Automatic Control Theory: A Course Used For Analyzing and Designing An Automatic Control System

Automatic control theory
A Course used for analyzing and

designing an automatic control
system
Chapter 1 Intr oduction
21 century — information age, cybernetics(control theory), system
approach and information theory.
1.1 Automatic control

A machine(or system) work by itself, not by manual operation.
1.2 Automatic control systems

1.2.1 examples
1) A water-level control system
* Operating principle……
* Feedback control…… Figure 1.1

Another example of the water-level
control is shown in figure 1.2.
* Operating
principle…… * Feedback
control……
2) A temperature Control system
(shown in Fig.1.3)
cont ai ner
t her mo
+ uf met er
ur
ampl i f i er
* Operating principle…
e
* Feedback
control(error)…
ua=k( ur - uf ) Gear
M assembl y
Fi gur e 1. 3
3) A DC-Motor control system
+
Uk=k( ur - uf ) DC
ur α ua
mot or
e M
r egul at or l oad
t r i gger
Uf ( Feedback) r ect i f i er -
M t echomet er
Fi g. 1. 4 +
* Principle…
* Feedback control(error)…
4) A servo (following) control system
ser vopot ent i omet er

I nput out put
l oad
T r T c
ser vomechani sm
-
M
+ ser vo mot or
Fig. 1.5 ser vomodul at or
* principle……
* feedback(error)……
5) A feedback control system model of the family planning
(similar to the social, economic, and political realm(sphere or field))
excess
pr ocr eat e
Desi r e
popul at i on gover nment + popul at i on
( Fami l y pl anni ng commi t t ee) soci et y
- Pol i cy or
st at ut es
census
Fig. 1.6
* principle……
* feedback(error)……
1.2.2 block diagram of control systems
The block diagram description for a control system : Convenience
x Si gnal xxx
Component s
( var i abl e) ( devi ces)
x3
x1 Adder s ( compar i son)
+ + e
e=x1+x3- x2
-
x2 Fig. 1.7
Example:
For the Fig.1.1, The

water level control
system:
Figure 1.1
resistance comparator
Actuator Actual
Desired
water level
water level Water
amplifier Motor Gearing Valve
Input Error container
Output
controller Process
Float
Feedback
signal measurement
Fig. 1.8 (Sensor)
For the Fig. 1.4, The DC-Motor control system
comparat or Act uat or

Desi red Act ual
rot at e speed n e uk a ua rot at e speed n
Regul at or Tri gger Rect i f i er DC
Ref erence Error mot or
Out put n
i nput ur
cont rol l er Process
Techomet er
Feedback si gnal uf
measurement ( Sensor)
Fi g. 1. 9
1.2.3 Fundamental structure of control systems
1) Open loop control systems

Di st ur bance
( Noi se)
I nput r ( t ) Out put c( t )

uk uact
( act ual out put )
Cont r ol l er Act uat or Pr ocess
Ref er ence Cont r ol Act uat i ng
desi r ed out put si gnal si gnal
Fi g. 1. 10
Features: Only there is a forward action from the input to the

output.
2) Closed loop (feedback) control systems
Di st ur bance
( Noi se)
e( t ) = Out put c( t )
I nput r ( t ) r ( t ) - b( t ) uk uact
+ Cont r ol l er Act uat or Pr ocess
( act ual out put )
Ref er ence - Cont r ol Act uat i ng
desi r ed out put si gnal si gnal
( +)
Feedback si gnal b( t )
measur ement
Fi g. 1. 11
Features:
not only there is a forward action , also a backward action
between the output and the input (measuring the output and
comparing it with the input).
1) measuring the output (controlled variable) . 2) Feedback.
Notes: 1) Positive feedback; 2) Negative feedback.
1.3 types of control systems
1) linear systems versus Nonlinear systems.
2) Time-invariant systems vs. Time-varying systems.
3) Continuous systems vs. Discrete (data) systems.
4) Constant input vs. Servo control systems.
1.4 Basic performance requirements of control systems

1) Stability.
2) Accuracy (steady state performance).
3) Rapidness (instantaneous characteristic).
1.6 Control system design process

shown in Fig.1.12
1. Establish control goals 6. Describe a controller and select
key parameters to be adjusted
2. Identify the variables to control

