EF

EF

J ?

? ? ?
K

EF

Automatic control
K

K
K

K
K

K

K
K
Plant
W


W
W
K
W
KKKK
W
K
W
K
W
K

EF

RouthW
K

W
James Watts

fly ball governor

J.C.Maxwell

Henry Ford

H.W.Bode

H.Nyquist

Massachusetts Institute of Technology

George Devol

EF

J J
W

W

KL
K

W
K J
K J
K J

--

EF

W
W J

E JF
hKh0

qi(t)Float

Kh0Control-valve

EFWE JF

--

EF

KE JF

KObject

HandBrain

Eye

K
K

EFE JF

E JF

KFactoriesK

Production plan

K
K

--

EF

EFWE JF

Engineering

systems

KKKKK

Biological systems

KKKK

Large scale systems

KKKKK

--

EF

J JFInformation flow J

EKKKK

KE JF

W J

KEKKK

KEKKK JF

W J

Robot

K
K

--

EF

W J

WAutomatic control systems J

System K

Kobjective

Wheat exchanger J

E JF

Voltage amplifier

KKK JF

E JFKE

--

EF

WE

JF

W J

ArabsatNilesat

--

EF

WE JF

WE JF

W J

E JFE JF

--

EF

WE

JF

WE JF

WTR2WTR1
W J

E JFE JF

--

EF

WE

JF

W J

KE JF
KProgrammer

- -

EF

WE JF

W J

KE JFKFeedback

WE JF

External disturbanceEFPlant
Error signalEFReference signalErF

KErFControlled variableEyF
- -

EF

Control EFControllerEF

KPlantaction
E JFBlock diagram

Wplant J

Controlled variableEyF

KE JF

FExternal disturbance

EStochastic

EFControl actionEF

KE JFK

WE JF

W J

KSensor
- -

EF

EKKKK

Transducer

W J

Control law

KControl actionEFError signalEF

ComparatorK

Set point

Kdevice

W J

EKKKKKF
K

W J

EF

W J

Error signalEF

K


- -

EF

W J

K
KError signalEF

W J

WServomechanism J

KKKK

WObjective function J

Objective function

K
Plant

KKKK

E JFComparator
F

KE

E JF

Input signals

Output signals
- -

EF

E JF

f(x,t)

x +

y -

y -

y=f(x,t)

x +

z=x+r-y

z=x-y

E JF

GH,GE JF
KH

KOpen-loop systemEF

WE JF

- -

EF

KEFeedbackF

KEError signalF

W
J

J
J

J
J

- -

EF

J J

EF

EF

EF

EF

EF

EF

EF

W J
K

J
K

J
K

EF
K

EF

EF

J
K


- -

EF

WX

W J

K J

K J

K J

J
K

J
W

KKKKKK J

KKKKK J

KKKK J

- -

EF

J JW
W

W J
G

WG
K

W J
KG

KG

KG

J
K

KW J

EF

ExF
EF

ExF

W J
K

J
K

- -

EF

ExF

EF

ExF

J
K

EF
K

ExF

EF

J
K

WX

W J
ExFK J

K J

K J

J
W

J
K

J
ExFK

J
K

- -

EF

J
W

KKKKKK J

ExFKKKKK J
KKKK J

- -

EF

W
K J
K J

- -

EF

W
K

WSensor J
W J

K KE

0-20 mA
3-15 psi

KKK

WE JF

WActive sensor J

WEKKKK

Kthermoelectric sensor JG
KPiezoelectric sensor JG

KElectromagnetic sensorG
KPhotoelectric sensor JG

KPhotovoltaic sensor JG

- -

EF

WPassive sensor J

Kimpedance

G
K

KTenso-sensorG

J J J J J JF J
WE
W J
W J J

macroscopic J

KEKKKKKelectric resistivityF

W J J

W
- -

EF

K8CCelsiusG

1008C08C

K8KKelvinG

T(8C)=T(8K)-273.15
1(8C)=1(8K)W

K8RRankinG

K8FFahrenheitG
1(8R)=1(8F)W

273.15
KELVIN(8K)

-273.15

0
CELSIUS(8C
)
491.67

RANKIN(8R)

-459.67

32
FAHRENHEIT(8F)

KFahrenheitRankinKelvinCelsiusW J

WDilatation thermometers J J

- -

EF

W J

WG
(Pentane)

20-200

ethanol

100-110

toluene

100-90

creosote - ethanol

200-10

EMercuryF

+650-38

Mercury - Thallium +650-58

Mercury - Gallium 1 0000

W
K4508CIenaG

K6308CSupermaxG

K10008CsilicaG

W J

- -

EF

W J
PV = nRTW

K8KWTR=8,31 J.mol-1.K-1WVWPW
W

P={RT}/{V}

KR/V

Boudron Tube

W J

helium

-267,8C

hydrogen

-239,9C

nitrogen

-147,1 C

Carbonic gaz -31,1C

1%

W J

KL

- -

EF

WG

KInvarIron alloyW

W J

WEFLinear pyrometerG

W J

WElectric thermometers J J

EF
K

- -

EF

K
W

KPassive sensor
KActive sensor

RTD(Resistance Temperature Detector)W

K
K

W J

R
W

R=R0(1+a1T+a2T2)
T8C EohmWFWR

K08CEohmWFWR0
8CWT

- -

EF

Wa2a1

R0a2a1
W

EmAF
4
8
12
16
20

ECF
0
25
50
75
100

100.0
109.9
119.8
129.6
139.3

EF100.0=R0(1+0a1+02a2)W1008C

EF119.8=R0(1+50a1+502a2)W119.88C
EF139.3=R0(1+100a1+1002a2)W139.38C
KR0=100WEF

WEFEFR0=100

EF0.198= 50a1+2500a2)W119.88C

EF0.393= 100a1+10000a2)W139.38C
a1=0.00399
a2=-6x10-7
R=100(1+0.00399T-6x10-7T2)

Wa2a1

-190 250

-60 180

-250 1100
- -

EF

KPT100

PT100W J

W J

W10008C
KFe2O3G

MgAl2O4G

. Zn2TiO4G

W




- -

EF

8C

W J

12 =F

KKE505=

W J

K
WG

:T
:R
: I

: V

- -

EF

:T
:R

R : R(08C)

Wheatstone

08C

W J

JL

50

101 151 202 253 303 354 405 456

10 507 558 609 660 711 762 814 865 916 968
20 1019 1071 1122 1174 1226 1277 1329 1381 1433 1485
- -

