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System Dynamics and Control 1 Introduction System Dynamics and Control 2 Introduction

Learning Outcome
After completing this chapter, the student will be able to
• Define a control system and describe some applications
• Describe historical developments leading to modern day
control theory
• Describe the basic features and configurations of control
systems
• Describe control systems analysis and design objectives
• Describe a control system’s design process
• Describe the benefit from studying control systems

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 3 Introduction System Dynamics and Control 4 Introduction

§1.Introduction §1.Introduction
- Control System Definition
intput; stimulus output; response
control system
desrired response actual response

A control system consists of subsystems and processes (or

plants) assembled for the purpose of obtaining a desired output
with desired performance, given a specified input
- Ex.: elevator control system
input command
elevator location (floor)

4
transient
steady-state response
response
steady-state error
elevator
elevator response
Early elevators were Today, elevators are fully automatic,
time controlled by hand ropes using control systems to regulate
or an elevator operator position and velocity

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 5 Introduction System Dynamics and Control 6 Introduction

§2.A History of Control Systems §2.A History of Control Systems

B.C.200 Greece 1749-1827 Pierse Simon Laplace
Float regulator mechanism Laplace transform
B.C.50 Middle East 1769 James Watt
Water clock First automatic controller
1600 Cornelis Drebbel, Holland Flyball governer
First feedback system 1765 I. Polzunov, Soviet Union
Temperature regulator First level regulator system
1462-1727 Sir Isaac Newton 1831-1907 Edward John Routh
Mathematical modeling Routh criterion
1685-1731 Brook Taylor 1859-1925 Oliver Heaviside
Taylor series Mathematical analysis
1700 Dennis Papin 1868 J.C. Maxwell
Pressure regulator for steam boiler Mathematical theory for control system
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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System Dynamics and Control 7 Introduction System Dynamics and Control 8 Introduction

§2.A History of Control Systems §2.A History of Control Systems

1890’ Lyapunov, Soviet Union Post War Frequency domain analysis
Stability theory Laplace transform method
1930’ Nyquist, Bode, Black; Bell Telephone Lab 1903-1957 John Von Neumann
Electronic feedback amplifier Basic operation of digital computer
1889-1976 Harry Nyquist 1950’ Root locus method
Nyquist criterion Computer age open (digital control)
1898-1981 Harold Black Space age (Sputnik, Soviet Union)
Negative feedback amp Maximum principle (Pontryagin)
1905-1982 Hendrik Bode Optimal control
Bode diagram Adaptive control system (Draper) Sputnik, 1957
WWII period Automatic airplane pilot; Gun-positioning system, 1960’ Dynamic programming (Bellman)
radar; Antenna control system; Military systems State space method

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 9 Introduction System Dynamics and Control 10 Introduction

§2.A History of Control Systems §3.System Configurations

1970’ Microprocessor based control system - Open-Loop Systems
disturbance 1 disturbance 2
Digital control system
input / input process / output /
1980 Neural network reference tranducer
controller
plant controlled variable
summing summing
Artificial Intelligent junction junction

Fuzzy control - Closed-Loop Systems

Predictive control error / disturbance 1 disturbance 2
actual signal
LQG / LTR (Doyle & Stein) input / input process / output /
controller
reference tranducer plant controlled variable
Remote diagnostic control system summing
summing summing
junction junction
junction
output transducer /
sensor

- Computer-Controlled Systems

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 11 Introduction System Dynamics and Control 12 Introduction

§4.Analysis and Design Objectives §4.Analysis and Design Objectives

- Analysis: determine a system’s performance - Response
- Design: create or change a system’s performance The solution of 𝑥ሶ + 𝑎𝑥 = 𝑏
- A control system is dynamic → It responds to an input by 𝑏 𝑏
𝑥 𝑡 = + 𝑥 0 − 𝑒 −𝑎𝑡
undergoing a transient response before reaching a steady-state 𝑎 𝑎
response that generally resembles the input đáp ứng xác lập đáp ứng tức thời
- Three major objectives of systems analysis and design 𝑏
−𝑎𝑡 −𝑎𝑡
or 𝑥 𝑡 =𝑥 0 𝑒 + 1−𝑒
• Producing the desired transient response đáp ứng tức thời đáp ứng tự do 𝑎 đáp ứng cưỡng bức
• Reducing steady-state error sai số xác lập Response
• Achieving stability ổn định • Steady-state: the part of the response that remains with time
Other design concerns • Transient: the part of the response that disappears with time
• Cost • Free: the part of the response that depends on the initial conditions
• The sensitivity of system performance to changes in • Forced: the part of the response due to the forcing function
parameters 𝑏 𝑏 𝑏
𝑥(𝑡)
ሶ + 𝑎𝑥(𝑡) = 𝑏 → 𝑥 𝑡 = 𝑎 + 𝑥 0 − 𝑎 𝑒 −𝑎𝑡 = 𝑥 0 𝑒 −𝑎𝑡 + 𝑎 1 − 𝑒 −𝑎𝑡
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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System Dynamics and Control 13 Introduction System Dynamics and Control 14 Introduction

