AUTOMATION I: DREAMING OF NO HUMAN INVOLVEMENT
Ryan: FYS Computational Reasoning Fall 2025
Lecture content licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
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Automation I
PLAYLIST
IMage Gallery
Software tools
Excel PID Drone Simulation (.xlsx)
NetLogo Simulations
Google Docs version (lame)
Bibliography
Motivation
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Automation: Learning Outcomes
auto08 Big Picture: appreciate the ambition of automation and generic notion of building something whose adaptive behavior can be specified by a finite number of settings coupled to a feedback mechanism
auto01 Fundamentals: define "automatic" and explain what components of an automatic machine (sensor, actuator, mechanism, control) do
auto04 Mechanics of Examples: explain how cams and followers, steam engine governor, thermostat work
auto05 Feedback: explain the concept; give everyday examples; distinguish positive and negative; describe possible system behaviors verbally and with charts
auto07 PID Controllers: describe to person-on-the-street what PID controller does; explain association of past, present, future with I, P, D; describe what's going on in an output over time chart; carry out simple math of difference equations in a PID table
auto06 Causal Loop Diagrams: interpret CLD, construct from text, distinguish positive and negative causal relations, recognize balancing/reinforcing loop
auto03 Taxonomy: recognize/explain difference between automation as following rules/seeking goal; open/closed loop
auto02 History: describe linguistic origins of "automatic" and "cyber"; convey sense that automation is not new but a long-term human project; describe automata and famous historical exemplars of automation (centrifugal governor, Jacquard loom)
auto08 Big Picture
auto01 Fundamentals
auto04 Mechanics of Examples
auto05 Feedback
auto07 PID Controllers
auto06 Causal Loop Diagrams
auto03 Taxonomy
auto02 History
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DEFINITION
Automation = machines running without human intervention.CTFYS25-AUTO01
The Six Simple Machines
wheel
Pulley
inclined plane
LEVER
wedge
screw
MACHINE: an instrument designed to transmit or modify the application of power, force, or motion.
MACHINES:
-
transferring a force from one place to another,
-
changing the direction of a force,
-
increasing the magnitude of a force, or
-
increasing the distance or speed of a force.
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- Oakley, KP. 1964. Man the Tool-maker
- Lucas, Jim. 2018. "6 Simple Machines: Making Work Easier"
- SMORE. "Work, energy, and simple machines"
- Wikipedia. "Tool use by animals"
Main TAKEAWAY VERSION 1
Automatic machines can be controlled by programing them to do what humans want.CTFYS25-AUTO01
Main TAKEAWAY VERSION 2
Automatic machines can be controlled to do what humans want by minimizing error through feedback.
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Terminology
machine
automatic
control
feedback
cybernetics
A machine is "(1): an instrument (such as a lever) designed to transmit or modify the application of power, force, or motion
(2): an assemblage of parts that transmit forces, motion, and energy one to another in a predetermined manner"
An automatic machine is one that, once turned on, operates without human intervention.
Regulation of a system to achieve desired performance.
control that does not have access to feedback.
control that does have access to feedback.
Evaluative information about a process that is available to a controller of that process
the science of automatic control systems in both machines and living things
closed loop
open loop
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Automation as Following Instructions
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Automation is Old
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αὐτόματον, automaton, "acting of one's own will." First used by Homer to describe an automatic door.
Automaton
Automaton clock in Gloucester, United Kingdom
Henri Maillardet automaton, London, c1810 - Franklin Institute
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Behind
the
scenes
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Wikipedia says the camshaft was first described in 1206 by Arab engineer Al-Jazari. He employed it as part of his automata, water-raising machines, and water clocks such as the castle clock.
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What is relationship between cam shape and behavior over the course of one cycle?
STOP+THINK
STOP+THINK
STOP+THINK
STOP+THINK
STOP+THINK
STOP+THINK
STOP+THINK
STOP+THINK
STOP+THINK
STOP+THINK
follower
time
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Exercise
How would we build an automaton that could write?