EF

K278C48CW

202VW48C

1381VW278C

K1179VE1381-202FW

WG

EKKKKF

0C 1100C

1,5

-180C 1300C

-185C 300C 0,5

-250C 400C

20C 700C

-180C 750C

0C 800C

-40C 900C

- 13%

0C 1600C
- -

1,5

1,5

EF

0C 1700C

- 10%

0C 1550C

0C 1700C

mV

8C

W J

WG

- -

EF

W J

ABAB

Constantan T

Constantan

Constantan J

Constantan

Constantan V

Cupronickel S 10 %

EF

27008C

W J

KEF
K J

W
E20008CF J
- -

EF

K J
K J

K J

K J

W J

Spectral emittance

(w.cm-2.m-1F

EmF

W J

KE0.8m0.4mF

K5008CG

KE50008KFG

E=0.65mFmonochromatic pyrometer J
- -

EF

W J

Si

600 C

Ge

200 C

Pb S

100 C

Pb Se

50 C

In Sb

0 C

Hg Cd Te -50 C

bichromatic pyrometer J

W J

K21

WGas-filled thermal system J

K760C-268CE JF

KK

3psi

K15psiK




- -

EF

gas-filled thermal transmitterW J

- -

EF

W J
W J J

WW J
P=F/A
2
EN/m FWPEm2FWAENewtonFWF

W1N/m2=1PascalW

W J

1.02kgf/cm2=106barye=14.5psi=751.9=10.194=1bar=100000Pa

W J

158CW J

K1013mbar

W J

KW J

K W J

W J

KK

- -

EF

WEF J

W J

EWgWFP=.g.h
P1=P2=P3=P4

W J
W J

Wv

P=1/2..v2

W J

Pt=.g.h +1/2..v2
EFWPt

KK

W J J

W J

- -

EF

WUG

PUh

KK

Patm
Patm+PH

UW J

5.105Pa0

KE0.1FW J

W J

KK

2W J

K2

WEF J J

WBourdon tube J

- -

EF

J
J

J
J

W J

KEF
K

K40.6K

W J

J
J
J
J
J

W J
- -

EF

K
K

K4016

E JFW J

K
K

J
J

W J

K6002.5K

W J

- -

EF

W J

KK
K

W J

R4R3R2R1

- -

EF

W J

W J J

K J

Coaxial cable J
K

JW J



- -

EF

W J

K
K

KK

W J

- -

EF

W J

W
- -

EF

K
KEF

KK
K

EF

KEF

WG

WEF

12.9cm2=

80N/cm=
6N/cm=

K1.5cm

WG

K86N/cm=6+80=

W1.5cm
F=(1.5cm)x(86N/cm)=129N
W
P=(129N)/(12.9cm2)=10N/cm2
K100KN/m2010N/cm20W

- -

EF

W J

K
K

P = .g.h
EmFWhEkg/m FWEPascalFWPW
3

KEg=9.81m/sec2FEm/sec2FWg

W J J

W J

W
- -

EF

= M .g .g. A.h

WgWMENFWW

WhEm2FWAEkg/m3FWEg=9.81m/sec2F
KEmF

W J J

K P = .g.h W

W J

K100%0%20mA4

- -

EF

K
K

W J

Wcapacitance probe J J

KK

E70FW J
- -

EF

WG

M=2kgW J

A=20cm2W J
L=2.5mW J

=800kg/m3keroseneW

W
f

20
= Mg gh = (2)(9.81) (800)(9.81) 4 .h = 19.62 15.7.h
10

Wh=L
f min = 19.62 15.7 (2.5) = 19.63N

Wh=0

f max = 19.62 15.7 (0) = 19.62 N

19.63N f 19.62 N W

WG

K2mK
100%K

Kg=9.81m/sec2=1000kg/m3K

P=.g.hW
Pmax=(1000)x(9.81)x(2)=1.962x104pa=19.62kpa

WGamma radiation J J

K
- -

EF

W J

.Geiger-MullerK

W J

- -

EF

W J

K
Q = V

WEm3/secF

WtWVW
W
Q = A.v
WvWA
Qm = .Q

WEkg/secF

WW

W J J

Orifice

KOrifice flow meter

W
Q = K . P

KK
K

KK
K
- -

EF

W J

W J J

magnetic sensing coilK

WK
V=K.N
WKWVW
WQ

Q=V/t=K.N/t =K.f

f=N/t

- -

fW

EF

FW J
E

W J J

W J
- -

EF

KK

- -

EF

W J
W J J

FKW

radiandegree FKEmeter (m)

KE{1rad=1808/

WPotentiometer J

KK

WEF J WEF J

W EoutEs
Eout=(x/L).Es
W EoutEs

Eout=(/L).Es
Wresolution of potentiometer

NResolution (%)=100/N

- -

EF

WLinear Variable Differential TransformersELVDTF J

K
K

X:

LVDTW J

WOptical Encoder J

Incremental encoder

KKcode disk

KK
K

KK

K J
- -

EF

incremental encoderW J

W J

KK

- -

EF

W J

x=(.d.NT)/NR
WNRWNTWdWxW

binary numberbit

WK
2n=

2n1=EresolutionF

K==NW

- -

EF

EaFE bF

EbFEaFW J

WG

5.91cmK

K180180
W

NT=700 J

NT=2220 J
WG

:xp

xp=(d)/NR=(x0.0591)/180=0.00103
xT=0.00103xNT

XT=(0.103)(700)=0.722=72.2cm
XT=(0.103)(2220)=2.29m=2.29cm

- -

xT:
WNT=700 J
NT=2220 J

W J J

EF

K
K

WG

Wdc tachometer J

W J

Karmature

commutator
K2211

E1808F

K
K
- -

EF

E=KE.S=(30.KE.)/
KE=(2RBNL)/60W

EVoltF=E

Evolt/rpmFL=KE
Erev/minFL=S

Erad/secFL=
EmF=R

Eweber/m2FL=B
=N

EmF=L

WWG
R=0.03m, B=0.2Wb/m2, N=220, L=0.15m
WKE
S=1000rpm,S= 2500rpm, S=3250rpm
W

KE=(2RBNL)/60=(2(0.03)(0.2)(220)(0.15))/60=0.0207V/rpm
W1000rpm
E=(0.0207)(1000)=20.7V
W2500rpm
E=(0.0207)(2500)=51.8V
W3250rpm
E=(0.0207)(3250)=67.3V

WAc tachometer J

Fthree-phase

KrectifierE

Fnon linear
- -

EF

110001100KE0.7V
KbrushesK

WG

1000K

1000x10E10F600rpmK10ms

K10ms100=10000x0.01K10000=
K600100
S=(60.C)/(N.TC)
C=(S.N.TC)/60

=S
=N

TC=C
=TC
W

K2000
- -

EF

L1200 J

K5ms

K5ms224 J
W

C=(1200).(2000).(0.005)/60=200 J

S=(60).(224)/(2000).(0.005)=1344 rpm J

W J J

WNewton's law of motion

F = m.a
W

ENFENewtonFM=F

EKgF=m

Em/sec2F2L=A

F
K

null balance method

Kdisplacement method

WEFStrain gage J

K
KL

- -

EF

KF

Force

EVoltsF

Strain gageWEF J

WEF J

W
S = 6 fL2
bh

W
- -

EF

EN/mF=S

ENF=F

EmF=L

EmF=b
EmF=h

RR

.f
R = 6GL
2
R

bh E

EohmF=R=R
K=E=G
G =

R
L

KWLWL
WE

- -

E(N/m2)

6.9x1010
2.9x1011
1.1x1011

7.8x1010
2.1x1011
1.8x1010
2.1x1011
7.1x1010
7.7x1010
4.1x1011
7.9x1010

EF

W J

K
K

EpFKK
W

=(p-3)A
=AEpound/inch2F=pEpoundF=W

KEinch2F

K15psi3K3psiWEp-3F

W J

W J

b=1cmSmax=3.5x108N/m2WE=2x1011N/m2W

KL=4cmh=0.2cm

- -

EF

W J

KR=120 ohmW2=

max

KRmax

W
f max = S max .b.h
6L

(3.5 10 8 )(0.01)(0.002) 2
= 58.3 N
(6)(0.04)

Rmax = R. 6GL
.f
2
bh E

(6)(2)(0.04)
= 120
(58.3) = 0.42 ohm
2
11
(0.01)(0.002) (2 10

KA=2.1 in2W

= ( p 3) A = (15 3)(2.1) = 25.2lb

- -

EF

WTransducer J
W J

W J
W J

G
+

24V

4-20mA

G
+

24V

4-20mA

G
+

+
4-20 mA

W J
- -

EF

W4-20mA

KG

KG

W J J

EFE+FE+F

KE-FE-F

24V

W J

W J

Wmicrocontroller
- -

EF

WG

WG

K J

K J

W J

WG

K J

W J

W J

W J

1078CK
K938C
- -

EF

100%0W J

W J

K
F(LVDT)

FE
KE

Potentiometer

Piezo-crystalsThermocouple

TachometerSynchrosPhoto-electric cells

KKKK

KEF

W J
- -

EF

Transmitters

Electro-Electro-pneumatic

hydraulic transmitters

KServomotor

W J

W J

- -

EF

W J

Integrated

(IC Op.Amp.)circuit operational amplifiers

- -

EF

WG

WG
K J

WG
K

KWG
KWG
KWG

KWG

- -

EF

J J
J

J
J

J
W

potentiometer

K0.2%resolution
W

loading E%FKRp=100000potentiometer

Werror

Loading error(%)=100[(a2r(1-a))/(1+ar(1-a))]W
r=Rp/RL

Ka=0.75a=0.5a=0.25RL=1000 J

Ka=0.75a=0.5a=0.25 RL=10000 J
Ka=0.75a=0.5a=0.25 RL=10000 J

K16

- -

EF

2000K10cm

K6.3mW

Wdc tachometer

L=0.25mN=120B=0.22Wb/m2R=0.025m

K50000KE

E=2x1011N/m2WW J

max=5x108N/m2W J

KL=6cmh=0.25cmb=1.25cmW J

K2002W J

KRmaxFmax

K15psi050lb0

K

15psi

50N

- -

EF

256K10cm

KENRF

K2mENTF J

K20m J
W

E=2.9x1011N/m2WberyliumW J
max=10x108N/m2W J

KL=12cmh=0.4cmb=2.1cmW J

K3002W J

KRmaxFmax

K
W

W208CNickel
L
R =
A
47==EohmF208C=RW

KEfootF=LEmils2F=A

K208C100

KE4milsF0.004in

W
E=E0+a1T+a2T2
=E0EVFT8C=EW
8C=TEVF08C

KWa2a1

- -

EF

a2a1E0W

WEiron-constantanF
EmAF
EmVF
E8CF
10.0
0
0.00
19.7
50
2.61
29.6
100
5.28
39.7
150
8.01
50.0
10.77
200
K508Ca2a1E0W2008C1000
W