§4.Analysis and Design Objectives §4.Analysis and Design Objectives

- Stability - Case study: An Introduction to Position Control Systems
System concept Design layout
The solution of 𝑥ሶ + 𝑎𝑥 = 𝑏
−𝑎𝑡
𝑏
𝑥 𝑡 =𝑥 0 𝑒 + 1 − 𝑒 −𝑎𝑡 biến trở
𝑎
không ổn định
• Unstable: the free response approaches ∞ as 𝑡 → ∞
• Stable: the free response approaches 0 as 𝑡 → ∞ Scheme
xung tổng
trung hòa• Neutral stability: the borderline between stable and unstable. cảm biến
Functional block diagram
The free response does not approach both ∞ and 0
- Other considerations
• Finances
• Robustness bền vững
𝑏 𝑏 𝑏
𝑥 𝑡 = 𝑎 + 𝑥 0 − 𝑎 𝑒 −𝑎𝑡 = 𝑥 0 𝑒 −𝑎𝑡 + 𝑎 1 − 𝑒 −𝑎𝑡
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 15 Introduction System Dynamics and Control 16 Introduction

§4.Analysis and Design Objectives §5.The Design Process

- Response of a position control system, showing effect of high - The control system design process
and low controller gain on the output response
Transform
output with Draw a Develop a
Requirements Reduce
high gain độ Functional Create a Mathematical Analyze and
lợi = ra/vào into a
Block Schematic Model (Block
Block
Design
Physical Diagram
Diagram Diagram)
System
response

input
sơ đồ mô hình toán học
output with
low gain khối chức năng
- The antenna azimuth position control system are
time
using as an example through the control system
design process

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 17 Introduction System Dynamics and Control 18 Introduction

§5.The Design Process §5.The Design Process

Transform Transform
Draw a Develop a Draw a Develop a
Requirements Reduce Requirements Reduce
Functional Create a Mathematical Analyze and Functional Create a Mathematical Analyze and
into a Block into a Block
Block Schematic Model (Block Design Block Schematic Model (Block Design
Physical Diagram Physical Diagram
Diagram Diagram) Diagram Diagram)
System System

Step 1: Transform Requirements into a Physical System Step 2: Draw a Functional Block Diagram
Requirements Translates a qualitative description of the system into a
• Desire to position the antenna functional block diagram that describes the component parts of
• System features: weight, physical dimensions the system (that is, function and/or hardware) and shows their
interconnection
Determine the design specifications
• Desired transient response
• Steady-state accuracy

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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System Dynamics and Control 19 Introduction System Dynamics and Control 1.20 Introduction

§5.The Design Process §5.The Design Process

Transform Transform
Draw a Develop a Draw a Develop a
Requirements Reduce Requirements Reduce
Functional Create a Mathematical Analyze and Functional Create a Mathematical Analyze and
into a Block into a Block
Block Schematic Model (Block Design Block Schematic Model (Block Design
Physical Diagram Physical Diagram
Diagram Diagram) Diagram Diagram)
System System

Step 3: Create a Schematic Step 4: Develop a Mathematical Model (Block Diagram)

After producing the description of a physical system, the control Using the physical laws, along with simplifying assumptions, to
systems engineer transforms the physical system into a model the system mathematically
schematic diagram. The control system designer can begin with • Kirchhoff’s voltage law The sum of voltages around a closed path
the physical description to derive a schematic equals zero
• Kirchhoff’s current law The sum of electric currents flowing from
a node equals zero
• Newton’s laws The sum of forces on a body equals zero,
The sum of moments on a body equals zero
The model describes the relationship between the input and output
𝑑 𝑛 𝑐(𝑡) 𝑑 𝑛−1 𝑐(𝑡)
+ 𝑑𝑛−1 + ⋯ + 𝑑0 𝑐 𝑡 =
𝑑𝑡 𝑛 𝑑𝑡 𝑛−1
𝑑 𝑚 𝑢(𝑡) 𝑑𝑚−1 𝑢(𝑡)
𝑏𝑚 + 𝑏𝑚−1 + ⋯ + 𝑏0 𝑟 𝑡
𝑑𝑡 𝑚 𝑑𝑡 𝑚−1
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 21 Introduction System Dynamics and Control 22 Introduction

§5.The Design Process §5.The Design Process

Transform Transform
Draw a Develop a Draw a Develop a
Requirements Reduce Requirements Reduce
Functional Create a Mathematical Analyze and Functional Create a Mathematical Analyze and
into a Block into a Block
Block Schematic Model (Block Design Block Schematic Model (Block Design
Physical Diagram Physical Diagram
Diagram Diagram) Diagram Diagram)
System System

Step 5: Reduce the Block Diagram Step 6: Analyze and Design

Reduce the large system’s block diagram to a single block with a Analyze and design the system to meet specified requirements
mathematical description that represents the system from its and specifications that include stability, transient response, and
input to its output steady-state performance
angular intput
mathematical
angular output The standard test input signals
description
• Impulse
Equivalent block diagram for the antenna azimuth position control system

Place initial energy into a system so that the response due to

that initial energy is only the transient response of a system
This transient response can be use to derive a mathematical
model of the system

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 23 Introduction System Dynamics and Control 24 Introduction

§5.The Design Process §5.The Design Process

• Step • Parabola

A step input represents a constant command Use to get additional information about the steady-state error
Use to evaluate both transient and steady-state response

• Ramp • Sinusoid

Use to test a physical system to arrive at a mathematical model

The ramp input represents a linearly increasing command
Use to get additional information about the steady-state error

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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System Dynamics and Control 25 Introduction

§6.Computer-Aided Design
- MATLAB

- LabVIEW

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien