System dynamics and Control

Part 1: Introduction

John Wiley & Sons Inc.

 System dynamics and Control: ME 3613

Course content:
Textbook
- Modelling in frequency and time domains
- Time response
- Reduction of multiple subsystems
- Stability
- Steady state errors
- Design via Root locus
- Design via frequency response

Final grade:

- Midterm exam: 30%

- Final exam: 50%
- Design project: 20%

Office hours:

- Wednesday: from 13:00 to 14:00

- Friday: from 14:00 to 15:00
 Control System Concepts
• A system is a collection of components which are
co-ordinated together to perform a function.
• Systems interact with their environment across a
separating boundary.
• The interaction is defined in terms of variables.
– system inputs
– system outputs
– environmental disturbances
• A Control System consists of subsystems assembled
to control the outputs of a process (or plants) .
 Control System benefits
• Primary Objectives:
1. Dynamic stability
2. Accuracy
3. Speed of response

• Other Considerations:
4. Robustness (insensitivity to parameter variation)
5. Cost of control
6. System reliability
7. Convenience of input form
Convenience
8. Dangerous
of input form
places (hot/cold places, space, bomb
In a temperature control system, the input is the position on a
removal)
thermostat and the output is the heat. Thus a convenient position
input yields a desired thermal output.
 Analysis and Design Objectives
• Transient Response must meet certain criteria.

• Steady-State Response must meet certain criteria.

• The system must have Stability:

– Total Response = Natural Response + Forced Response
• Natural response describes the way the system dissipates
or gain energy. It is dependent only on the system not
the input
• Forced response depends on the input.
• Natural response must go to zero leaving only the forced
response or oscillate
 Control System Design Steps
• Define the control system objectives.
• Identify the system boundaries.
– define the input, output and disturbance variables
• Determine a mathematical model for the components
and subsystems.
• Combine the subsystems to form a model for the whole
system.
• Apply analysis and design techniques to determine the
control system structure and parameter values of the
control components, to meet the design objectives.
• Test the control design on a computer simulation of the
system.
• Implement and test the design on the actual process or
plant.
 Antenna Positioning Control System

• Original system: the antenna with

electric motor drive systems.

• Control objective: to point the

antenna in a desired reference direction.

• Control inputs: drive motor voltages.

• Outputs: the azimuth angle of the antenna.

• Disturbances: wind, rain, snow.

 Open-Loop Control

Open-loop Control Systems:

Toaster, microwave oven, laundry machine…

• Calibration is the most important factor

• Can be sensitive to disturbances

 Open loop control example

A toaster toasts bread, by setting timer.

• Objective: make bread browned and crisp.

• A toaster does not measure the color of bread during the
toasting process.
• For a fixed setting, in winter, the toast can be white and in
summer, the toast can be black (Calibration!)
• A toaster would be more expensive with sensors to
measure the color and actuators to adjust the timer based
on the measured color.
 Closed-Loop (Feedback) Control

• Compare actual behavior with desired behavior

• Make corrections based on the error
• The sensor and the actuator are key elements of a
feedback loop
 Ex: Automobile direction control

Attempts to change the direction of the automobile.

• Manual closed-loop (feedback) control.

• Although the controlled system is “Automobile”,
the input and the output of the system can be
different, depending on control objectives!
 Ex: Automobile cruise control

Attempts to maintain the speed of the automobile.

• Cruise control can be both manual and automatic.

• Note the similarity of the diagram above to the
diagram in the previous slide.
Applications
Applications
 Applications
Temperature control system:
Applications
Applications
Applications
Applications
Applications
 Goals of this course

To learn the basics of feedback control systems

Modelling as a transfer function, state-space, and a block

diagram
• Laplace transform
• Mechanical, electrical, electromechanical systems
Analysis
• Step response, frequency response
• Stability: Routh-Hurwitz criterion, Nyquist criterion
Design
• Root locus technique, frequency response technique,
PID control, lead/lag compensator