Introduction

AUC401M
 Control System
An interconnection of
components with a configuration
designed to give a desired
response.
 Open-loop system
• Has controller but has no
feedback
I/P O/P
Controller Actuator Process

• I/P – input to the system

• O/P – output or response
 Open-loop system
• Process – represents the plant to be
controlled e.g. electric stove oven
• Controller – modifies the signal to
get desired output e.g.
voltage/current flow system
• Actuator – enables configuration of
the controller, e.g. oven nob
 Closed-loop system
• Has feedback loop
• E is the error, the difference
between the input and the feedback
I/P E O/P
Controller Actuator Process

Sensor
 Disturbance and noise
Disturbance – From external source
Noise – from measurement
D
I/P E Contr- Actu- O/P
Process
oller ator
N
Sensor
 Block diagrams
Physical systems can be
represented by block diagrams
Each block stands for an element
of the system
Mathematical expression
governs behaviour of each block
 Block diagrams
Block diagram reduction
simplifies
Diagrams can also be solved
analytically
 Reduction…involves…
Moving pick-up and summation
points
Combining elements
Removing feed-back and feed-
forward loops, etc.
Reduction, general rule…
Compensate for any actions to
make sure the signal at any point
from any route remains
unchanged
 Reduction, pick-up…
X(s) Y(s)
+ E G1 G2 G3
-
H
• Original system
• Feedback includes signals from
G1 and G2
 Moving pick-up after G3:
X(s) Y(s)
+ E G1 G2 G3
-
H/G3
• Feedback now pick up G3
• Compensation: divide by G3
 Moving pick-up before G2:
X(s) Y(s)
+ E G1 G2 G3
-
HG2
• Feedback now excludes G2
• Compensation: multiply by G2
 Reduction, summation…
X(s) Y(s)
+
G1 G2 G3
-
H
• Original system
• Feedback is through G2 and G3
 Moving summation before G1
X(s) Y(s)
+
G1 G2 G3
-
H/G1
• Now signal also goes though G1
• Compensation: divide by G1
 Moving summation after G2
X(s) Y(s)
+
G1 G2 G3
-
H G2
• Now there is no feedback in G2
• Compensation: multiply by G2
 Reduction, combining blocks
X(s) Y(s)
+
G1 G2 G3
-
H
• Original system
• G2 and G3 in series: multiply
them
 Combining blocks
X(s) Y(s)
G1
+
G2 G3
-
H
• G2 and G3 are combined
• Now G2 and G3 are in one block
 Combining blocks, in parallel
X(s) Y(s)
+
G1 G2 G4
+
G3
• Original system
• G2 and G3 in parallel: add them
 Combining blocks
• G2 and G3 are combined
X(s) Y(s)
G1 G2+G3 G4

• Then combining all the blocks…

X(s) Y(s)
G1G4(G2+G3)
 Reduction, feed-back:
X(s) Y(s)
+ E F
G1 G2 G3
-
H1
• Let signal before G1 be E and after F
• E = X(s) – FH1
• F = E G1= X(s)G1 – FG1H1
 …feed-back…
• F = E G1= X(s)G1 – FG1H1
• F + FG1H1 = X(s)G1
• F(1 + G1H1) = X(s)G1
• F = [G1/(1 + G1H1)] x X(s)
 Finally no feed-back…
X(s) G1 Y(s)
1 + G1H1
G2 G3

• Loop is eliminated
• Replaced by one block
• All the blocks are combined…
 Combined blocks…
X(s) Y(s)
G1G2G3
1 + G1H1

• Y(s) = X(s) [(G1G2G3) / (G1 + G1H1)]

• Transfer function, T(s) = Y(s)/X(s)
• T(s) = (G1G2G3) / (G1 + G1H1)
 Mathematical models
Physical systems can be
represented by mathematical
models
Differential equations are used
 Vibration system
• Mass – m
• Damper – b k b
• Spring – k
r(t) m
Velocity, acceleration:
Displacement  x
dx
Velocity, v  x
dt
2
v d x
Acceleration, a   v  2  x
dt dt
 Recall – from vibration…
Equation of motion for a force system:

 mx  t   bx  t   kx  t   r  t 
where:
r(t) – applied external force
x - displacement
 Recall – from vibration…
Equation can be written:

2
d x dx
 m 2  b  kx  r  t 
dt dt
 Operator D…
Differential operator, D = d/dt:
2
dx d x
 Dx and 2
 D 2
x
dt dt
 mD x  bDx  kx  r  t 
2
 Recall – from vibration…
n  k / m , bC  2mn ,   b / bc
 mx  t   bx  t   kx  t   r  t 
b k
x  t   x  t   x  t   1/ m  r  t 
m m
2bn
x t   x  t   n x  t   1/ m  r  t 
2

