Control system digital control
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53 slides
Jul 08, 2021
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About This Presentation
Why Digital Control?
Advantages of Digital Control System
INTRODUCTION TO DIGITAL CONTROL
The structure of a digital control system
Examples of digital control systems
Closed-loop drug delivery system
Computer control of an aircraft turbojet engine
Slide Content
Control System
Digital Control System
Nilesh Bhaskarrao Bahadure
Ph.D, ME, BE
[email protected]
https://www.sites.google.com/site/nileshbbahadure/home
July 8, 2021
1 / 53
Digital Control System
Nilesh Bhaskarrao Bahadure
Ph.D, ME, BE
[email protected]
https://www.sites.google.com/site/nileshbbahadure/home
July 8, 2021
1 / 53
Overview
1
Why Digital Control?
2
Advantages of Digital Control System
3
INTRODUCTION TO DIGITAL CONTROL
4
The structure of a digital control system
5
Examples of digital control systems
Closed-loop drug delivery system
Computer control of an aircraft turbojet engine
6
Thank You
2 / 53
1
Why Digital Control?
2
Advantages of Digital Control System
3
INTRODUCTION TO DIGITAL CONTROL
4
The structure of a digital control system
5
Examples of digital control systems
Closed-loop drug delivery system
Computer control of an aircraft turbojet engine
6
Thank You
2 / 53
Why Digital Control?
1
Easy to implement complicated control algorithms
2
Easy to modify the controller
3
Controller parameters unchanged with variations in environment
4
Low cost, low weight, and low power dissipation
5
High noise tolerance
3 / 53
1
Easy to implement complicated control algorithms
2
Easy to modify the controller
3
Controller parameters unchanged with variations in environment
4
Low cost, low weight, and low power dissipation
5
High noise tolerance
3 / 53
Why Digital Control?
1
Easy to implement complicated control algorithms
2
Easy to modify the controller
3
Controller parameters unchanged with variations in environment
4
Low cost, low weight, and low power dissipation
5
High noise tolerance
4 / 53
1
Easy to implement complicated control algorithms
2
Easy to modify the controller
3
Controller parameters unchanged with variations in environment
4
Low cost, low weight, and low power dissipation
5
High noise tolerance
4 / 53
Why Digital Control?
1
Easy to implement complicated control algorithms
2
Easy to modify the controller
3
Controller parameters unchanged with variations in environment
4
Low cost, low weight, and low power dissipation
5
High noise tolerance
5 / 53
1
Easy to implement complicated control algorithms
2
Easy to modify the controller
3
Controller parameters unchanged with variations in environment
4
Low cost, low weight, and low power dissipation
5
High noise tolerance
5 / 53
Why Digital Control?
1
Easy to implement complicated control algorithms
2
Easy to modify the controller
3
Controller parameters unchanged with variations in environment
4
Low cost, low weight, and low power dissipation
5
High noise tolerance
6 / 53
1
Easy to implement complicated control algorithms
2
Easy to modify the controller
3
Controller parameters unchanged with variations in environment
4
Low cost, low weight, and low power dissipation
5
High noise tolerance
6 / 53
Why Digital Control?
1
Easy to implement complicated control algorithms
2
Easy to modify the controller
3
Controller parameters unchanged with variations in environment
4
Low cost, low weight, and low power dissipation
5
High noise tolerance
7 / 53
1
Easy to implement complicated control algorithms
2
Easy to modify the controller
3
Controller parameters unchanged with variations in environment
4
Low cost, low weight, and low power dissipation
5
High noise tolerance
7 / 53
Advantages of Digital Control System Accuracy. Digital signals are represented in terms of zeros and ones
with typically 12 bits or more to represent a single number. This
involves a very small error as compared to analog signals, where noise
and power supply drift are always present.
Implementation errors. Digital processing of control signals involves
addition and multiplication by stored numerical values. The errors
that result from digital representation and arithmetic are negligible.
By contrast, the processing of analog signals is performed using
components such as resistors and capacitors with actual values that
vary signicantly from the nominal design values.
8 / 53
with typically 12 bits or more to represent a single number. This
involves a very small error as compared to analog signals, where noise
and power supply drift are always present.
