UNIVERSITAS INDONESIA

Veritas, Probitas, Justitia

Est. 1849

Dr. Aries Subiantoro, ST. MSc.

The Control Design Cycle

K
The Control Design Cycle
1. Establish control goals

2. Identify the variables to

control

3. Write the specifications

for the variables
Summary: Given a model of the system
4 Establish system
4.
to be controlled (process, sensors,
K
configuration (sensors+
actuator+process+
controller hardware)
actuators) and design goals, find a
controller or determine that none exists
5. Obtain a model of the
process+actuator+sensor

6. Determine controller
parameters to be adjusted

7. Optimize the Performance specs met

parameters and analyze
the controlled system’s
performance

Performance does
not meet the specs
Modeling and Simulation

Model types: ODE, PDE, state machines,

hybrid

Modeling approaches:
 Physics based (white box)K
 Input-output models (black box)

Linear systems

Simulation

Modeling uncertainty
 Dynamic Models

To make progress on the control system design

problem, it is first necessary to gain an
understanding of how the process operates. This
understanding is typically expressed in the form of
K

a mathematical model.

The power of a mathematical model lies in the fact
that it can be simulated in hypothetical situations,
be subject to states that would be dangerous in
reality, and it can be used as a basis for
synthesizing controllers.
Modelling of Systems

Classical Control

based on continuous time systems

takes system differential equation and

I

using Laplace Transforms models system

as a transfer function

Note that it is essential to be familiar with
Laplace Transforms
Modelling of Systems

Modern Control

usually based on discrete time systems

transfer function approach (z transform)

I

or state space (time domain ) approach

This subject is primarily concerned with

classical control.
Linear vs Non-
Non-Linear Modelling

In this course we will assume we are dealing with

Linear Time Invariant systems
 Linear
 superposition holds
I

 Time Invariant
 system dynamics as described by system differential
equation does not change with time

Note that with non-linear systems we can often
linearize the system about a certain operating point
and apply the theory we will develop in this course.
Laplace Transform

The study of differential equations of the type described

above is a rich and interesting subject. Of all the
methods available for studying linear differential
equations, one particularly useful tool is provided by
Laplace Transforms. I

Consider a continuous time signal y(t); 0 ≤ t < ∞. The

Laplace transform pair associated with y(t) is defined as
 Laplace Transforms

A key result concerns the

transform of the derivative
of a function:
I

Table 2.1
Laplace transform table
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
 I

Table 2.2
Laplace
transform theorems
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Transfer Functions
 We start from the differential equation relating system
output to input , take the Laplace transform of the D.E.
and rearrange to get the ratio of the output to the input.
 Note in so doing we are employing the derivative
I

property of the L.T.

 Recall derivative property of L.T.
d 
L  f (t ) = sF ( s ) − f (0 )
 dt 
 d2 
L  2 f (t ) = s 2 F ( s ) − sf (0 ) − f& (0 )
 dt 
Transfer Functions
In general

 dn  n n
L  n f (t ) = s F ( s ) − ∑ s n − k f (k −1) (0)
 dt  k =1

As an example consider the Laplace Transform of

&x& + 2 x& + 5 x = 3, x(0) = 0, x& (0 ) = 0
3
Noting that L{3} =
s
3
→ s X (s ) + 2sX (s ) + 5 X (s ) =
2

s
Transfer Functions
 In constructing transfer functions we make
the assumption that the initial conditions are
zero
 in effect this means their effects have long died
I

out.
Transfer Functions

 x(t) y(t)
LTI System

System differential equation

I

n n −1
d y d y dy
a0 n + a1 n −1 + ... + an −1 + an y (t )
dt dt dt
m m −1
d x d x dx
= b0 m + b1 m −1 + ... + bm −1 + bm x(t )
dt dt dt
Transfer Functions

 x(t) y(t)
LTI System

Taking Laplace Transforms assuming zero initial

I
conditions
n −1
a0 s Y ( s ) + a1s Y ( s ) + ... + an −1sY ( s ) + anY ( s )
n

m −1
= b0 s X ( s ) + b1s
m
X ( s ) + ... + bm −1sX ( s ) + bm X ( s )
Transfer Functions

 x(t) y(t)
LTI System

Hence transfer function G(s)=Y(s)/X(s)

