condi-

tionngone .W Eletric Control Systems

Nxo rncples oAutomac ContrThae rown RG, Seromecanim Analysu A ehansm ofonomi ystemsWes J. Tebook ofSeromehanisms

9Are W.R eromechanism ratceEan WR Control Sytem Dynamie eedbak Contl SysteIawa K nrodution o Auomati ConlLa oy M. ndual Automati Conlsppelt W Klene andbuh Thnhe Regelogane . nschwingorange egenkopplung StabiltaPro ektoree egeheore (2n itio)Soroka WW. Analog Mehod in Comuation and Simula-

tionaahash Te heo ofAutomatic Conol in JapaneeTrua .G, eedbac Theo and Control System Syntheisi S. giig iYog oess ControB RA a R.M. nalyss of Feedbak Control

Sstems Seomechanism and Automati Regulator

IEEE C


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Sys Dn v .J En oSrohanssrxl J.G Auoac onro Snssy YZ h V lburg, ME, Nwrk nass

Yg J.

n Incon o Pos Cno n

B s a Seo Lecte n e etmeo tomtc Conro & tms geeig theUnivesit of hie K. H techs compte co-ro d eaim swae dsg He hs wr extnvy o th ioy f contro egieing a is hat o two k on bjc o covrg eo O t

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