EEEE4105-PPT01-Linear Control Systems-V01

Linear Control Systems*
Chapter
Session 01:
1
Basic Concepts and Definitions
EEEE4101-LCS
DrAsohDA, Uba{/NAHPI/EEE|/HTTTC/EPE}
2019/2020
* Texts (1) Analog and Digital Control Systems By Chi-Tsong Chen (c) Sounders College Publishing
(2) Analysis and Design of Control Systems Using Matlab By Rao V. Dukkipati (c) 2006 New Age Int.Publisers 1
OUTLINE
 Introduction – What is a Control System?
 IPO Model, Categories, and Examples of Control Systems
 Representation of Control Systems
 Types of Control System
 Control System Variables, and Symbols
 Summing and Take-off Points in Control System
 Control System Terminologies
 Control System Classes
 Supplementary Control System Terminologies
 Practical Example of a Feedback Control System
 Advantage of Feedback in Control Systems
 Control System Analysis and Design Objectives
 Summary
2
Linear Control Systems: DrAsohDA – Uba{/NAHPI/EEE|HTTTC/EPE}, 2019/2020
Introduction
 Control Systems in an Interdisciplinary Field…
 Engineering
 Sciences
 Biological
 Medical
 What Do We Mean By Control?
 Regulate
 Direct
 Command
 Govern
 What Do We Mean By System?
 Collection
 Set
 Arrangement
 Entities (components, sub-systems, people, animals)
 Model as an IPO (Input-Process-Output) Unit.
3
Introduction
 What is a Control System?
 Interconnection of Components or Sub-systems
 Operating and Producing Desired Outcome (System Response).
 Model as an IPO (Input-Process-Output) Unit.
 What is a Control System?

 An Arrangement of Physical Components
 Connected in Such a Way as to:
 Regulate, Direct, Command or Govern Itself or Another System
 Identification Elements of a Control System

 The Stimulus/Excitation/Command applied to control the system (Input)
 Physical Variables
 Abstract Variables (eg. Reference, Set Point, Desired Values for the Output)
 The Actual Response resulting from the control system (Output)
 May OR May Not Be Equal to Specified Response Implied by Input
 Input  Desired Response
 Output  Actual Response
4
IPO Model and Categories of Control Systems
 IPO Model of a Control System
 Control System produces Output/Response for a given Input/ Stimulus
 Broad Categories of Control Systems

 Man-made
 Electric Switch, Room Temperature Control, Hot Water Heater, …
 Robotics, Space-Vehicles, Submarine System, Industrial Operations
 Natural, including Biological
 Pointing at an object, Walking to thee door…
 Man-made+Natural
 Humans Driving a car, Piloting a Plane
5
Representation of Control Systems
 Block Diagram Representations
 What is a Block ?
 A Block is Set of Elements that can be Grouped together and Described by IPO
 A Simplified Representation Cause-Effect-Relationship between Input and Output
 Input – Output Relationship Can be Described by a Mathematical Expression
6
Representations of Control Systems
 Transfer Functions Representation
 What is a Transfer Function?
 A Property of the System Elements Only
 Does Not Depend on the Initial Conditions
 Defined as the Ratio of the Output to the Input
 Used to Represent Mathematical Model of Each Block in the Block

Diagram Representation.
7
Types of Control Systems
 Open Loop Control Systems
 Open-Loop
 The Simplest Form of Controlling Devices…
8
Types of Control Systems
 Closed-Loop Control Systems
 Closed-Loop (Feedback)
 The Feedback Path Ensures More Accurate Reproduction of Input at Output
 Must have One or More Feedback
 Feedback Can Be Positive or Negative
9
Control System Variables and Symbols
 Definitions of Variables and Their Symbols

10
Control Systems Terminologies
 Summing Points in Control System Representations
 Take-Off Points in Control System Representations
11
Control System Terminologies
 Actuator, Actuating (Error) Signal
 Controller, Controlled Output C(s)
 Disturbance or Noise Input
 Feed Forward (Control) Elements
 Feedback Elements, Feedback Path
 Transducer, Input Transducers
 Loop, Loop Gain
 Negative Feedback, Positive Feedback
 Path, Path Gain
 Process, Plant, or Controlled System
 Primary Feedback Signal
 Reference Input
 Summing Point, Take-Off Point
 Time Response
12
Classes of Control Systems
 Servomechanisms
 Feedback Systems Used to Control Position, Velocity, Acceleration
 Power-Amplifying Feedback System
 Controlled Variable is Mechanical Position or Time Derivative of
Position (velocity) or Velocity (acceleration)
 Example: Automatic Aircraft Landing System
 Regulators
 Feedback System where Reference Input or Command or Set Point is
Constant for Long Period of Times (Entire period of time of operation)
 Example: Idle Speed Control System, Human Body Temperature Syst.
 Regulator Example: Idle-Speed Control System