| STEP | X | Y |
|---|---|---|
| 0 | ||
| 30 | ||
| 60 | ||
| 90 | ||
| 120 | ||
| 150 | ||
| 180 | ||
| 210 | ||
| 240 | ||
| 270 | ||
| 300 | ||
| 330 | ||
| 360 |
| STEP | X | Y |
|---|---|---|
| 0 | 20 | 0 |
| 30 | 30 | 2 |
| 60 | 40 | 4 |
| 90 | 50 | 8 |
| 120 | 60 | 15 |
| 150 | 70 | 45 |
| 180 | 60 | 60 |
| 210 | 50 | 45 |
| 240 | 60 | 15 |
| 270 | 70 | 8 |
| 300 | 80 | 4 |
| 330 | 90 | 2 |
| 360 | 100 | 0 |
| STEP | X | Y |
|---|---|---|
| 0 | 20 | 0 |
| 30 | 30 | 2 |
| 60 | 40 | 4 |
| 90 | 50 | 8 |
| 120 | 60 | 15 |
| 150 | 70 | 45 |
| 180 | 60 | 60 |
| 210 | 50 | 45 |
| 240 | 60 | 15 |
| 270 | 70 | 8 |
| 300 | 80 | 4 |
| 330 | 90 | 2 |
| 360 | 100 | 0 |
command
rotation
2
3
7
4
follower
time
2
3
6
4
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STOP+THINK
What might a flow chart for this automatic machine look like?
command
sequence
2
3
7
5
follower
command
sequence
2
3
7
5
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Jacquard Loom, see also
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instruction
rotation
1
4
3
2
follower
1
2
3
4
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Exercise
[auto04] Quick draw flowchart for cam- or card-based automation if it's basically "instruction 1, instruction 2, instruction 3, instruction 4, repeat." Use the graphical pieces below.
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Automation as Sequence
2
3
7
5
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Humans, Machines, Governance, and Automation
1
2
3
4
Unpacking
"Automation"
PID ControllERS
FEEDBACK
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HOOK
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Evolution of Agency in Homo Sapiens
Simple Machines
Compound Machines
Nonhuman Power
homo faber
Doing and Making
homo gubernator
homo tractus
homo machinator
Instructions
Goals
homo delegator
automation
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humans
We are lazy and we like to control things.
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See Also
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from Kubernetes (κυβερνήτης, Greek for "governor", "helmsman" or "captain" or "steerer"; becomes gubernet- in Latin)
Earliest usages were more social than technical: governance of society
GOVERNANCE
Cybernetics
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STOP+THINK:What's the "AUTOMAT" Part?
These things were "AUTOMATIC" in that humans supplied the energy or the power but the device could carry out the sequence of activities "on its own."
The Secret: built-in CONTROL
AKA GOVERNANCE
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Tools and Machines Bibliography
- Wikipedia, "Kenneth Oakley"
- Oakley, KP. 1964. Man the Tool-maker
- Lucas, Jim. 2018. "6 Simple Machines: Making Work Easier"
- SMORE. "Work, energy, and simple machines"
- Wikipedia. "Tool use by animals"
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MACHINE:
an assemblage of parts
that transmit
forces, motion, and energy
to one another
in a predetermined manner.
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Cybernetics : the study of the control of systems.
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UNPACKING "Automation"
2
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TWO KINDS OF Automation
Instruction Following
Goal Seeking
An automatic machine is one that, once turned on, operates without human intervention.
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components of an automatic machine
Actuator: generates force
Mechanism: transmit and focus force
Sensor: detects states
Controller: Compares sensor output to
goal and adjusts actuator
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Stop+Think: automatic kettle?
Actuator: ?
Mechanism: ?
Sensor: ?
Controller: ?
button
switch
heater
temperature
sensor
at 100c
throw switch
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Automation II
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Preclass Work
STOP+THINK Write a definition for the term "automatic."
STOP+THINK Do a little research into the etymology of the word "government."
STOP+THINK List five occasions on which you have given, received, or seen/heard/smelled "feedback" recently.
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Preclass Work
STOP+THINK Write a definition for the term "automatic."
STOP+THINK Do a little research into the etymology of the word "government."
STOP+THINK List five occasions on which you have given, received, or seen/heard/smelled "feedback" recently.
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Centrifugal Governor
17th century
Credited to Christiaan Huygens,
adapted by James Watt 1788.
Concept: balls spin under steam pressure; faster pressure, faster spin; faster spin, pull arms down; arm motion opens pressure release; pressure decrease leads to speed decrease and valve closes
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centrifugal governor
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Centrifugal Governor
17th century
Credited to Christiaan Huygens,
adapted by James Watt 1788.
Concept: balls spin under steam pressure; faster pressure, faster spin; faster spin, pull arms down; arm motion opens pressure release; pressure decrease leads to speed decrease and valve closes
steam
steam
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centrifugal governor
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centrifugal governor
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Exercise
[auto02] The Jacquard loom and the centrifugal steam engine governor are fundamentally different approaches to automation. Can you say why/how?
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Exercise
[auto02] The Jacquard loom and the centrifugal steam engine governor are fundamentally different approaches to automation. Can you say why/how?