K0.5gal

0.5gal
E%F
25
6.63
50
4.78
75
3.95
3.45
100
gal/min
K E0.5galF

Q = K sp
=KEgal/minF=QW
E%F=sp

KK13K
Ksp

- -

EF

KK=34.1cm3/pulse

8200 J

32060 J
680 J

K21015

21cm2 = J

200N/cm= J
10N/cm= J

K2cm

4cm2 = J

400N/cm= J
25N/cm= J

K50N/cm20

M=6.5kgW J

A=50cm2W J

L=4mW J

- -

EF

J JW

WG

500=NWG
WG

65536=WG

K40107=1.571x10-4=WG
E=0.01728SWL0.01728=KEWG
Rmax=1108.5N=WG
A=4.17in2WG

14= J1629=NT JWG

Rmax=2466.66N=WG
KWG

26.73=LWG

KE(508C)=2.61mVE=0.05175T+1.05x10-5T2WG

WG

Egal/minF
0.0754
0.1266

E%F
25
75
WG

K 0.5gal
0.01508
0.01479
0.014616
0.014492

6.63
4.78
3.95
3.45

E%F

25
50
75
100

K=(0.01508+0.01479+0.014616+0.014492)/4=0.0147445WK
Q=0.0147445x(sp)1/2W

WG

KV=1.09m3N=32060 J
WG

- -

EF

Q=1331.52cm3/sec J

Q=5205.93cm3/sec J
Q=110.41cm3/sec J

K200Kpa0WG
0.47cm=WG

KFmax=63.8NFmin=-132.4NWG

- -

EF

J J
W
W
W

KG

WG

K J

K J

K J

K J

K G

KW

KW

W
K J
K J
K J

- -

EF

KDifferential equation
K

W J

W
K J

KRC J

W J

W
Qin
W

RL

W J

Qout
W

KEQin=QoutF
KKEQin>QoutF

KKEQin<QoutF

- -

EF

WVt
V

= (q q ) .t
in

out

avg

WEhF

EmF h

V ( q q ) .t
=
A
A
in

out

avg

KtEhF

0.0026m/sec=0.26/100W100sec0.26m
W

Em/secF

h (q q )
=
t
A
in

out

avg

WEdtFt

dh
+ h = Gq
dt
dh (q q )
h

W
0t
=
dt
A
t

in

in

out

W
3

Em /secF qout

gh
R

=gkg/m =m /sec=qoutW
Pa.sec/m3=RLmWhm/sec2

gh

in

dh
R
W

=
A
dt
A dh R
R
= q h W
g dt g
L

in

W
- -

EF

E1F
sec/m2 G

dh
+ h = Gq
dt

in

R
RA
EsecF =
W
g
g
L

WRC J

WCR

Ein

Eout

RCW J

KREEin-EoutFi
i

E E
R
in

out

KCi
i
E2F

=C

dE
dt

out

dE
+ E = E W
dt
K = RC
out

out

in

- -

EF

W J

PinFaK

WAK

Fa=Pin.A

FIW

KFCFR

Fa=FI+FR+FC
2

W
2

d x
d x
F = m
W
= W
dt
dt
dx
F = R
WFR
dt
x
F =
WFC
C
d x
dx 1
E3F p A = m
+R
+ x W
dt
dt C
2

in

KE2FE1FE3F
dh/dtE1F

Kdx/dtE3FdEout/dtE2F

- -

EF

Fa

Cm

Rm

WG

Kg=9.81m/sec2=880kg/m3A=1.85m2RL=5.62x105Pa.sec/m3

Kqinhdh/dt

R A (5.62 10 Pa.s )(1.85m )

=
=
= 120 s
g
(880 )(9.81 )
(5.62 10 Pa.s / m )
R
G =
=
= 65.1s / m
g (880kg / m )(9.81m / s )
dh
120
+ h = 65.1q
dt
5

kg

m3

m
s2

in

W J

K
W J
Wt o(t)
- -

EF

s 0 f (t )e st dt F ( s ) =

KF(s) = [(t)](t)F (s)

Time domain

Frequency domain

Algebric equation

Differential equation

W J

(t) = KW

e
F ( s ) = [K] = f (t )e dt = Ke dt = K
s

K
K
K
= (e e ) = (0 1) =
s
s
s
st

st

st

(K) =

K
W
s

W J
WF(s) (t)
(t)

= [ F ( s )]
1

K

s = K W
1

- -

EF

(t)
K

W J
W

Ka,b a.[ f1 (t )] + b.[ f 2 (t )] = [af1 (t ) + bf 2 (t )]W J

df
[ ] = s.[ f (t )] f (0) = s.F ( s ) f (0) W J
dt
2
df (0)
d f
2 = s.[ f (t )] f (0) = s 2 F ( s ) sf (0)
W J
dt
dt
[ 0 f (t ) dt ] =
t

[ f (t )] F ( s )
=
W J
s
s

lim s.F ( s ) Lim f (t )

W J
=
s0
t

F(s)
1

f(t)
(t)

W J
f(t)

EKF

Kt

a>0

s
K2
s

K

s+a
K

.s + 1
a

s(s + a)

K .e

at

K .e

1 e

>0

at

a>0

- -

EF

K
K (1 e )

s ( .s + 1)
K . sin( t )
K

s +
K . cos( t )
Ks

s +
K
K .e .sin t

( s + a) +
K ( s + a ) K .e . cos t

( s + a) +
K
K .t.e

( s + a)
t

sin

cos

>0

at

sin

cos

at

at

W J

K J

WW J

- -

EF

KKKK

W
y

HH

WEF

HH
HH

W J

E(s)

G(s)

U(s)

- -

EF

U ( s)
= G ( s ) W
E ( s)
WG

U (t ) = 1 e t

U (t ) = 1 e t

E(t)=1

W J
1
E ( s ) = [e(t )] = [1] =
s
U ( s ) = [e(t )] = [1 e t ]
1
1
=
U(s)W
s s +1
1
U ( s ) =
W
s ( s + 1)
W J
U ( s)
s
1
1
=
G(s) =
. =
E ( s ) s ( s + 1) 1 s + 1
1
W
G ( s) =
s +1
W J
E(s)

U(s)
G1 ( s )

W J J

G2 ( s)

U(s)

E(s)

G1 ( s ).G 2 ( s )

- -

EF

W J J
W

y
G(s)

H(s)

G ( s)
1 + G ( s) H ( s)

WH(s) =1G
e

G(s)

G ( s)
1 + G(s)

WG
e

v(s)

y(s)

G(s

H(s
- -

EF

e = v-zW:

G ( s) =

y ( s)
WWG(s)
e( s )

z ( s)
WWH(s)
y(s)
G ( s) H ( s) = z ( s) WWG(s).H(s)
e( s )
G ( s) = y ( s) WW G ( s)
1 + G ( s) H ( s ) v( s)
1 + G ( s) H ( s)

H (s) =

W J J

y( s) = ? W
v( s)

v1

e2

e1

y(s)

v(s)

s +1
s

K1

1
2s + 1

K2

K1

v1

e2

e1

s +1
s (2s + 1)
K2

- -

EF

y
G
=
e1 1 + GH

KH(s)=K2 G =

s +1
W
s (2 s + 1)

s +1
y = G = s(2s + 1) W
K 2( s + 1)
e1 1 + G.H
1+
s (2s + 1)
s +1
y=
W
e1 s(2 s + 1) + k 2( s + 1)
y = 2 s +1
W
e1 2s + s (k 2 + 1) + k 2

e1

v1

s +1
2s + s (k1 + 1) + k 2

K1

y
G
=
v1 1 + GH

s +1
W
2s + s (k 2 + 1) + k 2
s +1
2
2 s + s(k 2 + 1) + k 2
y= G =
W
s +1
v1 1 + G
1+ 2
2 s + s (k 2 + 1) + k 2
s +1
y= 2
W
v1 2s + s (k 2 + 1) + k 2 + s + 1
s +1
y= 2
W
v1 2s + s (k 2 + 2) + k 2 + 1

