ENGR3350U - CONTROL SYSTEMS

LECTURE-4

Lecture Schedule
Week-1 [10-Sep]: Lab Introduction Week-2 [14,17 Sep]: Control System, Closed / Open Loops, Modelling of Dynamic Systems Week-3 [21,24 Sep]: Laplace Transform, Block Diagram, Review Week-4 [28-Sep, 1-Oct]: State Variables, Feedback Control, Review Week-5 [5,8 Oct]: Midterm Exam (1), Invited Lecture / Project Discussions Week-6 [12,15 Oct]: Performance of Feedback Control Week-7 [19,22 Oct]: Steady State Error, Stability
Dr. Hossam A.Gabbar 2
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LEARNING OBJECTIVES
Develop block diagram for dynamic system Simplify block diagrams Use signal-flow to simplify complex block diagrams

FIGURE 1.29 (CONTINUED) (B) DIAGRAM OF A DISK DRIVE.

CLOSED-LOOP CONTROL SYSTEM FOR DISK DRIVE

CONTROL OF ROBOTIC MICROSURGICAL

Controller

Actuator

Process

Actuator
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CONTROL DESIGN FOR ELEVATOR

Can we test controller without process / system?

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BLOCK DIAGRAM

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FEEDBACK LOOP

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BLOCK DIAGRAM REDUCTION

Rearranging Summing Points.

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BLOCK DIAGRAM REDUCTION

Moving a summing point ahead of a block.

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BLOCK DIAGRAM REDUCTION

Moving a summing point beyond a block.

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TRANSFER FUNCTIONS OF MULTIPLE INPUT SYSTEMS

Determine the output due to the inputs U1, U2 and R for the system pictured below.

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SIGNAL-FLOW GRAPH MODELS

Signal-flow graphs are diagrams that include nodes that are connected to several branches, which are a graphical representation of linear system For complex systems, block diagram simplification is not easy

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SIGNAL-FLOW DIAGRAM

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SIGNAL-FLOW DIAGRAM METHOD

Cramers rule

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SIGNAL-FLOW METHOD

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SIGNAL-FLOW MODEL

Gain of k-th path from variable x(i) to variable x(j)

Determinant of the graph Cofactor of the path P(I, j, k)

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SIGNAL-FLOW DIAGRAM

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EXAMPLE

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SIGNAL-FLOW MODEL

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SIGNAL FLOW GRAPHS VS. BLOCK DIAGRAMS

Anything block diagrams can do, signal flow graphs can do also.
X(s) 540 G1(s) 0.1
G2(s)

Y(s)

540

G1(s) -0.1 -1

X(s)

G2(s )

Y(s)

This method is developed by Mason

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SIGNAL FLOW GRAPH STATE MODEL

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SIGNAL-FLOW MODEL

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