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Automation as Goal Seeking
Adjust
Adjust
CLOSE ENOUGH TO GOAL?
NO
YES
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Exercise
4. [auto04] The centrifugal governor slows a machine down if it is going too fast and speeds it up if it is going too slow (compared to a chosen speed). What does this look like in a flow chart? Arrange these items to capture this logic.
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Exercise
4. [auto04] The centrifugal governor slows a machine down if it is going too fast and speeds it up if it is going too slow (compared to a chosen speed). What does this look like in a flow chart? Arrange these items to capture this logic.
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Automation as Goal Seeking
TOO FAST?
TOO SLOW?
SLOW DOWN
SPEED UP
KEEP GOING
But where do these diamonds get the information they need to decide?
SENSORS!
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Is the music box following instructions or pursuing a goal?
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FeedBACK
3
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auto05 Feedback: explain the concept; give everyday examples; distinguish positive and negative; describe possible system behaviors verbally and with charts
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Title Text
How does a Stampede HAPPEN?
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One horse runs. Others say "chill out, Max."
Two horses run. Others say, "Dudes, relax."
Three horses run. Nearby others say, "Hey, something happening?" And speed up a bit.
Others see change. Start hurrying
More horses perceive the change and pick up the pace...
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What's the Relationship?
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What's the Relationship?
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What's the Relationship?
Reinforcing
Loop
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What does the system look like over time?
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What does the system look like over time?
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How does a thermostat work?
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Why does this happen?
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How do Toilets work?
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How Does This Work?
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Why does this happen?
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ANSWER:
FEEDBACK
(or Lack of Feedback!)
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Feedback
Evaluative information about a process that is available to a controller of that process
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a system paying attention to the effect it has on the world.
Feedback
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When an output is also an input
Feedback
INPUT
OUTPUT
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STOP+THINK
How many different kinds of feedback have you seen today?
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Two Kinds of Automation
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How do these differ?
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Open vs Closed
Loop Automation
In open-loop automation the control of the process is independent of the output.
In closed loop automation, the control of the process depends on feedback based on the output of the process.
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Centrifugal Governor is an example of a
Closed Loop System
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JacquArd Loom is an example of a
OPEN Loop System
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STOP+THINK: Open or Closed Loop?
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Exercise
5. [auto04] Consider these four "systems" - are they "open" or "closed" loops? If they are closed loop, what's the feedback and how does the system use it?
- Comedian telling jokes in front of a live audience.
- Electric hand-held hair dryer.
- Playing the game "hotter and colder"
- Timer based clothes dryer
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Closed Loop Systems
Depend
on
Feedback
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auto06 Causal Loop Diagrams: interpret CLD, construct from text, distinguish positive and negative causal relations, recognize balancing/reinforcing loop
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DEF 1: a group of interacting or interdependent things
System
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Use arrows to iNdicate "has an effect on"
something about A has an effect on B
something about B has an effect on A
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something about A has an effect on B
something about B has an effect on A
the more B panics, the more A panics
the more A panics, the more B panics
Use arrows to iNdicate "has an effect on"
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Title Text
Why does THIS HAPPEN?
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What ARE THE QUANTITIES?
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What's the Relationship?
+
+
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Causal Loop Diagrams
Each measurable cause/effect is represented by a word or phrase
Arrows point from causes to effects
Arrows are labeled + or - to indicate positive or negative (inverse) causal relationships.
population
births
deaths
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See also
- Lannon, Colleen. "Causal Loop Construction: The Basics" @ The Systems Thinker
- DonnaGurule. 2018. "Systems Thinking: Causal Loop Diagrams" (16m40s)
- The Climate Leader. 2015. "Causal Diagrams" (8m34s)
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How does the System behave?
+
+
TIME
Horses Running
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What's going on here?
Describe the process of turning on a faucet and get it to the right temperature to wash your hands?
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Positive Causal Relationship: the more A, the more B OR
the less A the less B
Negative Causal Relationship: the more A, the less B OR
the less A the more B
GAP = actual - desired
more hot → higher actual
higher actual → bigger gap
bigger gap → less hotter
-
+
+
-
+
+
-
+
+
We might start out too cold,
add warm, still be a bit cold,
TIME
GAP
TIME
GAP
We might start out too cold,
add more warm, getting close,
just a bit more warm, ahhh, just right.
Add warm, still be a bit cold,
add more warm, now we are a bit too warm,
turn back the warm a bit, ahhh, just right.