Implementation errors. Digital processing of control signals involves
addition and multiplication by stored numerical values. The errors
that result from digital representation and arithmetic are negligible.
By contrast, the processing of analog signals is performed using
components such as resistors and capacitors with actual values that
vary signicantly from the nominal design values.
8 / 53
Advantages of Digital Control System Accuracy. Digital signals are represented in terms of zeros and ones
with typically 12 bits or more to represent a single number. This
involves a very small error as compared to analog signals, where noise
and power supply drift are always present.
Implementation errors. Digital processing of control signals involves
addition and multiplication by stored numerical values. The errors
that result from digital representation and arithmetic are negligible.
By contrast, the processing of analog signals is performed using
components such as resistors and capacitors with actual values that
vary signicantly from the nominal design values.
9 / 53
with typically 12 bits or more to represent a single number. This
involves a very small error as compared to analog signals, where noise
and power supply drift are always present.
Implementation errors. Digital processing of control signals involves
addition and multiplication by stored numerical values. The errors
that result from digital representation and arithmetic are negligible.
By contrast, the processing of analog signals is performed using
components such as resistors and capacitors with actual values that
vary signicantly from the nominal design values.
9 / 53
Advantages of Digital Control System Flexibility. An analog controller is dicult to modify or redesign
once implemented in hardware. A digital controller is implemented in
rmware or software and its modication is possible without a
complete replacement of the original controller. Furthermore, the
structure of the digital controller need not follow one of the simple
forms that are typically used in analog control. More complex
controller structures involve a few extra arithmetic operations and are
easily realizable.
10 / 53
once implemented in hardware. A digital controller is implemented in
rmware or software and its modication is possible without a
complete replacement of the original controller. Furthermore, the
structure of the digital controller need not follow one of the simple
forms that are typically used in analog control. More complex
controller structures involve a few extra arithmetic operations and are
easily realizable.
10 / 53
Advantages of Digital Control System Speed. The speed of computer hardware has increased exponentially
since the 1980s. This increase in processing speed has made it
possible to sample and process control signals at very high speeds.
Because the interval between samples, the sampling period, can be
made very small, digital controllers achieve performance that is
essentially the same as that based on continuous monitoring of the
controlled variable.
11 / 53
since the 1980s. This increase in processing speed has made it
possible to sample and process control signals at very high speeds.
Because the interval between samples, the sampling period, can be
made very small, digital controllers achieve performance that is
essentially the same as that based on continuous monitoring of the
controlled variable.
11 / 53
Advantages of Digital Control System Cost. Although the prices of most goods and services have steadily
increased, the cost of digital circuitry continues to decrease.
Advances in very large-scale integration (VLSI) technology have made
it possible to manufacture better, faster, and more reliable integrated
circuits and to oer them to the consumer at a lower price. This has
made the use of digital controllers more economical even for small,
low-cost applications.
12 / 53
increased, the cost of digital circuitry continues to decrease.
Advances in very large-scale integration (VLSI) technology have made
it possible to manufacture better, faster, and more reliable integrated
circuits and to oer them to the consumer at a lower price. This has
made the use of digital controllers more economical even for small,
low-cost applications.
12 / 53
Figure :
INTRODUCTION TO DIGITAL CONTROL A digital control system model can be viewed from dierent perspectives
including control algorithm, computer program, conversion between analog
and digital domains, system performance etc. One of the most important
aspects is the sampling process level.
In continuous time control systems, all the system variables are continuous
signals. Whether the system is linear or nonlinear, all variables are
continuously present and therefore known (available) at all times. A
typical continuous time control system is shown in Figure.
13 / 53
INTRODUCTION TO DIGITAL CONTROL A digital control system model can be viewed from dierent perspectives
including control algorithm, computer program, conversion between analog
and digital domains, system performance etc. One of the most important
aspects is the sampling process level.
In continuous time control systems, all the system variables are continuous
signals. Whether the system is linear or nonlinear, all variables are
continuously present and therefore known (available) at all times. A
typical continuous time control system is shown in Figure.
13 / 53
Figure :
INTRODUCTION TO DIGITAL CONTROL A digital control system model can be viewed from dierent perspectives
including control algorithm, computer program, conversion between analog
and digital domains, system performance etc. One of the most important
aspects is the sampling process level.