7. Optimize the parameters and
analyze the performance
3. Write the specifications
for the variables
Performance
Performance does not meet the
4. Establish the system configuration Meet the specifications specifications
Identify the actuator
Finalize the design
5. Obtain a model of the process,
the actuator and the sensor
Fig.1.12
Chapter 2 mathematical models of systems
2.1 Introduction
2.1.1 Why？
1) Easy to discuss the full possible types of the control systems—in terms of the
system’s “mathematical characteristics”.
2) The basis — analyzing or designing the control systems.
For example, we design a temperature Control system :
Disturbance
e(t)=
Input r(t) + r(t)-b(t) uk u ac Output T(t)
Controller Actuator Process
desired output (－) actual
- Control Actuating
temperature signal signal output
temperature
Feedback signalb(t) temperature
measurement
Fig. 2.1
The key — designing the controller → how produce u k.

2.1.2 What is ？
Mathematical models of the control systems—— the mathematical
relationships between the system’s variables.
2.1.3 How get？

1) theoretical approaches 2) experimental approaches
Chapter 2 mathematical models of
2.1.4 types
systems
1) Differential equations
2) Transfer function
3) Block diagram , signal flow graph
4) State variables(modern control theory)
2.2 Input-output description of the physical systems — differential
equations
The input-output description—description of the mathematical
relationship between the output variable and the input variable of the
physical systems.
2.2.1 Examples
Example 2.1 : A passive circuit
define: input → u r output → u c。

R L
we have：
i di du
ur C uc Ri + L + uc = ur i = C c
dt dt
⇓
d 2uc duc
LC 2 + RC + uc = ur
dt dt
L d 2uc duc
make : RC = T 1 = T 2 ⇒ T1T2 2 + T1 + uc = ur
R dt dt
Example 2.2 : A mechanism
Define: input → F ，output → y. We have:
dy d2y
F − ky − f =m 2
F k dt d t
⇓
d2y dy
m m 2 + f + ky = F
dt dt
y
f m
f If we make : = T1, = T2
k f
d2y dy 1
we have : T1T2 2
+ T1 +y= F
dt dt k
Compare with example 2.1: uc→y; ur→F ─ analogous systems
Chapter 2 mathematical models of
systems
Example 2.3 : An operational amplifier (Op-amp) circuit
Input →ur output →uc
1
uc = R3i3 +
C ∫ (i3 − i2 )dt + R4 (i3 − i2 )......(1)
u
i2 = −i1 = − r ...........................................( 2)
R1
1
i3 = (uc − R2i2 ).....................................(3)
R3
du R + R  R2 ⋅R3 dur 
(2)→(3); (2)→(1); (3)→(1)： R C
4
c + uc = − R (
2 3
+ R4 )C + ur 
+
dt 1
 2 3
R R dt 
R2 + R3 R2 ⋅ R3
make : R4C = T ; = k; ( + R4 )C = τ
R1 R2 + R3
duc dur
we have : T + uc = − k (τ + ur )
dt dt
Example 2.4 : A DC motor
Ra La
( J1, f 1)
ia w1
( J2, f 2)
ua M w2 ( J3, f 3) Mf
w3
i1
Input → ua， output → ω1 i2
dia
La + Raia + Ea = ua ....(1) (4)→(2)→(1) and (3)→(1):
dt
M = Cmia .........................( 2) La J •• La f Ra J • R f
ω1 + ( + ) ω1 + ( a + 1)ω1
CeCm CeCm CeCm CeCm
Ea = Ceω1.........................(3)
•
dω1 1 L R
= ua − a M − a M
M −M =J + f ω1.....( 4) Ce CeCm CeCm
dt
J J
J = J1 + 22 + 2 32 ......equivalent moment of inertia
i1 i1 i2
f f
here : f = f1 + 22 + 2 32 ......equivalent friction coefficient
i1 i1 i2
Mf
M= ..........................equivalent torque
i1i2
( can be derived from : ω1 = i1ω 2 = i1i2ω3 )
Make: Te = La ............electric - magnetic time - constant

