CONTROL

ENGINEERING

Student: Alves Rafael Gustavo

Neptun System Code: M14BKI
Lecturer: Dr. Szabolcsi Rbert

Budapest, May 2014

INTRODUCTION
The automatic process control currently plays a fundamental role in various
segments of the society. It can be found from temperature controllers implemented by
simple thermostats to the complete control of spacecraft based on sophisticated computer
systems.
Before studying and discussing any control system it is necessary to define some
control systems fundamentals.
a. Concept of a system
In the book Advanced Control Engineering, the definition of a system is given such
as:
"A system may be defined as a collection of matter, parts, components or
procedures which are included within some specified boundary. A system may have any
number of inputs and outputs."

The specified boundary of a system is shown in the Figure 1 below.

Figure 1: The concept of a system

It is fundamental to any control system is the ability to measure the output of the
system, and to take corrective action if its value deviates from some desired value.

b. Open-loop system
The Figure 2 represents an open-loop control system. It is used for very simple
applications but its main problem is that the controlled variable is sensitive to changes in
disturbance inputs.

Figure 2: Open-loop system: Plant input and output

c. Closed-loop system
A closed-loop system, as is shown in Figure 3, in general, contains at least one
sensor and controller. The controller and the plant lie along the forward path, and the
sensor in the feedback path. The measured value of the plant output is compared at the
summing point with the desired value. The difference, or error is fed to the controller,
which generates a control signal to drive the plant until its output equals the desired value.

Figure 3: Closed-loop control system

THE GIVEN PROBLEM

A feedback control system with sensor noise and a disturbance input is shown in
the Figure 4 below. The goal is to reduce the effects of the noise and the disturbance. Let
() = 0.

Figure 4: Feedback Control System Characteristics

a) Determine the effect of the disturbance on ();

b) Determine the effect of the noise on ();
c) Select the best value for when 1 100 so that the effect of steady-state
error due to the disturbance and the noise is minimized. Assume () = ,
and () = .
The script in Matlab is shown below:
%First step, we must describe the transfer function of each part
of the system
%Dynamics
num1 = 1;
den1 = [1 1];
sys1 = tf(num1, den1);

%Controller, considering k = 1
num2 = 1;
den2 = [1 0];
sys2 = tf(num2, den2);
%Sensor
num3 = 1;
den3 = 1;
sys3 = tf(num3, den3);
%a) Determine the effect of the disturbance Td(s) on Y(s)
%First of all, let N(s) =0.
%Now, analysing the system, we have the dynamics as the forward
path
%and the sensor and the controller in series as the feedback
forward path
sys4 = series(sys2, sys3);
sys5 = feedback(sys1, sys4)
%b) Determine the effect of the noise N(s) on Y(s)
%First of all, let Td(s) =0.
%Now, analysing the system, we have the controller and the
dynamics in series
%as the forward path and the sensor as the feedback forward path
sys6 = series(sys2, sys1);
sys7 = feedback(sys6, sys3)

The reply given is shown in the Figures 5 and 6 below:

Figure 5: Effect of the disturbance Td(s) on Y(s)

Thus, the effect of the disturbance on () is:

() =

. ()
++1

Figure 6: Effect of the noise N(s) on Y(s)

Thus, the effect of the noise on the () is:

() =

1
. ()
++1

Once that the steady-state error is given by () = (), in order to analyze

the best value for when 1 100 so that the effect of this error due to the
disturbance and the noise is minimized and assuming () = , and () = , we
must apply the Final Value Theorem to find (), so:
() = ()
0

Applying the theorem to analyse the error due to the disturbance, we have:

() = 2 ++ . ()

() = 2 ++ . = 2 ++, so

y() = lim 2 ++ =
0

As () = () () = .
Applying the theorem to analyse the error due to the noise, we have:

() = 2 ++ . ()

() = 2 ++ . = 2 ++, so

() = lim 2 ++ =
0

As () = () () = .
As we can notice, has no effect on the steady-state error caused by the noise.
However, it has effect on the steady-state error cause by the disturbance. So, choosing
= 100 we will minimize this effect during the transient period.