In continuous time control systems, all the system variables are continuous
signals. Whether the system is linear or nonlinear, all variables are
continuously present and therefore known (available) at all times. A
typical continuous time control system is shown in Figure.
14 / 53
INTRODUCTION TO DIGITAL CONTROL A digital control system model can be viewed from dierent perspectives
including control algorithm, computer program, conversion between analog
and digital domains, system performance etc. One of the most important
aspects is the sampling process level.
In continuous time control systems, all the system variables are continuous
signals. Whether the system is linear or nonlinear, all variables are
continuously present and therefore known (available) at all times. A
typical continuous time control system is shown in Figure.
14 / 53
Figure :
INTRODUCTION TO DIGITAL CONTROL A digital control system model can be viewed from dierent perspectives
including control algorithm, computer program, conversion between analog
and digital domains, system performance etc. One of the most important
aspects is the sampling process level.
In continuous time control systems, all the system variables are continuous
signals. Whether the system is linear or nonlinear, all variables are
continuously present and therefore known (available) at all times. A
typical continuous time control system is shown in Figure.
15 / 53
INTRODUCTION TO DIGITAL CONTROL A digital control system model can be viewed from dierent perspectives
including control algorithm, computer program, conversion between analog
and digital domains, system performance etc. One of the most important
aspects is the sampling process level.
In continuous time control systems, all the system variables are continuous
signals. Whether the system is linear or nonlinear, all variables are
continuously present and therefore known (available) at all times. A
typical continuous time control system is shown in Figure.
15 / 53
Figure :
INTRODUCTION TO DIGITAL CONTROL A digital control system model can be viewed from dierent perspectives
including control algorithm, computer program, conversion between analog
and digital domains, system performance etc. One of the most important
aspects is the sampling process level.
In continuous time control systems, all the system variables are continuous
signals. Whether the system is linear or nonlinear, all variables are
continuously present and therefore known (available) at all times. A
typical continuous time control system is shown in Figure.
16 / 53
INTRODUCTION TO DIGITAL CONTROL A digital control system model can be viewed from dierent perspectives
including control algorithm, computer program, conversion between analog
and digital domains, system performance etc. One of the most important
aspects is the sampling process level.
In continuous time control systems, all the system variables are continuous
signals. Whether the system is linear or nonlinear, all variables are
continuously present and therefore known (available) at all times. A
typical continuous time control system is shown in Figure.
16 / 53
INTRODUCTION TO DIGITAL CONTROL.. In a digital control system, the control algorithm is implemented in a
digital computer. The error signal is discretized and fed to the computer
by using an A/D (analog to digital) converter. The controller output is
again a discrete signal which is applied to the plant after using a D/A
(digital to analog) converter. General block diagram of a digital control
system is shown in Figure.
17 / 53
digital computer. The error signal is discretized and fed to the computer
by using an A/D (analog to digital) converter. The controller output is
again a discrete signal which is applied to the plant after using a D/A
(digital to analog) converter. General block diagram of a digital control
system is shown in Figure.
17 / 53
INTRODUCTION TO DIGITAL CONTROL.. In a digital control system, the control algorithm is implemented in a
digital computer. The error signal is discretized and fed to the computer
by using an A/D (analog to digital) converter. The controller output is
again a discrete signal which is applied to the plant after using a D/A
(digital to analog) converter. General block diagram of a digital control
system is shown in Figure.
18 / 53
digital computer. The error signal is discretized and fed to the computer
by using an A/D (analog to digital) converter. The controller output is
again a discrete signal which is applied to the plant after using a D/A
(digital to analog) converter. General block diagram of a digital control
system is shown in Figure.
18 / 53
Figure :
19 / 53
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Figure :
20 / 53
20 / 53
INTRODUCTION TO DIGITAL CONTROL.. e(t) is sampled at intervals ofT. In the context of control and
communication, sampling is a process by which a continuous time signal is
converted into a sequence of numbers at discrete time intervals. It is a
fundamental property of digital control systems because of the discrete
nature of operation of digital computer.
Figure
where (a) represents the basic block diagram and (b) illustrates the
function of the same. T is the sampling period and p is the sample
duration.