Compare these two systems
+
+
Horses Running
TIME
TIME
GAP
Types of System Behavior
SYSTEM OUTPUT
TIME
Types of System Behavior Behavior
How does the get the water to hand washing temperature system look?
If you have a friend who is alternately warm and cold relationally, what does the system look?
How do accidents happen?
Which curve do we associate with COVID?
Two Kinds of "Feedback LOOPS"
Positive or Reinforcing
NEGAtive or BALANCING
Reinforcing
Loop
This is a positive feedback loop. AKA a "reinforcing" (R) loop. R loops always have an even number of minus signs.
-
+
+
Balancing
Loop
Reinforcing
Loop
This is a positive feedback loop. AKA a "reinforcing" (R) loop. R loops always have an even number of minus signs.
-
+
+
Balancing
Loop
This is a negative feedback loop. AKA a "balancing" (B) loop. B loops always have an odd number of minus signs.
The more open the throttle,
the faster the machine.
The faster the machine,
the higher the rotational frequency.
The higher the rotational frequency,
the higher the angle.
The higher the angle,
the less open the throttle.
The less open the throttle,
the slower the machine.
Causal Loop Diagrams
Direction of Relationships
Valence of Relationships
"When A grows, B grows"
A
B
Linked Causes and Effects
"A influences B"
A
B
A
B
+
-
"When A grows, B shrinks"
Exercise
"When things go well, I get over confident and start to cut corners. Things start slipping and I get careful and then things go better."
"The hungrier I am, the more I eat.
The more I eat, the less hungry I am."
"The hotter I am, the more I sweat. The more I sweat, the cooler I get. The colder I am the more I shiver. The more I shiver, the warmer I get."
The warmer the earth is, the more thawing and melting. The more things thaw and melt, the more CO2 gets released. The more CO2 in the atmosphere, the more sunlight gets reflected back. The more reflected sunlight, the warmer the earth.
Example: Hunger
Hungry
Eating
+
-
"The hungrier I am, the more I eat.
The more I eat, the less hungry I am."
Example: Work Habits
Things Go Well
Confidence
+
"When things go well, I get over confident and start to cut corners. Things start slipping and I get careful and then things go better."
Cut Corners
+
-
Biological Feedback
causal loop for insulin/glucagon
References
Feedback
and
System Behavior
https://storage.googleapis.com/ltkcms.appspot.com/fs/yd/images/cover/negative-feedback-loop.base?v=1587496185
Positive Feedback
Amplifier
amplifies
sound from
microphone.
Sound comes
out of speaker
and goes into
microphone.
If amplifier affects higher
pitched sounds more then higher pitch amplification outpaces
lower pitches and we hear screeeeeeeeeeech.
Temperature
Thawing and Melting
CO2 Release
Sunlight Reflected Back
The warmer the earth is, the more thawing and melting. The more things thaw and melt, the more CO2 gets released. The more CO2 in the atmosphere, the more sunlight gets reflected back. The more reflected sunlight, the warmer the earth.
What does the system look like over time?
R loops produce unconstrained growth in a system.
How do thermostats work?
thermo stat
temperature unchanging
How does it work?
Room Cold?
Turn Heat ON
Room warm?
Turn Heat OFF
How does a thermostat work?
SET TEMPERATURE
THERMOMETER
SWITCH
CAUSAL LOOP
SET TEMP
ACTUAL TEMP
GAP
SWITCH
HEAT
But HOW are these causally related?
CAUSAL LOOP
SET TEMP
ACTUAL TEMP
GAP
HEAT
+
-
+
HOW does the "system" behave?
balancing loop
This is a negative feedback loop. AKA a "balancing" (B) loop. B loops always have an odd number of minus signs.
TIME
TEMP
SET TEMP
ACTUAL TEMP
GAP
Furnace switches off but some heat continues to flow
Furnace ON
B loops produce systems that oscillate or settle down.
AUTOMATION II
PID CONTROL
4
Next
The Problem of Control
How to automate the process of achieving a set output goal
from "GAP" to "ERROR"
Nicolas
Minorsky
1885-1970
Expert helmspersons pay attention to what's going on, how things are changing, and where things have been so far.
I
N
S
I
G
H
T
Expert Control Takes Account of...
How far off the target am I at the moment?
Is my error increasing or decreasing?
How well or how badly have I been doing overall?
PRESENT
PAST
FUTURE
Three Ways to Think about Error
Proportion = what is the current error?
Derivative = how is error changing?
Integral = how much error has accumulated?
PAST
FUTURE
PRESENT
https://youtu.be/wkfEZmsQqiA
