Text Illustrations in PPT

Chapter 3:THEORETICAL FOUNDATION AND

BACKGROUND MATERIAL: COMPLEX VARIABLES,
DIFFERENTIAL EQUATIONS, LAPLACE TRANSFORM

Automatic Control Systems, 9th

Edition

Farid Golnaraghi, Simon Fraser University

Benjamin C. Kuo, University of Illinois
ISBN: 978-0-470-04896-2
Heating system block diagram (simplified).Actual temp. (output)
measured by sensor in the thermostat. Simple electronic circuit
(comparator) compares temps. Generates error voltage that acts as as
switch to open the gas valve to turn out the furnace. Opening windows
and doors etc. in room causes heat loss (disturbance). Process of sensing
output and comparing with input to generate error signal called
Feedback.

fig_03_01
(a) Open loop, dc-motor, speed control system (b) Block diagram; input
voltage to the motor, output of (non linear) power amp. Representation
issue for NL blocks.

fig_03_02
Common elements in block diagram of most control systems
(Compare to Figs.3-1, 3-2

. Comparators (electronic circuit measures error)

. BLOCKS representing transfer functions
. Reference sensor
. Output sensor
. Actuator
. Controller
. Plant
. INPUT or reference signals
. OUTPUT signals
. Disturbance signal
. Feedback loops

fig_03_03
fig_03_04
 fig_03_05

X(s) = G(s) U(s)

 fig_03_06

X(s) = G_1(s) G_2(s) U(s)

 fig_03_07

G(s) = G_1(s) + G_2(s)

M(s) = Y(s) = G(s)
negative feedback
R(s) 1 + G(s) H(s)

M(s) = Y(s) = G(s) positive feedback

R(s) 1 - G(s) H(s)

fig_03_08
ẍ(t) + 2ζωn ẋ(t) + ωn2 (t)x(t) = ωn2 u(t)

2ζωn2 sX(s)
fig_03_09
fig_03_10
fig_03_11
fig_03_12
fig_03_13
fig_03_14
ωn2

fig_03_15
 Moving a branch point

H_1(s) G_2(s)

fig_03_16
Moving a comparator from RHS of G_2(s) to its LHS

fig_03_17
 Block diagram reduction

first move branch pt. at Y_1 to left of G_2

fig_03_18a
1 + G_1G_2H_1

fig_03_18b
 Block diagram of system undergoing disturbance

fig_03_19

We need to determine effects of D(s) on the system

Ytotal = YR |D=0 + YD |R=0

Y (s) G1 (s)G2 (s)

=
R(s) 1 + G1 (s)G2 (s)H1 (s)

Y (s) −G2 (s)

=
R(s) 1 + G1 (s)G2 (s)H1 (s)

So disturbance interferes with controller signal and adversely affects

system performance.
 fig_03_20

Block diagram for D(s) = 0

 fig_03_21
Block diagram for R(s)=0
fig_03_22
 fig_03_23

Y (s) = [I + G(s)H(s)]−1 G(s)R(s)

 Signal Flow Graphs

fig_03_24

Basic properties of SFG

. Only for linear systems
. Equations for SFG algebraic equations
. Nodes are used to represent variables
. Signals travel along branches only in direction of arrows
. Branch from node y_1 to y_2 shows dependence of node y_2 on node y_1
Other SFG terms
Input node (source) - A node that only has outgoing branches
Output node (sink) - A node that only has incoming branches
fig_03_25
 fig_03_26

Can make y_2 an output node.

 fig_03_27

Erroneous operation for SFG of Fig. 3-26(a)

Cannot make y_2 an input node; equation for

y_2 different from original SFG.
 fig_03_28

4 loops in the SFG of Fig.3-25(d)

Node y_1 a summing point; also a transmitting point.

fig_03_29
 fig_03_30

Simplification of SFG
fig_03_31
 fig_03_32

SFG for feedback system of Fig.3-8

 SFG Terms

Forward Path: a path that starts at an input node and ends at an output
node and along which no no node is traversed more than once.
Path Gain: The product of the branch gains encountered in traversing
a path.

Loop: A path that starts and terminates at the same node and along
which no other node is encountered more than once.

Forward-Path Gain: Path gain of a forward path.

Loop Gain: Path gain of a loop.

 fig_03_33

What is the gain y7/y1 ?

fig_03_35
fig_03_36
figun_03_01
figun_03_02
figun_03_03
figun_03_04
figun_03_05a
figun_03_05b
figun_03_06
figun_03_07
figun_03_08
figun_03_09
figun_03_10
figun_03_11
figun_03_12
figun_03_13
figun_03_14
figun_03_15
figun_03_16
figun_03_17
figun_03_18
figun_03_19a
figun_03_19b
figun_03_20
figun_03_21
figun_03_22
figun_03_23
table_03_01