ENGR3350U - CONTROL SYSTEMS

LECTURE-9

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
One More Example About State Space Practice Feedback Control Systems Review Sensitivity Analysis Understand Steady State Error, and Final Value Theorem PID Controller

Ch4: pages: 234-242, 250-273, 305-330

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EXAMPLE STATE SPACE

EXAMPLE STATE SPACE

EXAMPLE STATE SPACE

FIGURE 3.34 (A) THE SS FUNCTION. (B) LINEAR SYSTEM MODEL CONVERSION.

FIGURE 3.38 THE ISIM FUNCTION FOR CALCULATING THE OUTPUT AND STATE RESPONSE.

FIGURE 3.39 COMPUTING THE TIME RESPONSE FOR NONZERO INITIAL CONDITIONS AND ZERO INPUT USING ISIM.

FIGURE 3.40 (A) MODEL OF THE TWO-MASS SYSTEM WITH A SPRING FLEXURE. (B) SIMPLIFIED MODEL WITH A RIGID SPRING.

FIGURE 3.42 RESPONSE OF Y FOR A STEP INPUT FOR THE TWO-MASS MODEL WITH K = 10.

FIGURE 3.43 BLOCK DIAGRAM FOR THE SKILLS CHECK.

FIGURE P3.16 SUBMARINE DEPTH CONTROL.

FIGURE P3.18 AN INDUSTRIAL ROBOT. (COURTESY OF GCA CORPORATION.)

FIGURE P3.23 A TWO-TANK SYSTEM WITH THE MOTOR CURRENT CONTROLLING THE OUTPUT FLOW RATE. (A) PHYSICAL DIAGRAM. (B) BLOCK DIAGRAM.

SENSITIVITY ANALYSIS

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SENSITIVITY ANALYSIS

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SENSITIVITY ANALYSIS

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EXAMPLE - SENSITIVITY ANALYSIS

100 G( s) 3s 1

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PERFORMANCE OF SECOND ORDER SYSTEM

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RESPONSE OF FEEDBACK CONTROL

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CONTROL DESIGN AND PID

Proportional Integral

Derivative

Wikipedia

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FIGURE 4.26 SYSTEM SENSITIVITY TO VARIATIONS IN THE PARAMETER P.

COST OF FEEDBACK
Increased number of components and complexity Loss of gain Introduction of instability, while open system is stable More challenges to the control designer

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FIGURE 4.23 ELEMENTS OF THE CONTROL SYSTEM DESIGN PROCESS EMPHASIZED IN THE BLOOD PRESSURE CONTROL EXAMPLE.