Ra
Ra J
Tm = .......mechanical - electric time - constant
CeCm
Ra f
Tf = ....... friction - electric time - constant
CeCm
The differential equation description of the DC motor is:
•• •
TeTm ω1 + (TeT f + Tm ) ω1 + (T f + 1)ω1
•
1 1
= ua − (TeTm M + Tm M )
Ce J
Assume the motor idle: Mf = 0, and neglect the friction: f = 0,
we have:
d 2ω dω 1
TeTm 2
+ Tm +ω = ua
dt dt Ce
Example 2.5 : A DC-Motor control system
R2
R3
+ DC
ur R1 R3 mot or
- - ua M
uk w l oad
R1
t r i gger
Uf r ect i f i er -
M
t echomet er
+
Input → ur，Output → ω; neglect the friction:
R2
uk = (ur − u f ) = k1(ur − u f )........................................(1)
R1
u f = αω .....................(2) ua = k2uk ......................(3)
•
d 2ω dω 1 1
TeTm 2
+ Tm +ω = ua − (TeTm M + Tm M )......(4)
dt dt Ce J
（2）→（1）→（3）→（4），we have：
•
d 2ω dω 1 Tm
TeTm 2 + Tm + (1 + k1k2α C )ω = k1k2
1 ur − (Te M + M )
dt dt e Ce J
2.2.2 steps to obtain the input-output description (differential
equation) of control systems
1) Determine the output and input variables of the control systems.
2) Write the differential equations of each system’s components in

terms of the physical laws of the components.
* necessary assumption and neglect.
* proper approximation.
3) dispel the intermediate(across) variables to get the input-output
description which only contains the output and input variables.
4) Formalize the input-output equation to be the “standard” form:
Input variable —— on the right of the input-output equation .
Output variable —— on the left of the input-output equation.
Writing polynomial—— according to the falling-power order.
2.2.3 General form of the input-output equation of the linear
control systems—A nth-order differential equation:
Suppose: input → r ，output → y
y ( n ) + a1 y ( n −1) + a2 y ( n − 2) + ⋅ ⋅ ⋅ + an −1 y (1) + an y
= b0r ( m ) + b1r ( m −1) + b2 r ( m − 2) + ⋅ ⋅ ⋅ + bm −1r (1) + bm r.........n ≥ m
2.4 Transfer function
Another form of the input-output(external) description of control

systems, different from the differential equations.
2.4.1 definition
Transfer function: The ratio of the Laplace transform of the
output variable to the Laplace transform of the input variable,with
all initial condition assumed to be zero and for the linear systems,
that is:
C ( s)
G( s) =
R( s)
C(s) —— Laplace transform of the output variable
R(s) —— Laplace transform of the input variable
G(s) —— transfer function
Notes:
* Only for the linear and stationary(constant parameter) systems.
* Zero initial conditions.
* Dependent on the configuration and the coefficients of the
systems, independent on the input and output variables.
2.4.2 How to obtain the transfer function of a system
1) If the impulse response g(t) is known
We have: G ( s ) = L[g (t )]
Because:
C ( s)
G( s) = , if r (t ) = δ (t ) ⇒ R( s ) = 1
R( s)
Then: G ( s ) = C ( s ) = L[g (t )]
− 2t 5 3 2( s + 5)
Example 2.8 : g (t ) = 5 − 3e ⇒ G( s) = − =
s s + 2 s ( s + 2)
2) If the output response c(t) and the input r(t) are known
L[c(t )]
We have:
G( s) =
L[r (t )]
1
Example 2.9: r (t ) = 1(t ) ⇒ R(s) = ........Unit step function
s
1 1 3
c(t ) = 1 − e −3t ⇒ C ( s ) = − =
s s + 3 s( s + 3)
.........Unit step response
Then: C ( s ) 3 s( s + 3) 3
G( s) = = =
R( s) 1s s+3
3) If the input-output differential equation is known

