EUE3223

 Compare various types of signals and their conversion in a basic measurement

system.
 Apply the principles of a selection of signal processors and conditioners as well as
the signal receivers.
 Manipulate transfer function of open and closed loop control systems.
 Derive the mathematical models of basic engineering systems.
 Evaluate the output response of the control systems.
Transfer function
Input-Output function (differential equation)
State space equation
 A model describes the relationships between the process parameters (variables).
It could be in:
1. time domain such as differential equation or;
2. frequency domain such as Laplace transfer function.
 Conversion between the time domain to frequency domain and vice versa could
be done by applying proper methods.
EUE3223
 Representing a model using a differential equation is intuitive but the
analysis and design works could be difficult.
 Obtaining the solution by hand calculation could be a challenging
task especially when involved a set of differential equations for a
complex process.
 Most of the time, transfer functions are preferred as the input-output
relationships are described in the form of linear algebra.
 Laplace transform is a method to convert the input-output equations
into transfer function.
∞
𝐹 𝑠 = න 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡 = £{𝑓 𝑡 ሽ
0
 Using inverse Laplace transform, a transfer function could be
transformed back to a input-output equation.
1 𝜎+𝑗∞
𝑓 𝑡 = න 𝐹 𝑠 𝑒 +𝑠𝑡 𝑑𝑠 = £−1 {𝐹 𝑠 ሽ
2𝜋𝑗 𝜎−0
 A process is described by the following differential equation:
2
d y(t ) dy(t )
2
3  2 y(t )  r (t )
dt dt
1. Given that a y(t) is the output variable, r(t) is the input variable and zero initial
conditions, analyse if the process is stable.
2. Calculate the solution of the process given that a step input, r(t) = 1, is applied.
EUE3223


x(t)
u(t) ʃ y(t)


R(s) E(s) C(s)

Boiling process

B(s) Sensor
 The conversion of the state space model to the transfer
function can be obtained using formula as below:

 The stability of the system could be also determined from

the eigenvalues of the A matrix:
|λI – A| = 0
where λ are the eigenvalues of A matrix
A dynamical system is described by the following state
space equations:

Calculate the transfer function of the system and analyse the

stability of the system.
 Observability and controllability are another two important
properties of the state space control system.
 A system is said to be observable if and only if the system
state, x(t), can be determined from observation of the
output, y(t), over a finite time interval. To check the
observability, the following formula is given:
N = [CT: AT CT: … : (AT) n-1BCT]
 where A and C are the matrix from the state space model, n
is the number of rows of the matrix and T is the transpose of
the matrix.
The controllability can be further classified into State
controllability and Output controllability.
 A system is said state controllable if and only if an input
vector, u(t), is able to transfer the state of the system from
any initial condition to any final condition in a finite time
interval. To check the controllability, the following formula
is given:
 Ms = [B: AB: … : An-1B]
 where A and B are the matrix from the state space model
and n is the number of rows of the matrix. The system is
deemed to be controllable if the Ms matrix has full rank or
the determinant of Ms matrix is non-singular (det|Ms|≠ 0).
 A system is said output controllable if and only if an input
vector, u(t), is able to transfer the output of the system from
any initial condition to any final condition in a finite time
interval. To check the controllability, the following formula
is given:
 Mo = [CB: CAB: … : CAn-1B]
 where A, B and C are the matrix from the state space model
and n is the number of rows of the matrix. The system is
deemed to be controllable if the Mo matrix has full rank or
the determinant of Mo matrix is non-singular (det|Mo|≠ 0).
A dynamic system is given by the following differential
equations:

a.What is the order of the system? Also, give the number of actuators and
sensors involved.
b.Determine whether the system is state and output controllable. Explain
why state and output controllability are important properties in control
system design.
c.Design an open-loop controller such that y(t) = 5sint in steady state.
Explain why such a controller is not recommended in practice.
a. The order of the system is 2 (number of state variables in
the system).
 Number of actuators = number of inputs = 1 (inputs can influence the
dynamics of the system, that is why they are seen as actuators)
 Number of sensors = number of outputs = 1 (outputs are the state
variables that we are actually measuring, that is why they are seen as
sensors)
 The general state space model is given by:

 It is said an open loop as the system is without a setpoint which

represent the desired output. The positive feedback loop with the A
matrix is merely a transition of state, x(t).
 There are two ways of designing a closed loop system for the state space system.
Based on the analysis of the system controllability as discussed in the previous
section, if the system is state controllable, we can then design a state feedback
control system. The state space equation for the state feedback control system can
be derived as follows:
𝑥ሶ 𝑡 = 𝐴𝑥 𝑡 + 𝐵[𝐾𝑥 𝑡 + 𝑟 𝑡 ]
𝑥ሶ 𝑡 = 𝐴𝑥 𝑡 + 𝐵𝐾𝑥 𝑡 + 𝐵𝑟 𝑡
𝑥ሶ 𝑡 = [𝐴 + 𝐵𝐾]𝑥 𝑡 + 𝐵𝑟 𝑡
 if the open loop system is found output controllable, we may design an output
feedback control system.
𝑥ሶ 𝑡 = 𝐴𝑥 𝑡 + 𝐵𝑢(𝑡ሻ
 Since:
𝑢 𝑡 = 𝐾𝑦 𝑡 + 𝑟(𝑡ሻ

 Therefore:
𝑥ሶ 𝑡 = 𝐴𝑥 𝑡 + 𝐵[𝐾𝑦 𝑡 + 𝑟 𝑡 ]
𝑥ሶ 𝑡 = 𝐴𝑥 𝑡 + 𝐵𝐾𝑦 𝑡 + 𝐵𝑟 𝑡

 Since:
𝑦 𝑡 = 𝐶𝑥 𝑡
𝑥ሶ 𝑡 = 𝐴𝑥 𝑡 + 𝐵𝐾𝐶𝑥 𝑡 + 𝐵𝑟 𝑡
𝑥ሶ 𝑡 = [𝐴 + 𝐵𝐾𝐶]𝑥 𝑡 + 𝐵𝑟 𝑡