H=1 G =

W
v1

v
K1

s +1
2
2s + s (k 2 + 2) + k 2 + 1

- -

EF

W
y
= G1 .G2
v

v

k1 ( s + 1)
2
2 s + s ( k 2 + 2) + k 2 + 1

W J J

WG

W
dh
+ h = Gqin

dt
W
H ( s ) = [h(t )]
dh
= sH ( s )
dt
W
sH ( s) + H ( s) = GQin ( s)
H ( s )[s + 1] = GQin ( s )
G
Qin ( s )
s + 1
H ( s)
G
=
Qin ( s ) s + 1

H ( s) =

- -

EF

H ( s)
Qin ( s )
WG

W
dE
out + Eout = Ein
dt
W
E
1
out =
Ein 1 + s
WG

W
d 2x
dx 1
Pin A = m 2 + Rm
+
x
dt
dt C m
W
AC m
x
=
Pin 1 + Rm C m s + mCm s 2

- -

EF

J J

(t)=12 J

f (t ) = 2 + e 2t
f (t ) = 2 sin 4t

f (t ) = 120 cos 377t

(t)=27t J

f (t ) = 89.e 2t sin 1000t J

f(t)=12.3+t+5e-4t J

WG

KF(s)=12/s J

F(s)=2/s+1/(s+2) J
8

s + 16
377
F(s)= 120

2
s + (377) 2

F(s)=

J
J

F(s)=27/s2 J

89000

(s + 2) 2 + 1000000
F(s) = 12.3 + 12 + 5
s
s+4
s

F(s)=

J
J

F ( s) = 27.5 J

- -

S
8
F ( s) =

s+5
19.6 s

F ( s) = 2
s + 2500
17.4

F ( s) = 2
2 s + 32 s + 128

J
J
J

EF

F ( s) =
F ( s) =

350

( s + 2) 2 + 10000

K1
K2
8( s + 1)
=
+
J
( s + 2) 2 s + 2 ( s + 2) 2
WG

f(t)=27.5 W J

f(t)=8e-t W J

f(t)=19.6cos50tW J

8.7
8.7
=
s + 16s + 64 (s + 8) 2
f(t)=3.5e-2tsin100tW F(s) = (3.52)(100) 2
(s + 2) + (100)

f(t)=8.7te-8tW F(s) =

J
J

8( s + 1) = K 1 ( s + 2) + K 2 W ( s + 2) 2 W J
K2=-8W-2sW

K1=8WK2W
8
8

F ( s) =
W
s + 2 ( s + 2) 2
f (t ) = 8e 2 t 8te 2 t W

W
W

d 2 x(t )
dx(t )
f (t ) = 8
+ 12
+ 7 x(t )
2
dt
dt

x(0)=0 J

dx(0) = 4 x(0)=6 J
dt

x(0)=0W f (t ) = 5.5 dx(t ) + 24.2 x(t ) + 4.8 x(t )dt J

dt

WG

F(s)=8s2.X(s)+12s.X(s)+7.X(s)W

WPID Controller--
- -

EF

i = Ke + KTd

de K
+
e.dt
dt Ti

KEmilliampereFWi
KEvoltFWe

KWK

KWTd

KWTi

WI(s)/E(s)W
.Ti=2.2 Td=0.008 K=3.6
WG

I(s) = K.E(s) + KTd .s.E(s) + K . E(s) W

Ti

I(s) / E(s) = K (1 + Td .s +
I(s) / E(s) = 3.6(1 + 0.008s +

1
) W
Ti .s

1
) W
2.2s

X ( s)

I ( s)
W

d2X
dx
0.0001 2 + 0.02 + x = 0.3i
dt
dt
KEmAF= i EinchF = x W
X ( s)
0.3

W
=
I ( s ) 0.0001s 2 + 0.02 s + 1
W

- -

EF

R(s)

C(s)

20
s+5

5
s

C (s)
20 s
= 2
WG
R( s ) s + 5s + 100
W

W
C(s)

R(s)

10

1
s

s + 20
s

1
s

20
s +1
s+2

C ( s)
10( s + 2)
= 3
WG
2
R ( s ) s + 20 s + 41s + 2

- -

EF

J J
W

W

KG

KG

KG
KG

KW

KW

W
K J
K J
K J

- -

EF

K
W J

W J

W
dy (t )
E1 J4Fy(0)=y0t=0
+ ay (t ) = bx(t )
dt
W
dy (t )
E2 J4Fy(0)=y0t=0
+ y (t ) = Gx(t )
dt
Wb a
1
E = FW
a
b
E G = FWG
a
Wy0
WE1 J4F

sY ( s ) y + aY ( s ) = bX ( s )
0

( s + a )Y ( s ) = y + bX ( s )
0

1
1
+b
X ( s ) W s + a
s+a
s+a

bE
E
Y
s
=
(
)
X ( s) =
b
s ( s + a ) Wy0=0W
s
X(s)
s+a

Y ( s) = y0

W
bE
bE / a bE / a
=

Y ( s) =
s( s + a)
s
s+a
WtY(s)
- -

EF

Y (t ) = GE (1 e t / )
W

0.99GE

0.98GE

0.95GE

0.86GE

0.63GE

t
Y(t)

WE4.34.24.1FW

=1/aWWTime constantEF J
63%

WRise Time(TrF J

90%10%

K y ()

Tr

2.31 0.11 2.2

=
= 2.2
a
a
a

Yss=GE
0.98GE

0.63GE

=1/a

Tr
Ts

=1/5=0.2seca=5W J
- -

EF

WSettling TimeETsF J

KE2%F
4
Ts = = 4
a

WG

dy (t )

+ 2 y (t ) = 10 x(t ) W
dt
KTsTr

W
sy ( s ) + 2 y ( s ) = 10 x( s )
y ( s )
10
5
=
=
x( s ) s + 2 0.5s + 1
Y ( s )

5
1
W
(
)
W

X
s
=
=
s
(0.5s + 1) s
y (t ) = 5(1 e 0.5t ) = 5 5e 0.5 t W

y (t = ) = y ss = 5 W
y (t ) = 5e 0.5 t W

KTr=1.1sTs=2s=0.5sW

W J
W

=1/aWG

Ts=4 WEFG
y ss
- -

= GE WG

EF

W Egain coefficientFG

KG=yss/E

W J

KR=500s/m2WA=1m2W

G J

Qin(t)=210-4m3/sW J
K

dh(t )
+ h(t ) = RQin (t ) W J
dt
dh(t )
500
+ h(t ) = 500Qin (t )
dt
J
dy (t )
=500sW
+ y (t ) = Gx(t )
dt
G=500W J

WRA AR

h(t )

= GE (1 e ) = 500(1 e
t /

0.002 t

) W J

Kh(t=)=hss=500

- -

EF

Step Response

500
450
400
350

Amplitude

300
250
200
150
100
50
0

500

1000

1500

2000

2500

3000

Time (sec)

W J

- -

EF

W -

W J

W
b
a = 2n n2 = b G ( s ) = 2
s + as + b
W

..

d y (t )
dy (t )
2
2
+
2

y
(
t
)
=

x(t )
n
n
n
dt
dt 2
Damping ratioW
2

frequency n

KUnderdamped system<1 J

.Critically damped system 1 J

=0 J
Step Response

0.08

0.07

0.06

Amplitude

0.05

0.04

0.03

0.02

0.01

Time (sec)

<1W J
- -

EF

Step Response

0.05
0.045
0.04
0.035

A m p litu d e

0.03
0.025
0.02
0.015
0.01
0.005
0

0.5

1.5

2.5

Time (sec)

1W J

=0W J

W J

W
- -

EF

Analytical expression
= e /

1 2

tp =
Td

1 0.7

n 1

Index

Maximum overshoot J

0 < <1

.100%

tp J

Delay time Td J

0 < <1

1 + 0.6 + 0.15 2

, 1
n
0.8 + 2.5
Tr
,
0 < <1
n

1 + 1.1 + 1.4 2
Tr
, 1
n
Td

Ts
=

Rise time Tr J

Settling time Ts J

= 4
n

A1 A2
= 1 e ( 2 /
A1

Damping index J

1 2

A1

A2

W J
- -

EF

W J

Kc k

Km

W
..