21 / 53
communication, sampling is a process by which a continuous time signal is
converted into a sequence of numbers at discrete time intervals. It is a
fundamental property of digital control systems because of the discrete
nature of operation of digital computer.
Figure
where (a) represents the basic block diagram and (b) illustrates the
function of the same. T is the sampling period and p is the sample
duration.
21 / 53
INTRODUCTION TO DIGITAL CONTROL.. e(t) is sampled at intervals ofT. In the context of control and
communication, sampling is a process by which a continuous time signal is
converted into a sequence of numbers at discrete time intervals. It is a
fundamental property of digital control systems because of the discrete
nature of operation of digital computer.
Figure
where (a) represents the basic block diagram and (b) illustrates the
function of the same. T is the sampling period and p is the sample
duration.
22 / 53
communication, sampling is a process by which a continuous time signal is
converted into a sequence of numbers at discrete time intervals. It is a
fundamental property of digital control systems because of the discrete
nature of operation of digital computer.
Figure
where (a) represents the basic block diagram and (b) illustrates the
function of the same. T is the sampling period and p is the sample
duration.
22 / 53
INTRODUCTION TO DIGITAL CONTROL.. e(t) is sampled at intervals ofT. In the context of control and
communication, sampling is a process by which a continuous time signal is
converted into a sequence of numbers at discrete time intervals. It is a
fundamental property of digital control systems because of the discrete
nature of operation of digital computer.
Figure
where (a) represents the basic block diagram and (b) illustrates the
function of the same. T is the sampling period and p is the sample
duration.
23 / 53
communication, sampling is a process by which a continuous time signal is
converted into a sequence of numbers at discrete time intervals. It is a
fundamental property of digital control systems because of the discrete
nature of operation of digital computer.
Figure
where (a) represents the basic block diagram and (b) illustrates the
function of the same. T is the sampling period and p is the sample
duration.
23 / 53
Figure :
24 / 53
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Figure :
25 / 53
25 / 53
The structure of a digital control system
To control a physical system or process using a digital controller, the
controller must receive measurements from the system, process them, and
then send control signals to the actuator that eects the control action.
In
almost all applications, both the plant and the actuator are analog
systems. This is a situation where the controller and the controlled do not
\speak the same language," and some form of translation is required. The
translation from controller language (digital) to physical process language
(analog) is performed by a digital-to-analog converter, or DAC.
26 / 53
To control a physical system or process using a digital controller, the
controller must receive measurements from the system, process them, and
then send control signals to the actuator that eects the control action.
In
almost all applications, both the plant and the actuator are analog
systems. This is a situation where the controller and the controlled do not
\speak the same language," and some form of translation is required. The
translation from controller language (digital) to physical process language
(analog) is performed by a digital-to-analog converter, or DAC.
26 / 53
The structure of a digital control system
To control a physical system or process using a digital controller, the
controller must receive measurements from the system, process them, and
then send control signals to the actuator that eects the control action.
In
almost all applications, both the plant and the actuator are analog
systems. This is a situation where the controller and the controlled do not
\speak the same language," and some form of translation is required. The
translation from controller language (digital) to physical process language
(analog) is performed by a digital-to-analog converter, or DAC.
27 / 53
To control a physical system or process using a digital controller, the
controller must receive measurements from the system, process them, and
then send control signals to the actuator that eects the control action.
In
almost all applications, both the plant and the actuator are analog
systems. This is a situation where the controller and the controlled do not
\speak the same language," and some form of translation is required. The
translation from controller language (digital) to physical process language
(analog) is performed by a digital-to-analog converter, or DAC.
27 / 53
The structure of a digital control system
To control a physical system or process using a digital controller, the
controller must receive measurements from the system, process them, and
then send control signals to the actuator that eects the control action.
In
almost all applications, both the plant and the actuator are analog
systems. This is a situation where the controller and the controlled do not
\speak the same language," and some form of translation is required. The
translation from controller language (digital) to physical process language
(analog) is performed by a digital-to-analog converter, or DAC.
28 / 53
To control a physical system or process using a digital controller, the
controller must receive measurements from the system, process them, and
then send control signals to the actuator that eects the control action.