2mn
 Recall – from vibration…
2bn
x t   x  t   n x  t   1/ m  r  t 
2

2mn
b
x  t   2n x  t   n x  t   1/ m  r  t 
2

bc

x  t   2n x  t   n x  t   1/ m  r  t 
2
 Laplace Transforms
Time domain – real t domain
Laplace domain – s domain used
to simplify computation
Differential equation soln…
• A second order differential
equation is of the form:

 mx  t   bx  t   kx  t   r  t 
• The Laplace Transform for each
term is as follows:
 Laplace transform…
x t   X  s  , r t   R  s  ,
dx
x  t    sX  s   x0 ,
dt
2
d x
x  t   2  s X  s   sx0  x0
2

dt
• The equation becomes:
Differential equation soln…
m  s X  s   sx0  x0  
2

b  sX  s   x0   kX  s   R  s 

• Solution depends on the initial

conditions and input function:
 Initial conditions
Initial displacement – x0
Initial velocity – x’0
Input can be:
Impulse: R(s) = 1
Unit step: R(s) = 1/s
Unit ramp: R(s) =1/s 2
 Example
x t   5x t   4 x t   r t 

Input: unit step function

Initial conditions: x0 = x’0 = 0
 Solution…
 s X  s   sx0  x0  
2

5  sX  s   x0   4 X  s   R  s 

• R(s) = 1/s
• x0 = x’0 = 0
 Solution

s X  s   5sX  s   4 X  s   1/ s
2

X  s   s  5s  4   1/ s
2

1
X s 
s  s  5s  4 
2
 Solution
1
X s 
s  s  1 s  4 

A B C
X s   
s  s  1  s  4 
 Solving for A, B, C: Method 1
1 A B C
  
s  s  1 s  4  s  s  1  s  4 
Cross multiply all terms by the
denominator, s(s + 1)(s + 4):
1  A  s  1 s  4   Bs  s  4   Cs  s  1
 Method 1:
    
1  A s  5s  4  B s  4 s  C s  s
2 2 2

comparing coefficients:
s 2: 0=A+B+C (i)
s 1: 0 = 5A + 4B + C (ii)
s 2: 1 = 4A OR A=¼ (iii)
 Method 1:
Substituting into (i) and (ii) :
B + C = - ¼ OR 4B + 4C = - 1 (iv)
4B + C = 5(-1/4) OR
16B + 4C = -5 (v)
(v) – (iv): 12B = -4 OR B = - 1/3 (vi)
4C = – 1 –4 (-1/3) OR C = 1/12 (vii)
 Method 1:
A 1 1
X s   
4 s 3  s  1 12  s  4 
• From Laplace transforms table ,
change back to t domain:
1 1  t 1 4t
x t    e  e
4 3 12
1
x  t   3  4e  e 
t 4 t

12
Solving for A, B, C: Method 2
1
X s 
s  s  1 s  4 
A B C
X s   
s  s  1  s  4 
 Method 2
A  lim  sX  s  
s 0

 1 
A  lim  s  
s 0
 s  s  1 s  4 
1 1
A 
1 4  4
 Method 2
B  lim  s  1 X  s  
s 1

 1 
B  lim  s  1  
s 1
 s  s  1 s  4  
1 1 1
B  
 1 1  4   1 3 3
 Method 2
C  lim  s  4  X  s  
s 4

 1 
C  lim  s  4   
s 4
 s  s  1 s  4  
1 1 1
C  
 4  4  1  4  3 12
 Response of a system

R(s) 1 C(s)
2
(s+2)(s+3)
H = s+3

• Input: unit impulse function

• Initial conditions: x0 = x’0 = 0
Response of a system
H   s  3
1
G  2
 s  2  s  3
G
Ts 
1  GH
 Response of a system

 2 
 
  s  2  s  3 
Ts 
 2  s  3 
1  
  s  2  s  3 
 Response of a system

 2 
 
  s  2  s  3 
Ts 
  s  2  s  3  2  s  3 
 
  s  2  s  3  
 Response of a system

 2 
 
  s  2  s  3 
Ts 
  s  3  s  2   2  
 
  s  2  s  3 
 Response of a system

 2 
 
  s  2  s  3 
Ts 
  s  3 s  4  
 
  s  2  s  3 
 Response of a system
 2 
Ts  C  s  / R  s    
  s  3  s  4 
 2R  s  
C s   , Rs  1
  s  3  s  4 
 2 
C s   
  s  3  s  4 
 Response of a system
A B
C s  
 s  3  s  4 
  s  3  2 
A  lim   2
s 3  s  3  s  4 
 
  s  4  2 
B  lim    2
s 4  s  3  s  4 
 
 Response of a system
2 2
C s  
 s  3  s  4 
c  t   2e 3t
 2e 4 t

c  t   2 e 3t
e 4 t