KEF m. x

KEFW

d 2 x(t )
dx(t )
+c
+ kx(t ) f = 0 (1)
m
2
dt
dt

WE1F

ms 2 x( s ) + Csx( s ) + kx( s ) f ( s ) = 0

(ms 2 + Cs + k ) x( s ) = f ( s )
1
1
x( s)
m

=
=
2
f ( s ) ms + Cs + k s 2 + c s + k
m
m

- -

EF

C
0 =
Cc

k
W
m

Cc = 2 km W
KW

KW 0

KWCc

1
m

02
x( s)
1
W

=
=
f ( s ) s 2 + 20 s + 02 k s 2 + 20 s + 02

f(s)

1
f(s)=
s

02
1
k s 2 + 2 0 s + 02

x(s)

x(t)=?

02
W
K 2
s + 2 0 s + 02

WG

Kf(t)

02
x( s ) =
Wx(s)
s ( s 2 + 2 0 s + 02 )

x(s)

K x(t)

= 2 02 02
= 02 ( 2 1) W
- -

EF

(over damped system)W > 1 > 0 W J

W s 2 + 2 0 s + 02 W
s1 = 0 + 0 2 1 = 0 ( + 2 1)

s 2 = 0 0 2 1 = 0 ( 2 1
02
A
B
C
= +
+
x( s ) =
s ( s s1 )( s s 2 ) s s s1 s s 2
x(t ) = 1 + Be s1t + Ce s 2 t
s2
s1
C =
B =
A=1 W
s1 s 2
s1 s 2

(critically damped system) = 1 = 0 W J

W s 2 + 20 s + 0 W
s1 = s 2 = 0

02
A
B
C
x( s ) =
=
+
+
s ( s + 0 ) 2 s s + 0 ( s + 0 ) 2
x(t ) = 1 e t (1 + 0 t ) E = 1F
0

(Under damped system) < 1 < 0 W J

W s 2 + 2 0 s + 2 0 W
s1 = 0 + j 0 1 2
s 2 = 0 j 0 1 2
x( s ) =

02

s[( s + 0 ) 2 + 02 (1 2 )]

x(t ) = 1

A
Bs + c
+
s ( s + 0 ) 2 + 02 (1 2 )

1
e t . sin 1 2 0 t + Q ( < 1)
2
1
0

- -

EF

Q = arctg

1 2

1000WE tr F
Q
W
t r =
0 1 2

W ( M p )

M p = e

1 2

WW (t p )
tp =

0 1 2

0 0 5 (t s )
3
ts =
W

W J

W J

- -

EF

di
+ Ri + K e = e W
dt
d
E2F J
+ B = W
dt
E3F K t i = W

E1F L

d
+ B
dt
i =
WE3FE2F
Kt
W
d 2
d
a2 2 + a1
+ = Ge
dt
dt
J
K m = W
B
L
K e =
R
J

RB

K
( + ) RB
a =
,a =
,G=

K K + RB
K K + RB
K K + RB
m

Ekg.m FWJ

EN.m.s/radFWB

EHFWL

EFWR

EN.m/AFWKt

EVFWE

Erad/sFW

EV.s/radFWKe

W
0 =

- -

a
a
1
, = 1 , = 1
2a 2
a2
2 a2

EF

WG

W
J = 6.2 10 4 kg.m 2 , B = 1.0 10 4 N .m.s / rad , L = 0.02 H , R = 1.2

K t = 0.043N .m / A , K e = 0.043Vs / rad

W

K J
W

m=J/B=6.210-4/1.010-4=6.2s J

e=L/R=0.02/1.2=0.0167s J

a2 = 0.0063, a1 = 0.379 , G = 21.8 W J

d 2 (t )
d (t )
0.0063
+
0
.
379
+ (t ) = 21.8e(t ) W
dt 2
dt
W J

0 =

1
1
=
= 0.0794
0.0063
a2

a1
0.379
=
= 2.387
2 a2 2 0.0063

W J

0.0063s 2 + 0.379s + 1 = 0
W=(0.379)2-40.00631=0.137>0W

- -

EF

(0.379 0.137 )
= 57.393
2 0.0063

(0.379 + 0.137 )
r1 =
= 2.765
2 0.0063
WE>1F
r1 =

r2
r1
bE
rt
rt
1
e
e
+

02 r1 r2
r1 r2

E=5V0r2r1(t)

y (t ) =

Wb=21.8EF

(t ) = 137.27[1 + 0.05e 57.39 t 1.05e 2.76 t ]

Step Response

140

120

Amplitude

100

80

60

40

20

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

Time (sec)

W J

- -

EF

J J

W
y(s)

e(s)

v(s)

100
3s + 1

Tr y( s)
v( s )

KTs

WG

100
y(s)
100
0.99
1
= 3s + 1 =
=
= 0.99(

)
100
v( s)
3s + 101 0.0297 s + 1
0.0297 s + 1
1+
3s + 1
K0.118=40.0297=Ts0.065=2.20.0297=Tr0.0297=W

WK

y(s)

v(s)

100
S2

KS

- -

EF

y( s)
WW
v( s)
WG
100
W KS 2 W
S
100
100
100

2
= 100S
=
S ( S + 100 K ) S + 100.KS 1 + S .KS
100
W
W1
S ( S + 100 K )
100
100
S ( S + 100 K )
100
y( s)
2

=
=
=
100
S + 100 KS + 100 S ( S + 100 K ) + 100
v( s)
1+
S ( S + 100 K )
K

W n J
36
G ( s) = 2
s + 4.2 s + 36
KTsTrTd J

WG

K=0.35<1 2 n = 4.2 n = 6 n2 = 36 J

Tr=0.279Td=0.125=36%W J

K=0.178Ts=1.42
W

W
12
J
G ( s) = 2
s + 8s + 12
16
J
G ( s) = 2
s + 8s + 16
- -

EF

G ( s) =

20
J
s 2 + 8s + 20

02
G ( s) = 2
WWG
s + 2 0 s + 02
W

>1=1.155
J
=1
J
<1=0.894
W

W
dy (t )
t0
+ 10 y (t ) = 50
dt
W

y (t ) = 1 e 0.1t G=5=0.1W
W

W
d 2 y (t )
dy (t )
t0
+
3
+ 2 y (t ) = 2
dt 2
dt
W

G J

K J3

- -

EF

0=1.414=1.06 J

G=1W J

y (t ) = 1 e 2 t + e t J
W

Tr J

Ts J

Mp J

KG=1 JMp=16% JTs=0.9sec JTr=0.28sec JW

- -

EF

J J
W

W
W

KG

KG
G

G
G


KW

W
K J
K J
K J

- -

EF

EF

IP

PIDDPI
K

WAstatic and Static systems J

Static systemsAstatic systemsW

K J

W J
- -

EF

EFQ

QK

QEhF

KQh

Degree of statismStatic systems

=

hmax hmin
hmin

K
A,B

Astatic systemh0h

Qh

KESteady stateF

k/s

IntegratorsOrder of astatism
K

WClassical controllers

P-controllersStatic controllersG
KPD-controllers J

- -

EF

I-controllersAstatic controllersG

PID- J JPI-controllers J

KFirst order astatismcontrollers

W J

EF

Steady state FK

KEerror

KWG

W
e( s )
1

=
( s) 1 + G( s) H (s)
( s)
e( s ) =
W
1 + G ( s) H ( s)
Ke(s)
e(s)

v(s)W

y(s)

G(s)

H(s)

W
- -

EF

e ss = lim
s.e( s ) = lim
s
s 0

s. ( s )
1 + G ( s) H ( s)

1
W ( s ) = (t )
s
1
s.
s
e ss = lim
s 0
1 + G ( s) H ( s)
1
1
=
W
e ss =
1 + G (o ) H (o ) 1 + k p

Kp= G(o). H(o)W

(Position error constant) WKp

W J

W J

e(s)

v(s)W

y(s)