I

m −1
b0 s + b1s + ... + bn −1s + bn N ( s )
m
G ( s) = n −1
=
a0 s + a1s + ... + an −1s + an D( s)
n

Roots of D( s ) = 0 are known as the system poles

Roots of N(s) = 0 are known as the system zeros
Derivation of Transfer
Function - Example

Electric Circuit

Mechanical Systems
I

Electromechanical Systems

Flow Systems
Table 2.3
Voltage-current, voltage-charge, and impedance
relationships for capacitors, resistors, and inductors

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
 뀀!

Figure 2.3
RLC network
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.4
Block diagram
of series RLC electrical
network

଀Ϥ

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.11
Inverting operational
amplifier circuit
for Example 2.14
଀Ϥ

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Table 2.4
Force-velocity, force-
displacement, and
impedance translational ଀Ϥ

relationships
for springs, viscous
dampers, and mass

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
 ଀Ϥ

Figure 2.15
a. Mass, spring, and damper system;
b. block diagram
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Table 2.5
Torque-angular velocity,
torque-angular
displacement, ଀Ϥ
and impedance
rotational relationships
for springs, viscous
dampers, and inertia

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.22
a. Physical system;
b. schematic; c. block diagram

଀Ϥ

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
 Figure 2.25
Three-degrees-of-
freedom rotational
system

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.34
NASA flight
simulator
robot arm with
electromechanical I

control system
components

© Debra Lex.

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.35
DC motor:
a. schematic12;
b. block diagram

㕐Ϣ

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 2.36
Typical equivalent
mechanical loading on a
motor

썰н

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Coupled Tank System
Model CE-
CE-105

଀ϣ
Coupled Tank System Model

dh1
A1 = Q1 − a1sign (h1 − h2 ) 2 g h1 − h2
dt
dh
A2 2 = a1sign (h1 − h2 ) 2 g h1 − h2 − Qc
dt
Block Diagrams
 Control system elements or sub-systems are
represented by block diagrams
 Each block will contain the transfer function
for that sub-system and possibly the name of
଀ϣ

the subsystem
Block Diagrams
 Signal flow denoted by arrows and a
description
 summing blocks sum two or more signals
with the a plus or minus sign at the
଀ϣ

arrowhead indicating if signal is added or

subtracted
 branch points are points where signal goes
concurrently to two or more points.
Block Diagrams

 Example - Closed Loop Control System

E(s) Error signal
U(s)
+ 1 ଀ϣ
10 Y(s)
-
Input
signal
s s+5 Output
controller plant signal
Summing
block
1
s +1
sensor
Block Diagrams
 Cascading Blocks
U(s) X(s)
Y(s)
G1(s) G2 (s)
X (s) Y (s)
G1 ( s ) = , G2 ( s ) = ଀ϣ
U (s) X (s)
X (s) Y (s)
→ G1 ( s ) ⋅ G 2 ( s ) = ⋅
U (s) X (s)
Y (s)
=
U (s)
= equivalent transfer function between u (t )
and y (t )
Block Diagrams

 Cascading Blocks
U(s) X(s)
Y(s)
G1(s) ଀ϣ G2 (s)

Can be replaced by:

U(s) Y(s)
G ( s ) = G1 ( s ) ⋅ G2 ( s )
Closed Loop Transfer Function

U(s) E(s) Y(s)

+- G(s)

଀ϣ

H(s)
B(s)
Y ( s) = G ( s) E ( s)
E ( s) = U ( s) − B( s)
= U ( s ) − H ( s )Y ( s )
Closed Loop Transfer Function

U(s) E(s) Y(s)

+- G(s)

଀ϣ

H(s)
B(s)
Eliminating E(s) we get
Y ( s ) = G ( s )[U ( s ) − H ( s )Y ( s )]
Y (s) G (s)
→ = = Gequiv ( s )
U ( s) 1 + G ( s) H ( s)
Closed Loop Transfer Function

U(s) E(s) Y(s)

++ G(s)

Positive ଀ϣ

feedback
H(s)
B(s)