 Nr - desired idle speed, T – Load-Torque on Engine, N – Desired Engine Idle Speed
13
Control System Supplementary Terminologies
 Linear System
 I/O Relation represented by Linear Differential Equation (LDE)
 Plant is Linear
 System Parameters do not vary as a Function of Signal Level
 Lumped-Parameter  Ordinary Differential Equations (ODE)
 Distributed Parameter  Partial Differential Equations (PDE)
 Time-Variant System
 Parameters Vary as a Function of Time  Differential Equations with
Variable Coefficients
 Linear Time-Variant System  LDE with Variable Coefficients
 Example: Rocket Burning Fuel
 Time-Invariant System
 Parameters do not vary as a Function of Time
 Described by Differential Equations with Constant Coefficients
 Linear Time-Invariant  LDE with Constant Coefficients
 Multivariable Feedback System
 Many Input, Output, and Feedback Variables Considered.
14
Effects of Feedback in Control Systems I
 Increased Accuracy
 Reduced Sensitivity of the Transfer Function (Ratio of Output
to Input) with variation of system parameters
 Reduced Effects of Nonlinearity ad Distortion
 Increased Bandwidth for Input Frequencies
 Tendency Towards Oscillation and Instability
 Reduced Effects of External Disturbances or Noise
Effects of Feedback in Control Systems II
 Feedback System with Parameters:
 R is Input, C is Output, E is Error, B is Feedback Signal
 G, H – Constant Gain, and M is the Transfer Function
 Feedback Affects the Gain G, by a factor of (1+GH)
 Feedback Increases or Decreases the Value of G.
15
Control Systems Analysis and Design Objectives
 Control Systems are Dynamic
 They Respond to Inputs by First Undergoing a Transient Response
 After the Transient Response, They Move to Steady-State Response
 Steady State Response Corresponds to the Input
Three Main Objectives of Control Systems A&D

 Produce an Acceptable Response to A Transient Disturbance
 Minimize the Steady-State Errors
  Ensure Accuracy of Steady-State Response
 Achieve Stability
  System Should Be Stable
  Natural Response Decays to Zero and Time Approaches Infinity!
16
Control Systems Analysis and Design Objectives
 System Analysis
 Investigate, Under Specific Conditions of System Performance
 Mathematical Model or Representation of System Known
 Investigate Properties and Performance of an Existing Control System
 System Synthesis
 Use Explicit Procedures
 Find/Build a System that Performs in a Specified Way!
 System Design
 Select/Arrange Components To Perform A Prescribed Task
 Achieving Control System Design

 Design By Analysis
 Characteristics of an Existing or Standard System Configuration are Modified
 Design By Synthesis
 The Form of the Control System is Obtained Directly from Its Specification
17
Summary
 A Control System is an IPO Unit!
 Basic Control System has an Input, a Process, and an Output
 Basic Objective of Control is Regulate the Value of Some Variable
 Control Systems are of Two Types: Open Loop and Closed-Loop
 Closed-Loop Systems Monitor Output and Compare it With Input
 Feedback:
 Measure a Control Variable, Return the Output to Influence the Value of Control Variable
 Can Be Negative or Positive
 Represent Control Systems by Block Diagrams and Transfer Functions
 The Control System and Each Block in it has a Transfer Function
 Control Systems has its own language – Terminologies
 Control System Design and Analysis Objectives include:
 Producing the Response to a Transient Disturbance of a Specific Pattern
 Minimizing Steady-State Errors
 Achieving Stability
18
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Linear Control Systems*

 What is a Control System?

 Identification Elements of a Control System

 Broad Categories of Control Systems

 Defined as the Ratio of the Output to the Input

 Used to Represent Mathematical Model of Each Block in the Block

 Take-Off Points in Control System Representations

 Regulator Example: Idle-Speed Control System

Three Main Objectives of Control Systems A&D

 Achieving Control System Design

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