100
3S + 1

K K

K v(t ) K

WG

W K

- -

EF

100
100
100
100
y(s)
3s + 1
3s + 1
= 3s + 1 =
=
= 3s + 1
100
3s + 1 100
3s + 1 + 100 3s + 101
( s)
+
1+

3s + 1 3s + 1 3s + 1
3s + 1
3s + 1
y( s)
100

=
( s) 3s + 101
y( s)
k
K
W

st + 1
( s)
W 101W
y ( s)
0.99
k

=
=
( s) 0.0297 s + 1 st + 1
0.0297 = W

W ess J
1
1
e ss =
=
1 + G (o ) H ( o ) 1 + G ( o )
100
G ( s ) =
WH(s)=1W
3s + 1
kp=100W G (o) = 100 W
1
e ss =
= 0.0099 W
1 + 100

W J

W
e(s)

v(s)

100
S2

KS

y(s)

- -

EF

KkW

WG

y( s)
JE
( s)
v(t ) W JE

EovershootF k JE
K

WG

K
W

W
100
2
y( s)
s

=
=
100ks s 2
e( s )
1+
s2

100
100
s2
= 2
+ 100ks s + 100ks
s2

y(s)

e(s)

v(s)

100
S + 100 KS
2

W
100
100
2
y( s)
+ 100ks =
s + 100ks
s

=
2
100
s + 100ks + 100
( s)
1+ 2
s + 100ks
s 2 + 100ks
- -

EF

y( s)
100
= 2
( s) s 100ks + 100
K

e( s )
=
( s)

1
100
1+ 2
s + 100ks

W
s ( s + 100k )
= 2
s + 100ks + 100

1
W ( s ) = 2
s
( s + 100k )
s ( s + 100k )
1
e( s ) = 2 . 2
=
s s + 100ks + 100 s ( s 2 + 100k + 100

W
ess = lim
s.e( s )
s 0
s.( s + 100k )
s ( s 2 + 100ks + 100)
100k
=

100

= lim
s 0

ess= k

- -

EF

W J

W J

K t

Waveform

Name

Unit Step

Physical
interpretation

Constant position

Time function

1

1
s

Unit Ramp

Constant velocity

Constant acceleration

Parabola

1 t2

1
s2

1
s3

- -

EF

W J

W
E(s)

V(s)

Y(s)

G(s)

k p = Lim
G (s) :(v(t)=1FkpG
s 0
k v = Lim
s.G (s) :(v(t)=tF kvG
s 0
k a = Lim s 2 .G (s)
s 0

:(v(t)= 1 t 2 F kaG
2

W J

Wstep J
e() = e step () =

1
1
=
1 + Lim G (s) 1 + k p
s 0

Wramp J
e() = e ramp () =

1
1
=
Lim s.G (s) k v
s0

Wparabola J
e() = e parab () =

1
1
=
2
Lim s . G (s) k a
s 0

- -

EF

Type 0 Type 1 Type 2

Static
Static
Static

error Error
error Error
error
Error

constant
constant
constant
kp=
0
kp=
0
kp= 1
1

1
kv

kv=0

kv=

1
ka

Ka=0

Ka=0

Input

1+ kp

1W

tW
W

1+ kp

1
kv

kv=

ka=

1
ka

1 t2
2

W J

Gp(s)G

Gc(s)G

W J

W
- -

EF

G(s)=Gc(s)Gp(s)
W
Gc ( s ) G p ( s )
C ( s)
E JF
=
R ( s ) 1 + Gc ( s ) G p ( s )

W
R( s)
E JF E ( s ) =
1 + Gc ( s ) G p ( s )
WP-controller J
p (t ) = K p e(t ) W

P( s ) = K p E ( s ) W
P( s)
E JF
= Gc ( s ) = K p W
E (s)
R0

R( s ) =

R0
WG
s

1
WG
s +1
WE JF
R
1
s +1
E ( s) =
0 = R0
1
s
s ( s + 1 + K p )
1+ Kp
s +1
W
R0
s +1
ess = lim
=
sE
(
s
)
lim
sR
=
0
s 0
s 0
s ( s + 1 + K p ) 1 + K p
G p ( s) =

Kp
K

- -

EF

1
WWG
s +1
K p = 2 , K p = 5 , K p = 10 W

r (t ) = 1W G p ( s ) =

0.91
0.83

0.66

W J

WI-controller J
p (t )

= K e(t )dt W
t

KI
W
s

Gc ( s ) =

WR0

R( s ) =

R0
WG
s

- -

EF

1
WG
s +1
W
R
1
s ( s + 1)
E ( s) =
0 = R0
K
1
s
s ( s 2 + s + K I )
1+ I
s s +1
W
s ( s + 1)
ess = lim
(
)
=
lim
=0
sE
s
sR
0
2
s 0
s 0
s ( s + s + K I )

G p ( s) =

K
1
r (t ) = 1W G p ( s ) =
WWG
s +1
K I = 0.1 , K I = 0.2 , K I = 0.3 , K I = 2 W
W

W J
- -

EF

WPI-controller J

p(t ) = K p e(t ) + K I 0 e( )d W
K s + KI
Gc ( s ) = p
W
s

WR0

R0
W Ki
s

R( s) =

1
W Kii
s +1
W
R
1
s ( s + 1)
E ( s) =
0 = R0
K ps + KI
1
s
s[ s 2 + s( K p + 1) + K I ]
1+

s +1
s
W
s ( s + 1)
ess = lim
(
)
=
lim
=0
sE
s
sR
0
s 0
s 0
s[ s 2 + s ( K p + 1) + K I ]
G p ( s) =

1
WWG
s +1
W

r (t ) = 1W G p ( s ) =

KI = 2 , K p =1

KI =1 , K p =1

KI = 1 , K p = 2

- -

EF

W J

WPID-controller J
W

p (t )
Gc ( s ) =

= K e(t ) + K e(t )dt + K

KDs2 + K ps + KI

de(t )
dt

W
s

WR0
R
R( s ) = 0 WG
s
1
WG
G p ( s) =
s +1
W
- -

E ( s) =

1+

1
2
KDs + K ps + KI

EF

1
s +1

R0
s ( s + 1)
= R0
s
s[( + K D ) s 2 + ( K p + 1) s + K I ]

W
s ( s + 1)
ess = lim
(
)
=
lim
=0
sE
s
sR
0
s 0
s 0
s[( + K D ) s 2 + ( K p + 1) s + K I ]

1
WWG
s +1

r (t ) = 1W G p ( s ) =

K I = 2 , K p = 1, K D = 0.2 K I = 1 , K p = 1, K D = 1
Step Response

1.1

K I = 1 , K p = 1, K D = 2

Step Response

1.2

1.1
0.9

0.95
1

0.8

0.9

0.6
0.5

0.9

Amplitude

Amplitude

Amplitude

0.7

0.8

0.8

0.7
0.7

0.3
0.6

0.65

0.2
0.1

0.85

0.75

0.4

Step Response

1.05

10

15
Time (sec)

20

25

30

0.5

10

15

20

25

30

Time (sec)

10

15

20

25

30

Time (sec)

W J

u = K p e + K I e.dt + K D

K
de
U ( s) = K p + I + K D s
s
dt
- -

EF

Kp
Ki
Kd

WPID
K z
K z

K z

K z

KdKiKpW z

WWG

W J
d 2x
dx
M 2 + b + kx = F W J
dt
dt
2
Ms X ( s ) + bsX ( s ) + kX ( s ) = F ( s ) W J
X ( s)
1
WF(s)X(s) J
=
F ( s ) Ms 2 + bs + k
- -

EF

M=1kgW z

b=10N.s/mW z

k=20N/mW z

F(s)=1W z

1
X (s)
W
= 2
F ( s ) s + 10 s + 20
WKdKiKpW

G
G
G

1
X (s)
W J
= 2
F ( s ) s + 10 s + 20

W J

WProportional control J

EKpF z
K

W z
- -

EF

KP
X ( s)
= 2
F ( s ) s + 10s + (20 + K P )
WKp=300W

W J

z
K

WProportional-Derivative control J J

z
W
KDs + KP
X (s)

= 2
F ( s ) s + (10 + K D ) s + (20 + K P )
WKd=10Kp=300W z

- -

EF

JW J

WPI control J

WPID z
KPs + KI
X ( s)

