Lecture-10

CECOS UNIVERSITY
Of
IT & EMERGING SCIENCES

Instrumentation
and
Control systems
By
Engr.M Irfan Khan
Class Code: ME2012 A

Control System Design Process

1. Establish control goals

Sardar-eMulk ! You were

assigned to apply this
design
strategy
to
ceiling fan
If the
performance does
not meet
specifications,
then iterate the
configuration and
actuator

2. Identify the variables to control

3. Write the specifications for the variables

4. Establish the system configuration and identify the
actuator
5. Obtain a model of the process, the actuator and the
sensor
6. Describe a controller and select key parameters to be
adjusted
7. Optimize the parameters and analyze the performance
If the performance meet the specifications, then finalize
design

HAVE YOU GUYS SENT ME ANY

LINKS OR PICTURES THAT
ELABORATE THE APPLICATION
OF CONTROL SYSTEMS

WHATS ON THE MENU

TODAY..??

Transient
Response &
Steady state
Error
Test signals
LTI systems

DO YOU GUYS KNOW WHAT IS

TRANSIENT RESPONSE & STEADY
STATE ERROR?

The transient response

The steady-state error.
They are measures of performance.
Which means if you like the
transient response of a system
and the steady-state error is with
in your limits then would love to
use that Control System / Sensor

TRANSIENT RESPONSE
In Electrical engineering and
Mechanical
engineering,
atransient responseor natural
responseis theresponseof a
system
to
a
change
from
equilibrium.
Thetransient responseis not
necessarily
tied
to
"on/off"
events but to any event that
affects the equilibrium of the

TRANSIENT RESPONSE
(CONT..)
What type of
input signal did
you use in your
experiments at
lab????

STEADY STATE
RESPONSE

STEADY STATE
RESPONSE
As we have seen, this response resembles the input and is
usually what remains after the transients have decayed to
zero.
For example, this response may be an elevator stopped near
the fourth floor or the head of a disk drive finally stopped at
the correct track.
We are concerned about the accuracy of the steady-state
response. An elevator must be level enough with the floor for
the passengers to exit, and a read/write head not positioned
over the commanded track results in computer errors.
An antenna tracking a satellite must keep the satellite well
within its beam width in order not to lose track.
In control systems theory we define steady-state errors
quantitatively, analyze a system's steady-state error, and
then design corrective action to reduce the steady-state
errorour second analysis and design objective.

LET US STUDY THE TEST

SIGNAL

Why Test Signals

Test input signals are used, both

analytically and during testing, to verify the
design.
It is neither necessarily practical nor
illuminating to choose complicated input
signals to analyze a system's performance.
Thus, the engineer usually selects
standard test inputs. (Norma Nise Page 18)

WHAT ARE THESE TEST

SIGNALS..??
These inputs
are
Impulses
Steps
Ramps
Parabolas
And
Sinusoids

TEST SIGNALS (Impulse)

An impulse is infinite at t = 0 and zero
elsewhere.
The area under the unit impulse is 1.
An approximation of this type of waveform
is used to place initial energy into a system
so that the response due to that initial
energy is only the transient response of a
system.
From this response the designer can derive
a mathematical model of the system.

TEST SIGNALS (Impulse)

TEST SIGNALS (Step)

A step input represents a constant command, such as
position, velocity, or acceleration.
Typically, the step input command is of the same form
as the output.
For example, if the system's output is position, as it is
for the antenna azimuth position control system, the
step input represents a desired position, and the
output represents the actual position.
In all of Your tests in Instrumentation lab you used Step
function
The designer uses step inputs because both the
transient response and the steady-state response are
clearly visible and can be evaluated.

TEST SIGNALS (Step)

TEST SIGNALS (Ramp &

Parabolic)
The Ramp input represents a linearly increasing
command.
For example, if the system's output is position, the
input ramp represents a linearly increasing position,
such as that found when tracking a satellite moving
across the sky at constant speed.
If the system's output is velocity, the input ramp
represents a linearly increasing velocity.
The response to an input ramp test signal yields
additional information about the steady-state error.
The previous discussion can be extended to parabolic
inputs, which are also used to evaluate a system's
steady-state error.

TEST SIGNALS (Ramp &

Parabolic)

We will skip the

Sinusoidal input
signal at this
moment

LINEAR TIME INVARIANT SYSTEM

(LTI)
LTI is a title given to a class of
systems that respond in a certain
way when subjected to an arbitrary
input signal.
All LTI systems have definitive
properties given below
Homogeneity
Superposition (Additivity)
Time Invariance

LTI SYSTEM
(Homogeneity)

r(t)

LTI System

c(t)

If we scale the input then the out

put will also be scaled the same
way
ac(
ar(t
LTI System t)
)

LTI SYSTEM
(Homogeneity)

Understanding it graphically

2
1

Input

output

LTI SYSTEM
(Homogeneity)

Understanding with an Example

LTI SYSTEM
(Superposition or Additivity)

r1(t)

c
(t)
1
LTI System

r2(t)

LTI System c2(t)

r1(t)
+r2(t)

c1(t)
LTI System +c2(t)

LTI SYSTEM
(Superposition or Additivity)

LINEAR SYSTEM
LTI SYSTEM
(Homogeneity)
LTI SYSTEM
(Superposition or Additivity)

Any
system
accepting
these two conditions is
called
linear
system

DOES THIS HAPPEN

TO YOU ?

DOES THIS HAPPEN

TO YOU ?

DOES THIS HAPPEN

TO YOU ?

LTI SYSTEM
(Time Invarience)
Time Invarience refers to
the system behaving the
same regardless of when in
time the action take place.
In other words two similar
inputs translated in time
will produce similar out put
also translated in time

May also be called

Translational
Invariance

r(t-a)

c(t-a)
LTI System

LTI SYSTEM
So these restrictions are all what are
required to have a LTI system.
But in practice they are so strict that
no practical
system
of
real
world
Then why
meets them

in the
world are
LTI
systems
important
???

WHY ARE LTI SYSTEM

IMPORTANT??
Linear systems are important
because we can solve them Richard
Feynman
Also a very wide range of real
World systems can be accurately
approximated
by LTI model.
Richard Phillips Feynman,
( May 11, 1918 February 15, 1988) was
an Americantheoretical physicistknown
for his work in thepath integral
formulation ofquantum mechanics

FOR EXAMPLE (IMPULSE

INPUT)
Hammer hitting a mass.

WHAT IF INPUT IS RAMP

A convolution is an integral that expresses the amount
of overlap of one function as it is shifted over another
function . It therefore "blends" one function with
another .

SOLVING WITH CONVOLUTION IS DIFFICULT

SO HOW TO OVER THIS PROBLEM

We transform the function from (t) into (S) domain

F1(t) and F2(t)

To
F1(S) and F2(S)
And then it is solved by simple
multiplication
F1(S) X F2(S)

Next class
TRANSFER FUNCTION AND ITS
APPLICATION