In
almost all applications, both the plant and the actuator are analog
systems. This is a situation where the controller and the controlled do not
\speak the same language," and some form of translation is required. The
translation from controller language (digital) to physical process language
(analog) is performed by a digital-to-analog converter, or DAC.
28 / 53
The structure of a digital control system
The translation from process language to digital controller language is
performed by an analog-to-digital converter, or ADC. A sensor is needed
to monitor the controlled variable for feedback control.
The combination
of the elements discussed here in a control loop is shown in Figure.
Variations on this control conguration are possible.
For example, the
system could have several reference inputs and controlled variables, each
with a loop similar to that of Figure. The system could also include an
inner loop with digital or analog control.
29 / 53
The translation from process language to digital controller language is
performed by an analog-to-digital converter, or ADC. A sensor is needed
to monitor the controlled variable for feedback control.
The combination
of the elements discussed here in a control loop is shown in Figure.
Variations on this control conguration are possible.
For example, the
system could have several reference inputs and controlled variables, each
with a loop similar to that of Figure. The system could also include an
inner loop with digital or analog control.
29 / 53
The structure of a digital control system
The translation from process language to digital controller language is
performed by an analog-to-digital converter, or ADC. A sensor is needed
to monitor the controlled variable for feedback control.
The combination
of the elements discussed here in a control loop is shown in Figure.
Variations on this control conguration are possible.
For example, the
system could have several reference inputs and controlled variables, each
with a loop similar to that of Figure. The system could also include an
inner loop with digital or analog control.
30 / 53
The translation from process language to digital controller language is
performed by an analog-to-digital converter, or ADC. A sensor is needed
to monitor the controlled variable for feedback control.
The combination
of the elements discussed here in a control loop is shown in Figure.
Variations on this control conguration are possible.
For example, the
system could have several reference inputs and controlled variables, each
with a loop similar to that of Figure. The system could also include an
inner loop with digital or analog control.
30 / 53
The structure of a digital control system
The translation from process language to digital controller language is
performed by an analog-to-digital converter, or ADC. A sensor is needed
to monitor the controlled variable for feedback control.
The combination
of the elements discussed here in a control loop is shown in Figure.
Variations on this control conguration are possible.
For example, the
system could have several reference inputs and controlled variables, each
with a loop similar to that of Figure. The system could also include an
inner loop with digital or analog control.
31 / 53
The translation from process language to digital controller language is
performed by an analog-to-digital converter, or ADC. A sensor is needed
to monitor the controlled variable for feedback control.
The combination
of the elements discussed here in a control loop is shown in Figure.
Variations on this control conguration are possible.
For example, the
system could have several reference inputs and controlled variables, each
with a loop similar to that of Figure. The system could also include an
inner loop with digital or analog control.
31 / 53
The structure of a digital control system
The translation from process language to digital controller language is
performed by an analog-to-digital converter, or ADC. A sensor is needed
to monitor the controlled variable for feedback control.
The combination
of the elements discussed here in a control loop is shown in Figure.
Variations on this control conguration are possible.
For example, the
system could have several reference inputs and controlled variables, each
with a loop similar to that of Figure. The system could also include an
inner loop with digital or analog control.
32 / 53
The translation from process language to digital controller language is
performed by an analog-to-digital converter, or ADC. A sensor is needed
to monitor the controlled variable for feedback control.
The combination
of the elements discussed here in a control loop is shown in Figure.
Variations on this control conguration are possible.
For example, the
system could have several reference inputs and controlled variables, each
with a loop similar to that of Figure. The system could also include an
inner loop with digital or analog control.
32 / 53
Figure :
33 / 53
33 / 53
Figure :
34 / 53
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Closed-loop drug delivery system Several chronic diseases require the regulation of the patient's blood levels
of a specic drug or hormone. For example, some diseases involve the
failure of the body's natural closed-loop control of blood levels of nutrients.
Most prominent among these is the disease diabetes, where the production
of the hormone insulin that controls blood glucose levels is impaired.
36 / 53
of a specic drug or hormone. For example, some diseases involve the
failure of the body's natural closed-loop control of blood levels of nutrients.
Most prominent among these is the disease diabetes, where the production
of the hormone insulin that controls blood glucose levels is impaired.