Note that in the case of positive feedback

G (s)
Gequiv ( s ) =
1 − G (s) H (s)
Closed Loop System subjected to
a Disturbance

Disturbance D(s)

U(s) Y(s)
+- G1(s) ++ G2(s)
଀ϣ

H(s)
B(s)
To analyse this we use superposition
1. Consider set point to be zero and compute output
2. Consider disturbance to be zero and compute output
3. Add both outputs in 1 And 2 together
Closed Loop System subjected to
a Disturbance

Disturbance D(s)
U(s)=0
YD(s)
+
+ G1(s) + G2(s)
- ଀ϣ

H(s)
B(s)

1. Consider set-pint U(s) to be zero and compute output

Closed Loop System subjected to
a Disturbance

Disturbance D(s)

U(s)=0 YD(s)
+
+- G1(s) + G2(s)
଀ϣ

H(s)
B(s)
let YD ( s ) be L.T. of output with U(s) = 0
YD ( s ) G2 ( s )
=
D( s ) 1 + G1 ( s )G2 ( s ) H ( s )
Closed Loop System subjected to
a Disturbance

Disturbance D(s)=0
E(s)
U(s) YU(s)
+
+- G1(s) + G2(s)
଀ϣ

H(s)
B(s)

2. Consider disturbance to be zero and compute output

Closed Loop System subjected to
a Disturbance
Disturbance D(s)=0
E(s)
U(s) YU(s)
+
+- G1(s) + G2(s)
଀ϣ

H(s)
B(s)

YU ( s ) G1 ( s )G2 ( s )
=
U ( s ) 1 + G1 ( s )G2 ( s ) H ( s )
Closed Loop System subjected to
a Disturbance

Disturbance D(s)
E(s)
U(s) Y(s)
+
+- G1(s) + G2(s)
଀ϣ

H(s)
B(s)

3. Add both outputs together

Closed Loop System subjected to
a Disturbance
Disturbance D(s)
E(s)
U(s) Y(s)
+
+- G1(s) + G2(s)
଀ϣ

H(s)
B(s)
Y ( s ) = YD ( s ) + YU ( s )
G1 ( s )
= [G2 ( s)U ( s) + D( s)]
1 + G1 ( s )G2 ( s ) H ( s )
Closed Loop System subjected to
a Disturbance

G1 ( s )
Y ( s) = [G2 (s)U ( s) + D(s)]
1 + G1 ( s )G2 ( s ) H ( s )
→ If G1 ( s ) H ( s ) >> 1 ଀ϣ

& G1 ( s )G2 ( s ) H ( s ) >> 1

YD ( s )
→0
D(s)
Effect of disturbance is minimised
- one advantage of a closed loop system
Closed Loop System subjected to
a Disturbance

YU ( s ) 1
→ as G1 ( s )G2 ( s ) H ( s ) increases
U ( s) H ( s)
→ if G1 ( s )G2 ( s ) H ( s ) >> 1
଀ϣ

YU ( s )
then is independent of G1 ( s ), G2 ( s )
U ( s)

i.e. independent of small variations in G1(s),G2(s)

Another advantage of a closed loop system
Block Diagram Algebra

 Often control systems can be quite complex

 To adequately model and predict their
behaviour it is often desirable to reduce
଀ϣ

system down to a simple closed loop transfer

function
 Next lecture we will look at techniques for
doing this
Sensors
 Dependent on application
 Usually present in feedback path of closed
loop system
ʐϠ
 In time constant of sensor is very small
compared with system time constants then
sensor may be represented by a simple time
constant
Sensors

 Can also be a source of noise

 Effect of noise can be amplified by any
differentiation blocks in loop
I

 i.e.transfer function blocks of the form Ks

MATLAB

 Widely used in the control field

 many control designs are developed in
MATLAB before converting to C or assembly
଀ϣ

code.
 Automatic conversion software exists
 available as a student edition and on the
EESE network
Homeworks

 Nise chapter 1: 2, 3, 5, 17(c)

 Nise chapter 2: 17, 25, 29, 37, 42

଀ϣ
Next Lecture
 Block diagram algebra, transient response of
LTI systems - 1st, 2nd, & higher order
systems
 time domain performance measures
଀ϣ

 significance of pole locations