•Assume: zero initial conditions;
•Make: Laplace transform of the differential equation;
•Deduce: G(s)=C(s)/R(s).
Example 2.10: •• • •
2 c ( t ) + 3 c ( t ) + 4c ( t ) = 5 r ( t ) + 6r ( t )
⇓
2 s 2C ( s ) + 3sC ( s ) + 4C ( s ) = 5sR( s ) + 6 R( s )
⇓
C(s) 5s + 6
G(s) = = 2
R(s) 2 s + 3s + 4
4) For a circuit
* Transform a circuit into a operator circuit.
* Deduce the C(s)/R(s) in terms of the circuits theory.
Example 2.11: For a electric circuit:
R1 R2 R1 R2
ur C1 C2 uc ur ( s) 1/ C1s 1/ C2s uc( s)
1 1 1
// ( R2 + )
sC1 sC2 sC2
U c ( s) = ⋅ U r ( s) ⋅
1 1 1
R1 + // ( R2 + ) R2 +
sC1 sC2 sC2
1
= 2
⋅ U r ( s)
T1T2 s + (T1 + T2 + T12 ) s + 1
U ( s) 1
G( s) = c =
U r ( s ) T1T2 s 2 + (T1 + T2 + T12 ) s + 1
here : T1 = R1C1; T2 = R2C2; T12 = R1C2
Example 2.12: For a op-amp circuit
R2 C R2 1/ Cs
ur R1 ur R1
- uc - uc
+ +
R1 R1
1
R2 +
G( s) =
U c ( s)
=− sC = − R2Cs + 1
U r ( s) R1 R1Cs
1
= − k (1 + )..................PI-Controller
τs
R
here : k = 2 ; τ = R2C...... Integral time constant
R1
5) For a control system
• Write the differential equations of the control system, and Assume
zero initial conditions;
• Make Laplace transformation, transform the differential equations
into the relevant algebraic equations;
• Deduce: G(s)=C(s)/R(s).
Example 2.13 the DC-Motor control system in Example 2.5
R2
R3
+ DC
ur R1 R3 mot or
- - ua M
uk w l oad
R1
t r i gger
Uf r ect i f i er -
M
t echomet er
+
In Example 2.5, we have written down the differential equations
as: R2
uk = (ur − u f ) = k1(ur − u f )..................................(1)
R1
u f = αω ....................(2) ua = k2uk ...................(3)
•
d 2ω dω 1 T
TeTm 2 + Tm +ω = ua − m (Te M + M )......(4)
dt dt Ce J
Make Laplace transformation, we have:
U k ( s ) = k1[U r ( s ) − U f ( s )]...................................................(1)
U f ( s ) = αΩ( s )...............(2) U a ( s ) = k2U k ( s )..............(3)
2 1 TeTm s + Tm
(TeTm s + Tm s + 1)Ω( s ) = U a ( s) − M ( s )......(4)
Ce J
(2)→(1)→(3)→(4), we have:
1 1 TeTm s + Tm
[TeTm s + Tm s + (1 + k1k2α )]Ω( s ) = k1k2 U r ( s ) −
2
M ( s)
Ce Ce J
k1k2 1
Ω( s ) Ce
G( s) = =
U r ( s ) T T s 2 + T s + (1 + k k α 1 )
e m m 1 2
Ce
La
here : Te = ...........electric − magnetic time - constant
Ra
Ra J
Tm = ......mechanical − electric time - constant
CeCm
2.5 Transfer function of the typical elements of linear systems
A linear system can be regarded as the composing of several
typical elements, which are:
2.5.1 Proportioning element
Relationship between the input and output variables:
c(t ) = kr (t )
C ( s)
Transfer function: G( s) ==k
R( s)
Block diagram representation and unit step response:
R( s) C( s) Examples:
k
r( t ) C( t )
k amplifier, gear train,
1
tachometer…
t t
2.5.2 Integrating element
t
1
c(t ) =
TI ∫ r (t )dt..........TI : integral time constant
0
C ( s) 1
Transfer function: G( s) = =
R( s ) TI s
R( s) 1 C( s)
Examples:
r( t ) TI s C( t )
1 Integrating circuit, integrating
1
motor, integrating wheel…
t t
TI
2.5.3 Differentiating element
dr (t )
c(t ) = TD
dt
C ( s)
Transfer function: G( s) = = TD s
R( s)
TDs
r( t ) C( t ) differentiating amplifier, differential
1 TD valve, differential condenser…
t t
2.5.4 Inertial element
dc(t )
T + c(t ) = kr (t )
dt
C ( s) k
Transfer function: G( s) = =
R( s ) Ts + 1
R( s) k C( s)
Examples:
r( t ) Ts + 1 C( t )
k inertia wheel, inertial load (such as
1 temperature system)…
t t
T
2.5.5 Oscillating element
2
d c(t ) dc(t )
T 2
2
+ 2ζT + c(t ) = kr (t ) 0 <ζ <1
dt dt
C ( s) k
Transfer function: G( s) =
= 2 2 0 <ζ <1
R( s ) T s + 2ζTs + 1
R( s) 1 C( s) Examples:
r( t ) T 2 s 2 + 2ζTs + 1 C( t ) oscillator, oscillating table,
1 k oscillating circuit…
t t
2.5.6 Delay element
c(t ) = kr (t − τ )
= ke −τs
C ( s)
Transfer function: G( s) =
R( s)
ke −τs gap effect of gear mechanism,
r( t ) C( t )
k threshold voltage of transistors…
1
t
t τ
2.6 block diagram models (dynamic)
Portray the control systems by the block diagram models more
intuitively than the transfer function or differential equation models.
2.6.1 Block diagram representation of the control systems
Si gnal X( s) Component G( s)
( var i abl e) ( devi ce)
X3( s)
Adder ( compar i son) X1( s) + E( s)