36 / 53
Closed-loop drug delivery system Several chronic diseases require the regulation of the patient's blood levels
of a specic drug or hormone. For example, some diseases involve the
failure of the body's natural closed-loop control of blood levels of nutrients.
Most prominent among these is the disease diabetes, where the production
of the hormone insulin that controls blood glucose levels is impaired.
37 / 53
of a specic drug or hormone. For example, some diseases involve the
failure of the body's natural closed-loop control of blood levels of nutrients.
Most prominent among these is the disease diabetes, where the production
of the hormone insulin that controls blood glucose levels is impaired.
37 / 53
Closed-loop drug delivery system... To design a closed-loop drug delivery system, a sensor is utilized to
measure the levels of the regulated drug or nutrient in the blood. This
measurement is converted to digital form and fed to the control computer,
which drives a pump that injects the drug into the patient's blood. A
block diagram of the drug delivery system is shown in Figure.
38 / 53
measure the levels of the regulated drug or nutrient in the blood. This
measurement is converted to digital form and fed to the control computer,
which drives a pump that injects the drug into the patient's blood. A
block diagram of the drug delivery system is shown in Figure.
38 / 53
Closed-loop drug delivery system... To design a closed-loop drug delivery system, a sensor is utilized to
measure the levels of the regulated drug or nutrient in the blood. This
measurement is converted to digital form and fed to the control computer,
which drives a pump that injects the drug into the patient's blood. A
block diagram of the drug delivery system is shown in Figure.
39 / 53
measure the levels of the regulated drug or nutrient in the blood. This
measurement is converted to digital form and fed to the control computer,
which drives a pump that injects the drug into the patient's blood. A
block diagram of the drug delivery system is shown in Figure.
39 / 53
Figure :
40 / 53
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Figure :
41 / 53
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Figure :
42 / 53
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Figure :
43 / 53
43 / 53
Computer control of an aircraft turbojet engine To achieve the high performance required for todays aircraft, turbojet
engines employ sophisticated computer control strategies. A simplied
block diagram for turbojet computer control is shown in Figure.
The control requires feedback of the engine state (speed, temperature, and
pressure),
measurements of the aircraft state (speed and direction), and
pilot command.
44 / 53
engines employ sophisticated computer control strategies. A simplied
block diagram for turbojet computer control is shown in Figure.
The control requires feedback of the engine state (speed, temperature, and
pressure),
measurements of the aircraft state (speed and direction), and
pilot command.
44 / 53
Computer control of an aircraft turbojet engine To achieve the high performance required for todays aircraft, turbojet
engines employ sophisticated computer control strategies. A simplied
block diagram for turbojet computer control is shown in Figure.
The control requires feedback of the engine state (speed, temperature, and
pressure),
measurements of the aircraft state (speed and direction), and
pilot command.
45 / 53
engines employ sophisticated computer control strategies. A simplied
block diagram for turbojet computer control is shown in Figure.
The control requires feedback of the engine state (speed, temperature, and
pressure),
measurements of the aircraft state (speed and direction), and
pilot command.
45 / 53
Computer control of an aircraft turbojet engine To achieve the high performance required for todays aircraft, turbojet
engines employ sophisticated computer control strategies. A simplied
block diagram for turbojet computer control is shown in Figure.
The control requires feedback of the engine state (speed, temperature, and
pressure),
measurements of the aircraft state (speed and direction), and
pilot command.
46 / 53
engines employ sophisticated computer control strategies. A simplied
block diagram for turbojet computer control is shown in Figure.
The control requires feedback of the engine state (speed, temperature, and
pressure),
measurements of the aircraft state (speed and direction), and
pilot command.
46 / 53
Computer control of an aircraft turbojet engine To achieve the high performance required for todays aircraft, turbojet
engines employ sophisticated computer control strategies. A simplied
block diagram for turbojet computer control is shown in Figure.
The control requires feedback of the engine state (speed, temperature, and
pressure),
measurements of the aircraft state (speed and direction), and
pilot command.
47 / 53
engines employ sophisticated computer control strategies. A simplied
block diagram for turbojet computer control is shown in Figure.
The control requires feedback of the engine state (speed, temperature, and
pressure),
measurements of the aircraft state (speed and direction), and
pilot command.
47 / 53
Figure :
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Figure :
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Figure :
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Figure :
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