= 3
F ( s ) s + 10 s 2 + (10 + K P ) s + K I
WKd=50Ki=300Kp=350W z

J JW J

K z
- -

EF

J J

E(s)

Y(s)

V(s)

500( s + 2)( s + 5)
( s + 8)( s + 10)( s + 12)

K(kp,kv,kaF J

K J

WG

500 2 5
= 5.208 W J
8 10 12
k v = Lim
s.G ( s ) = 0 W
s 0

k p = Lim
G ( s) =
s 0

k a = Lim
s 2 .G ( s ) = 0 W
s 0
.type 0E JF J

W J
1
1
e() = e step () =
=
= 0.161
1 + Lim
(
)
1
+
G
s
k
p
s 0
e() = e ramp () =
e() = e parab () =

1
1
=
=
Lim
s
.
G
(
s
)
k
v
s 0
1
1
=
=
Lim s 2 . G ( s ) k a
s 0

- -

EF

E(s)

Y(s)

V(s)

1000
(s + 2)(s + 3)(s + 5)

K(kp,kv,kaF J

K J

WG

1000
100
=
W J
2 3 5
3
k v = Lim
s.G ( s ) = 0 W
s 0

k p = Lim
G ( s) =
s 0

2
k a = Lim
s
.G ( s ) = 0 W
s 0

.0E J JF J

W J
1
1
e() = e step () =
=
= 0.0291
1 + Lim
(
)
1
+
G
s
k
p
s 0
e() = eramp () =

1
1
=
=
Lim
s
G
s
k
.
(
)
v
s 0

e() = e parab () =

1
1
=
=
Lim s 2 . G ( s ) k a
s 0

- -

EF

E(s)

Y(s)

V(s)

K (s + 5)
s(s + 6)(s + 7)(s + 8)

WG

WType1
k p = Lim
G(s) =
s 0
K 5
678
2
k a = Lim
s .G ( s ) = 0
s 0

k v = Lim
s.G ( s ) =
s 0

W
1
1
e() = eramp () =
=
= 0.1
Lim
s
G
s
k
.
(
)
v
s 0

K 5
= 10 W
678
KK=672W

s.G ( s ) =
k v = Lim
s 0

W
E(s)

Y(s)

V(s)

100
s(s + 10)

1
s+5
- -

EF

K J

K J

K J

WG

J
K

100
G (s)
s(s + 10)
100(s + 5)
=
= 3
G e (s) =
100
1
100
1 + G (s).H (s) G (s)
s + 15s 2 + 50s 400
1+

s(s + 10) (s + 5) s(s + 10)

W
E(s)

Y(s)

V(s)
100(s + 5)
3
s + 15s 2 50s 400

WType 0
100 5 5
k p = Lim
G
s
=
(
)
=
e
s 0
4
400
Kka=0kv=0W

W
1
1
=
= 4
e() = e step () =
5
1+ kp
1
4
K
- -

EF

D(s)
E(s)

Y(s)

V(s)

1
s(s + 25)

1000

K G 2 (s) =

1
G 1 (s) = 1000 W
s(s + 25)

Y(s)=V(s)-E(s)WY(s)=E(s)G1(s)G2(s)+D(s)G2(s)W
G2 ( s)
1
E ( s) =
V ( s)
D( s ) WY(s)
1 + G1 ( s )G 2 ( s )
1 + G1 ( s )G 2 ( s )
KE(s)
WG

W
e() = lim
sE(s) = lim
s 0
s 0

sG 2 (s)
s
V (s) lim
D(s) = e V () e D ()
s 0 1 + G (s)G (s)
1 + G 1 (s)G 2 (s)
1
2

KeDevW

e D ( ) =

1
lim
s 0

1
+ lim G1 ( s )
G 2 ( s) s 0

WD(s)=1/s
1
1
=
=
0 + 1000 1000
W

- -

EF

E JF

KEAntenna azimuth position controlF

KKg=0.1am=1.71Km=2.083a=100K1=100Kpot=0.318

WK J
K

KK J

W J

WG

J
WG(s)

- -

EF

6.63K
s ( s + 1.71)( s + 100)
W
sV ( s )
e() = lim
sE
(
s
)
=
lim
s 0
s 0
1 + G(s)
WV(s)=1/sWG
1
s
1
s =
sE
s
e() = lim
=
=0
(
)
lim
s 0
s 0
1 + G ( s ) 1 + G (0)
WV(s)=1/s2G
1
s 2
1
25.79
s
(
)
lim
e() = lim
=
=
=
lim
sE
s
s 0
s 0
1 + G ( s ) s 0 s (1 + G ( s ))
K
WV(s)=1/s3G
1
s 3
1
s
sE
s
e() = lim
=
=
=
lim
(
)
lim
s 0
s 0
1 + G ( s ) s 0 s 2 (1 + G ( s ))
(Type1) J

G(s) =

K
25.79
e() = 0.1 =
K = 257.9
K

- -

EF

J J
W

W
W

KG
KG
KG

KG

KW

W
K J
K J
K J

EF

W
W J
EF
K

W J
W J

W J

Reference ControllerPlant

KSet point devicesignal

External disturbance

stable equilibrium

Stable

EF

Unstable
On the boundary of stability

KOn the brink of stabilityNeutral

EF J

KEF J

Step Response

1.6

1.4

1.2

Amplitude

0.8

0.6

0.4

0.2

10

15

20

25

30

Time (sec)

WEF J

EF

Step Response

Amplitude

-1

-2

-3
0

10

15

20

25

30

Time (sec)

WEF J

Lyapunov's theory of stability

KK

KReal time domain

W
dny
d n 1 y
dy
dmx
d m 1 x
dx
a n n + a n 1 n
+ .....a1
+ a 0 y = k1 (bm m + bm 1 m 1 + ...b1
+ b0 x)
dt
dt
dt 1
dt
dt
dt
J Ki
K

EF

W J

Stable W

processes

Process y(t)

Lim y (t ) = 0
t

Complex Characteristic equation

Negative real partroots

Positive real part

Stable processes K
KUnstable processes

EF

S = 1

1
2S + 1
2

( S + 1)( S 1)
1
S ( S + 2)
2 1
S + S +1
1
2S + k

S=1

S1, 2 =

1
3
W
j
2
2

Impulse response

KRoots of the characteristic equation

Process stability

W
WW
Algebric criteria J
KHurwitz criterionRouth criteria

Nyquist WFrequency criteria J

KTsypkin's ruleMichailov criterioncriteria

KD-partition methodD J
K

EF

W J

Characteristic equation

KUnstableNeutralStable
WRouth criterion J

W
a n s n + a n 1 s n1 + ... + a1 s + a 0 = 0
Two strokes
an-1,an-3,an-5,an,an-2,an-4,

sn
sn-1
sn-2

sn-3
sn-4

1
an
an-1

W
2
3.

a n 1 a n 2 a n a n 3
a n 1
a a a a
a 41 = 31 n3 n1 32
a 31
a a a a
a 51 = 41 32 31 42
a 41

a 31 =

an-2
an-3

a n 1 a n 4 a n a n 5
a n 1
a a a a
a 42 = 31 n5 n 4 33
a 31
a a a a
a 52 = 41 33 31 34
a 41

a 32 =

an-4.
an-5
a 33 = ......
a 43 = ......
a 53 = ......

Right half of the complex

Necessary and sufficient condition Kplane

EF

J
K

0 + J

W J

si J
KEFAuxiliary equation

s J
K

J
K

WHurwitz criterion J

Wnn

n =

EF

a n 1
an
0

a n3
a n2
a n 1

a n5
a n4
a n3

...
....
....

0
0
0

0
0
0
....

an
0
0
....

a n2
a n 1
an
....

....
....
....
....

