P.C. Chau \u00a9 2001
Table of Contents
Preface
1. Introduction............................................................ [Number of 10-point single-space pages -->] 3
2. Mathematical Preliminaries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.1
A simple differential equation model
2.2
Laplace transform
2.3
Laplace transforms common to control problems
2.4
Initial and final value theorems
2.5
Partial fraction expansion
2.5.1
Case 1: p(s) has distinct, real roots
2.5.2
Case 2: p(s) has complex roots
2.5.3
Case 3: p(s) has repeated roots
2.6
Transfer function, pole, and zero
2.7
Summary of pole characteristics
2.8
Two transient model examples
2.8.1
A Transient Response Example
2.8.2
A stirred tank heater
2.9
Linearization of nonlinear equations
2.10 Block diagram reduction
Review Problems
3. Dynamic Response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.1
First order differential equation models
3.1.1
Step response of a first order model
3.1.2
Impulse response of a first order model
3.1.3
Integrating process
3.2
Second order differential equation models
3.2.1
Step response time domain solutions
3.2.2
Time-domain features of underdamped step response
3.3
Processes with dead time
3.4
Higher order processes and approximations
3.4.1
Simple tanks-in-series
3.4.2
Approximation with lower order functions with dead time
3.4.3
Interacting tanks-in-series
3.5
Effect of zeros in time response
3.5.1
Lead-lag element
3.5.2
Transfer functions in parallel
Review Problems
4. State Space Representation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.1
State space models
4.2
Relation with transfer function models
4.3
Properties of state space models
4.3.1
Time-domain solution
4.3.2
Controllable canonical form
4.3.3
Diagonal canonical form
Review Problems
5. Analysis of PID Control Systems........................................................................................ 22
5.1
PID controllers
5.1.1
Proportional control
5.1.2
Proportional-Integral (PI) control
5.1.3
Proportional-Derivative (PD) control
5.1.4
Proportional-Integral-Derivative (PID) control
5.2
Closed-loop transfer functions
P.C. Chau \u00a9 2001
5.2.1
Closed-loop transfer functions and characteristic polynomials
5.2.2
How do we choose the controlled and manipulated variables?
5.2.3
Synthesis of a single-loop feedback system
5.3
Closed-loop system response
5.4
Selection and action of controllers
5.4.1
Brief comments on the choice of controllers
Review Problems
6. Design and Tuning of Single-Loop Control Systems............................................................... 19
6.1
Tuning controllers with empirical relations
6.1.1
Controller settings based on process reaction curve
6.1.2
Minimum error integral criteria
6.1.3
Ziegler-Nichols ultimate-cycle method
6.2
Direct synthesis and internal model control
6.2.1
Direct synthesis
6.2.2
Pole-zero cancellation
6.2.3
Internal model control (IMC)
Review Problems
7. Stability of Closed-loop Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
7.1
Definition of Stability
7.2
The Routh-Hurwitz Criterion
7.3
Direct Substitution Analysis
7.4
Root Locus Analysis
7.5
Root Locus Design
7.6
A final remark on root locus plots
Review Problems
8. Frequency Response Analysis................................................................................................ 29
8.1
Magnitude and Phase Lag
8.1.1
The general analysis
8.1.2
Some important properties
8.2
Graphical analysis tools
8.2.1
Magnitude and Phase Plots
8.2.2
Polar Coordinate Plots
8.2.3
Magnitude vs Phase Plot
8.3
Stability Analysis
8.3.1
Nyquist Stability criterion
8.3.2
Gain and Phase Margins
8.4
Controller Design
8.4.1
How do we calculate proportional gain without trial-and-error?
8.4.2
A final word: Can frequency response methods replace root locus?
Review Problems
9. Design of State Space Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
9.1
Controllability and Observability
9.1.1
Controllability
9.1.2
Observability
9.2
Pole Placement Design
9.2.1
Pole placement and Ackermann's formula
9.2.2
Servo systems
9.2.3
Servo systems with integral control
9.3
State Estimation Design
9.3.1
State estimator
9.3.2
Full-order state estimator system
9.3.3
Estimator design
9.3.4
Reduced-order estimator
Review Problems
P.C. Chau \u00a9 2001
10. Multiloop Systems............................................................................................................ 27
10.1 Cascade Control
10.2 Feedforward Control
10.3 Feedforward-feedback Control
10.4 Ratio Control
10.5 Time delay compensation\u2014the Smith predictor
10.6 Multiple-input Multiple-output control
10.6.1 MIMO Transfer functions
10.6.2 Process gain matrix
10.6.3 Relative gain array
10.7 Decoupling of interacting systems
10.7.1 Alternate definition of manipulated variables
10.7.2 Decoupler functions
10.7.3 \u201cFeedforward\u201d decoupling functions
Review Problems
MATLAB Tutorial Sessions
Session 1. Important basic functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
M1.1 Some basicMATLAB commands
M1.2 Some simple plotting
M1.3 Making M-files and saving the workspace
Session 2
Partial fraction and transfer functions..................................................................... 5
M2.1 Partial fractions
M2.2 Object-oriented transfer functions
Session 3
Time response simulation................................................................................... 4
M3.1 Step and impulse response simulations
M3.2 LTI Viewer
Session 4
State space functions.......................................................................................... 7
M4.1 Conversion between transfer function and state space
M4.2 Time response simulation
M4.3 Transformations
Session 5
Feedback simulation functions............................................................................. 5
M5.1 Simulink
M5.2 Control toolbox functions
Session 6
Root locus functions.......................................................................................... 7
M6.1 Root locus plots
M6.2 Root locus design graphics interface
M6.3 Root locus plots of PID control systems
Session 7
Frequency response functions............................................................................... 4
M7.1 Nyquist and Nichols Plots
M7.2 Magnitude and Phase Angle (Bode) Plots
References................................................................................................................................ 1
Homework Problems............................................................................................................... 31
Part I Basics problems
Part II Intermediate problems
Part III Extensive integrated problems
The best approach to control is to think of it as applied mathematics.
Virtually everything we do in this introductory course is related to the
properties of first and second order differential equations, and with different
techniques in visualizing the solutions.
of 00
matlab - chemical process control a first course with matlab
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