E( s) =x1( s) +x3( s) - x2( s)
+
-
X2( s)
Examples:
Example 2.14 For the DC motor in Example 2.4
In Example 2.4, we have written down the differential equations as:
dia
La + Raia + Ea = ua ....(1) M = Cmia .........................( 2)
dt
dω
Ea = Ceω .........................(3) M − M = J + f ω .....( 4)
dt
Make Laplace transformation, we have:
U a ( s ) − Ea ( s )
La sI a ( s ) + Ra I a ( s ) + Ea ( s ) = U a ( s ) ⇒ I a ( s ) = .............(5)
La s + Ra
M ( s ) = Cm I a ( s )......................................................................................(6)
Ea ( s ) = CeΩ( s ).......................................................................................(7)
1
M ( s ) − M ( s ) = J sΩ( s ) + f Ω( s ) ⇒ Ω( s ) = [ M ( s ) − M ( s )]......(8)
Js + f
Draw block diagram in terms of the equations (5)～(8):
M (s )
Ua( s) 1 I a( s) M( s) - 1 Ω(s )
Cm
- La s + Ra Js + f
Ea( s)
Ce
M (s )
Consider the Motor as a whole: 1
(TeTm s + Tm )
J
TeTm s 2 + (Tm + TeT f ) s + T f + 1
1
Ua( s) Ce - Ω(s )
TeTm s 2 + (Tm + TeT f ) s + T f + 1
Example 2.15 The water level control system in Fig 1.8:
1
Ce −τs k3 k4
k2e
k1 TeTm s 2 + Tm s + 1 s T1s + 1 T2 s + 1
Desi r ed Act ual
wat er l evel wat er l evel
I nput hi e ua ω θ Q Wat er Out put h
ampl i f i er Mot or Gear i ng Val ve cont ai ner
-
Feedback si gnal hf
Fl oat
Tm
(Te s + 1)
− J
2
M ( s) α
TeTm s + Tm s + 1
The block diagram model is:

Automatic Control Theory: A Course Used For Analyzing and Designing An Automatic Control System

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Automatic Control Theory: A Course Used For Analyzing and Designing An Automatic Control System

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Automatic control theory

A Course used for analyzing and

1.1 Automatic control

1.2 Automatic control systems

* Feedback control…… Figure 1.1

ser vopot ent i omet er

For the Fig.1.1, The

comparat or Act uat or

1) Open loop control systems

I nput r ( t ) Out put c( t )

Features: Only there is a forward action from the input to the

1.4 Basic performance requirements of control systems

1.6 Control system design process

2. Identify the variables to control

The key — designing the controller → how produce u k.

2.1.3 How get？

define: input → u r output → u c。

Make: Te = La ............electric - magnetic time - constant

2) Write the differential equations of each system’s components in

2.4 Transfer function

Another form of the input-output(external) description of control

3) If the input-output differential equation is known

ur C1 C2 uc ur ( s) 1/ C1s 1/ C2s uc( s)

Relationship between the input and output variables:

Adder ( compar i son) X1( s) + E( s)

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