0
0
0

....

an

Diagonal

Wnminors

1 , 2 ,................, n > 0
Lynara-chipara criterion

KEF
W J
W J

W
s 4 + 3s 3 + 5s 2 + 4s + 2 = 0

s4
S3
S2

WWG
(2)
(3)

(1)
1
3
1 5

5
4
1 2

3 4 (3 5 1 4) 11 3 0 (3 2 1 0) 6

=
=
=
= =2
3
3
3
3
3
3

2
0
0

S1

EF

3 4
2

11
3
11
3

( 113 4 3 2)
11
3

26
11

S0
2
0
0

W J

K
W

s 3 + 2 Ks 2 + 3s + 4 = 0
KWG

s3
s2
s1

W
(2)

(1)

1
3
2K
4
0
6K 4
2K
0
s
4
0

K>0, 6K-4>0 K>4/6

[23 + ]WK

K = 23

s3
s2
s1
s0

(1)

(2)

1
2x2/3=4/3
0

3
4
0

EF

s1

43 s 2 + 4

166 s + 0 = 0

W
(2)

(1)

s3
1
3
2
s
4/3
4
1
s
16/6
0
0
s
4
0

K s = j 3

W J

W
s 4 + s 3 + 2s 2 + 2s + 3 = 0

WG

s4
s3
s2

(1)

(2)

1
1
0

2
2
3

(3)
3
0

W
(1)
(2)
(3)

s4
s3
s2
s1
s0

EF

1
1

(2-3)/
3

2
2
3
0
0

3
0
0
0
0

-3/

W J

G(s) =

K
s (T1 s + 1)(T2 s + 1)

WG

W
1 + G ( s ) = 0
W

T1T2 s 3 + (T1 + T2 ) s 2 + s + K = 0

n =

(T1 + T2 )

T1T2

T1 + T2

W
T1T2;T1+T2;K>0
1 ; 2 ; 3 > 0;
1 = T1 + T2 ; W

EF

2 =

T1 + T2

T1T2

3 = n
W
2 = T1 + T2 KT1T2 > 0

3 = K (T1 + T2 ) K 2T1T2 > 0

1 = (T1 + T2 ) > 0

T2,T1,K
T1 + T2 KT1T2 > 0

K<

T1 + T2
T1T2

W J

b>0
bc-1>0
bcd-d2-b2 >0
bcd+b-d2-b2e >0
(bcd+bf-d2-b2e)e+b2c-bd-bc2f-f2+bfe+cdf >0

s 2 + bs + 1 = 0
s 3 + bs 2 + cs + 1 = 0
s 4 + bs 3 + cs 2 + ds + 1 = 0
s 5 + bs 4 + cs 3 + ds 2 + es + 1 = 0
s 6 + bs 5 + cs 4 + ds 3 + es 2 + fs + 1 = 0

EF

J J

W
q ( s ) = s 5 + s 4 + 4s 3 + 24s 2 + 3s + 63

K J
J
WG

s5
s4
s3

1
1
1

s2

1 24
= 20
1
1
24

s1

20 60
= 21
20
20 60
21

63
21

=0

W J
4
3
24 63
1 3
1 63
= 60
0
1
1
63
20 0
= 63
0
20

Wauxiliary polynomial J
21s 2 + 63 = 21( s 2 + 3) = 21( s + j 3 )( s j 3 )

q( s)
= s 3 + s 2 + s + 21
2
s +3
W

EF

s3
s2
s1

s0

1 21
= 20
1
1
21

1
1
1

20 0
= 21
20

1
21
0

R(s)

K (s + a)
( s + 1)

1
s ( s + 2)( s + 3)

Y(s)

G(s)1+G(s)W J

K J

K a K J
WG

EF

1
K (s + a)
K (s + a)
J

=
( s + 1)
s ( s + 2)( s + 3) s ( s + 1)( s + 2)( s + 3)
W
K ( s + a)
s ( s + 1)( s + 2)( s + 3) + K ( s + a)

1 + G ( s ) = 1 +
=
s ( s + 1)( s + 2)( s + 3)
s ( s + 1)( s + 2)( s + 3)
q ( s ) = s 4 + 6s 3 + 11s 2 + ( K + 6) s + Ka = 0 W

G ( s) =

W J
1
11 Ka
6
(K+6)
1
11
1 Ka
6 K + 6 60 K
6 0
=
= Ka
6
6
6

s4
s3
s2

s1

s0

K +6

60 K
6

Ka
60 K
6

60 K
6

( K + 6) 6 Ka
60 K
6

Ka

W J
60 K

0 K 60 W
6
(60 K ) ( K + 6)
W
(60 K ) ( K + 6) 6 Ka 0 a
36 K
K a 0.639 K=40 a 0

G(s)1+G(s)W J
K

K J

EF

ess a K J

r(t)=AtW24%

(s + a)
( s + 1)

R(s)

K
s ( s + 2)( s + 5)

Y(s)

WG

K (s + a)
= 0 J
s ( s + 1)( s + 2)( s + 5)
W
K ( s + a)
s ( s + 1)( s + 2)( s + 5) + K ( s + a )
1 + G ( s ) = 1 +
=

s ( s + 1)( s + 2)( s + 5)
s ( s + 1)( s + 2)( s + 5)
s 4 + 8s 3 + 17 s 2 + ( K + 10) s + Ka = 0 W

G ( s) =

W J
1
17 Ka
8
(K+10)
0
1
17
1 Ka
8 K + 10 126 K
6 0
=
= Ka
8
8
6

s4
s3
s2

s1

s0

K + 10

126 K
8

Ka
126 K
8

126 K
8

( K + 10) 8 Ka
126 K
8

Ka

EF

W J
126 K

0 K 126 W
8
Ka 0 W

( K + 10) (126 K ) 64 Ka 0 W
Ka
sG
s
W K v = lim
=
ess=A/KvWess
(
)
s 0
10
10 A
K ess =
Ka
E K = 70, a = 0.6 F Ka = 42 A ess = 24% W

E K = 50, a = 0.84 F

K24%

W
s 3 + 3Ks 2 + (2 + K ) s + 4 = 0
KK

K>0.53WG

b>0
...
bc-1>0
...
bcd-d2-b2 >0
...
bcd+b-d2-b2e >0
...
(bcd+bf-d2-b2e)e+b2c-bd-bc2f-f2+bfe+cdf >0
...

s 2 + 5s + 1 = 0
s 3 + 14 s 2 + s + 1 = 0
s 4 + s 3 + 2 s 2 + 10s + 1 = 0
s 5 + 5s 4 + 2 s 3 + 3s 2 + s + 1 = 0
s 6 + 2 s 5 + s 4 + s 3 + 3s 2 + s + 1 = 0

EF

b=5>0

bc-1=0.251-1=-0.75 <0

bcd-d2-b2=1210-102-12= -81 <0

bcd+b-d2-b2e=30+5-32-521=1 >0

2 2
2
2
(bcd+bf-d -b e)e+b c-bd-bc f-f2+bfe+cdf >0
(2+2-1-12)3+4-2-2-1+6+1=-19<0

WG

s 2 + 5s + 1 = 0
s 3 + 14 s 2 + s + 1 = 0
s 4 + s 3 + 2 s 2 + 10s + 1 = 0
s 5 + 5s 4 + 2 s 3 + 3s 2 + s + 1 = 0

s 6 + 2 s 5 + s 4 + s 3 + 3s 2 + s + 1 = 0

EF

AC Motor

Actuator
Analog

Automatic Control

Block Diagram

Characteristic Equation
Characteristics
Closed Loop

Control System

Control Valve

Controlled variable

Controller

Critical damping

Damping
DC Motor
Delay time
Derivative

Derivative controller

Design
Digital

Disturbance
Dynamic
Error

Feedback

Feedback path

- -

EF

Final control element

Flow meter

Flow rate

Frequency

Forward path

Gain

Input

Integral

Integral controller

Laplace transform

Level

Manual control
Motor

On-off controller
Open loop
Output

Over damping
Over shoot

Peak time

Performance

Permanent response

Pneumatic

Polynomial

Potentiometer
Process

Proportional

Proportional Controller

- -

EF

Reference input

Response curve

Response

Rise time
Root

Sensor

Series

Set point

Settling time

Signal transducer

Stability

Stability criteria
Step input
System

Tachometer

Time constant

Time response

Transducer

Transfer function

Transient response

Under damping
Unit step

Unity feedback

- -

EF

J J L J
J

Robert- W
Introduction to control system technology- fifth edition J

KPrentice HallWN.Bateson

Mc Graw-W Bruns and saundersW

Feed back Control systems J
Norman

S.NiseWControl

KHill 1995

systems

Engineering-third

edition J

KJohn Wiley & Sons, IncW

RICHARD C.DORF ROBERT WModern Control systems J

Addison-WesleyWH.BISHOP

EF

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

EF

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK J
KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK

KKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKKK