.d d Q.I Q.

'lfel-fff'J~ ~~~~~~~~~~~~~~~~~~~~1'Hff'l.Jflfffl~1~~~~~

ci
fteiun~1.:ifl1rmnffn~1 112558

MEE333 Automatic Control Engineering

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1ff1fl 1 nHfl1eJ'lfl~olftliJVj 3
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v.::t' ..,.., t!-=t.., .
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3' 0 3'31
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GJ~31 ~ 0 11]31
2. el1-Jty1\91 t'H t'lftfl1el'lfll'U1W t~
' '
3. iM'i~uu rn1Jnu.:1tY6'U iu'lf~NViitt11''VlmtNu
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•
, 3'<=1 ~ "' 3' 31
4. 'H!'\Jtl'U 'lfel-ff f'J~ ...... ....1'Hff . .......... U'U 6\JelffellJfJ fl'H'Ul
3' 31 • ,31o 31
s. "lleHHllJlJ 9
<=!
"lleJ 14 mm tt'Vll'Vlfl"lleJ
•
" • • ii

6. ·vh 1u6li'eiirn1J tt1muei'Vl 1iirrn 1 M''Yi1~eiVi~1uttrr.:i"llei.:iuNuiru

31 'JI
~eiei fl6\Jelff el1l

1'V11 02-470-9123-4

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d d Q.I Q.I

6lf5-ff~~ ~~~~~~~~~~~~~~~~~~~~111ffunffn~1~~~~~

• • !II

1) ~H~51Jfl1tllll !~llfl1Vl~5\ln11 '11~55li1J1tl~llJVlfl1fllmieitr~'l~5 i1Ju

Q.I .c:9 ~ ' • QI

a. unffn~11l'l51i1Jltlfl111JU~n~1\l1~1111'l open-loop n1J closed-loop (feedback control)

j./ I j./ I

systems 'Wr5lll1'>lt1n\9f15v1n~1J1J~~11il >l\9115v1>l1 r1i'~u11u 1~tr iiiCJ11n1J1~1J1J-vlij1 u

b. 11\l'Wtllll "Transfer Function" (3 fl~U'W'W)

~ 111 d d , 'JI .
c. 1~1J1J6lf'W~ i'tt'W'Vl!'l1ll1~ffll'Vl'1~ 6lf "Transfer Function" (2 fl~U'W'W)

2
~ QI QI &
~e-~~~ _ _ __ _ _ _ _ __ _ _ _ _ _ _ _ _ _ _ __ 'J'H~Ufifffi~l _ __ _ __

+ I
\----------------·--·· l11ru~:·o11~1~_'._~~1 _________. . ______ _i____
4
I A -------------- + .. t
I B
c
l I
'\;/
1

i.;...ft_,:::___ _ __ __________________________, __

Elevator response Tirnc

A fie
---------------

c fie - - - - - - - - - - - -- --

e. "Performance Specification" ffl'Hfll 1 st -order systems lJe~hlfHu~~11ene~'1-sn11t'Jl (5

fl~UUU)

3
A QI QI d
'lfB-ff~~~~~~~~~~~~~~~~~~~~~~)'Hff'Wf)fff)~l~~~~~

o'"! llJ 91 ~I ~I "' ci

\9ll'UB'llJ'4~t.ltlB i~1l!u'W )~'lJ'lJfl1'UfJlJU 'lJ'lJuB'W f)~1J'Yll'l'lf11'Ylt.JlU'lJ'lJ'HW.I
I "'1 ""'
2) (Biological

Control System) ~ 'lffllJ lHlD i''lJ'U'W l~!ff'W ~l'l.Hj'W rJf)~ l'l'U B'liij1'W \911 (Pupil) !~Bi'f)~ lfl 11lJ

!~t.J'W "Functional Block Diagram" 'lJB'l)~'lJlJUff'l-iij1'W\91l 1~mhtt'W~ input, output U~~

Q,I ' Q,I QI cl
fftytyltu\911'1'1 \9111~ (Sensor); )~lJ1Jfl11Jf.llJ (Controller); U~~UBfl'lf!Bl\9lB) (Actuator) (5

fl~U'W'W)

4
3) '1-nn "Transfer Function", G (s) . 8 2 (s) /T(s) 'UtN1::utJl1Hfl~~~rtJ
(5 fl::U'l.J'W)

T(t)
N-m-~--- J
('
~
\
('"'"'--)_ 1kg_-m_2
I
_)~----IC t---i N,
82U>
=2s

N, = 50 11 (
)
0000 "\.___fl:.
4 N-m/rnd LJ

5
~ QI QI i:=9
~e-ff~~~~~~~~~~~~~~~~~~~~~~JMff'Wf1fff1~1~~~~~

4) Gyros \}n1'lf't11'Vl1.:iuuenue1mrr tfl1e.:i1h..1 trn~t~e Gyro ~tttu~.:iru~an11 "Rate Gyro"

i'hnfi.:iv~ ltl.:!J~tti1.:i Inner Gimbal U~~ Outer Gimbal (frame) el\9lJ1MlJ'UJe'Uttf1'W Z lll
q

ltt'ill'WMlJ'WlJ~l911JS'UUf1'W x tl'UttlJltl~.:J
q
ff'ruru1tu6UltoU1fise1l)lMlJ'U)S'lJUf1'W
ti u q
z u~~
ff'ruru1ru6U1ernnfie1J1J~U~
uu q
tiJJeuunu X tde.:i'illf1 Outer Gimbal tH1V~numu
cu lJlJ~U~
q

!iJ)euunu X ~.:it~'Wf11J1~e\9l)lttlJ'WJerntn'W
q
z fflJf11Jf11Jtfl~eu~~.:it6Uau!~t~'W
2
j d Bx
x dt 2
+ Dx dBx
dt
+ k x (}x = jw dBz
dt
'il.:Jt6Ut1'UfflJf11Jrl1uJ,iJ State-Space (5
-
fl~U'W'W)

Remfoo
""

Frame

6
A QI CV d
~tl -ffQ~-----~~~~~~~~~~~~~~~~SMffUflflfl~l~~~~~

5) \Hl~tlU Free Body Diagram 'lla~S::U'l.J~OlM'Ufl 1-H' u~::ffl.Jfll~fllSlfl~tl'U~ (Equation of

Motion) '\Jtl~~::'l.J'l.J (10 fl::U'U'U)

• x:;(IJ

M.1=3 kg fv 3 = 5 N-s/m
.f~· 1 =2 N-s/r;..:.:n=---==---..--------~-Wlllc:::~

K:. = 4 Nim
flt)
=
K3 3 Nim
J\·-. =2 N-s/111

Frictionless
x 1(r) X:_(l)

7
~
.
')Hl-ff fl(;I
-------------------~
QJ QI d
l' '11 ff 'W flf)'fl'lfl _ _ _ _ __

0 •
6) fl1'11'W~ transfer functions:

R(s) - ...>I G(s) 900

s 2 +90s+900
~-),.. Y(s)

~ ~ d ?1
6.1)
0
11'1'111 unit step response 1llfll'::::1J1J'lll'l\9l'W, ur;i::::mrn'l'fll\9leJ1J 'VHu'W forced response trn::::
natural response (10 'fl::::U'W'W)

6.2) Place zero and poles of the above transfer function in the s-plane (5 'fl::::U'W'W)

Jro

8
dt QJ QJ&
~~ -~Q~~~~~~~~~~~~~~~~~~~~~1M~'Wtlfltl~1~~~~~

6.3) '11tl~1UMU\l'U'el\I pole, '1\11rnnin ~ urnllu1h~u'1'Yl1~ (stable/unstable/ neutrally stable)?

(3 fl~U'W'W)

6.4) 11~lllri111'7J'U'el\I response U"~U'elfd1tll'Wll'i~!fl'Yl1~ overdamped, underdamped,

undamped, or critically damped? (5 fl~U'W'W)

9
~ QI QI d
~~-ff~~ ~~~~~~~~~~~~~~~~~~~)ttff'l..!f)fff)~l~~~~-

7) "\lttl transfer function "lf) state space ~flltt'l..!~ hf (10 fl~U'l..!'l..!)

. [-5
x=
0

y = [7 O]x

10
~ QI QJ &
~~-tr~~~~~~~~~~~~~~~~~~~~~~~)t1tr'Wnffn~1 ~~~~~

.
8) Ufiffffhllf1'Wt1U-:'1~~.:imnn transfer function 1~t1'Vilm)'Yl~~~.:iu~~'Vmi1 unite step response
i'.hl'n~ru~i-:'llU ~-:'JU)~fiffUlU~1flrll time constant (Tc= 0.02 seconds), settling time (Ts=
0.08 seconds), and rise time (Tr= 0.044 seconds) 11-:'l'Yfl transfer function "ll~.:in::uu (10

ft~U'W'W)

Step Response

0.8

~ 0.6 .. .. .
~
u ... . ... ...
~ 0.4 ....

0.2 ..

0.02 0.04 0.06 0.08 0.1 0.12

11
~ QJ QJ d
~fl-fffJrl. _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 'j'ttff'Wf)ffff):fl _ _ _ __

9) fll'tt'W~ transfer function 1l~'ttlft1 damping ratio ~, 1Jflm.h~!.fl'Vl6llfl~ response and 'il1J~n1J
response ~~~e>tj1'Wf1'jlvl 'ttUltl~ i tl (12 fl~U'W'W)
System 1

12
R1(s)
>I A(s)
s 2 +8s+12
> C1(s)

Damping ratio ~ =

matches response #

System 2

16
R2(s)
>I B(s)
s 2 +8s+16
>C2(s)
I

Damping ratio ~ = _ _ _ _ _ _ _ _ __

matches response#_ _ _ _ _ __

System 3

20
s 2 +8s+20

Damping ratio ~ = _ _ _ _ _ _ _ _ __

matches response#_ _ _ _ _ _ __

12
~ .,, .,, al
'lf'e:l-ff fJ '1 ~~~~~~~~~~~~~~~~~~~-lwffunffn~1 _ _ _ __

c(t)

#1
2.0

l.8
1.6

1.4
l.2
1.0

0.8
0.6

0.4
0.2

0 0.5 1.5 2 2.5 3 3.5 4

°ff~l6lf1vi 'W nllfll'W 1W

2.31 0.11 2.2
7: = - - - = -
r a a a
4
T.s = -a

1
T.c = -a
Tr
T, = --;:::===2
P wn.Jl - (
-(~)
%OS = e ji-{" 2
xlOO
-ln(o/oOS /100)
S= /n:2+zn2(%0S /100)

13
 •
• <!i OJ OJ .=i
"lf el- ff fHI 'J'ttff'W flf1fl'hl1
•

TABLE 2.1 Laplace transform table

Item no. f(t) f'(s)

1. B(t)
2. U(l)
s
3. tu(t) -;;
J.~

4. t''u (t ) n!
s" + 1
I
5. e-"' u(t)
s + (I
(!)
6. sin wtu (t)
s2 -.,.. <tl-
7. coswtu(t ) s
52 - w2
Twblcl. 1
O John Wik>y It Sons,. Inc.. Alt righu l'IH..,Yed.

TABLE 2.2 Laplace transform t.heorems

Item no. Theorem Name

1. ft'[f( t)) = F(s) = ~ f(r)e-stdt Definition

2. !t'[kf(t)] = kF(s) Linearity theorem
3. 2"[/1(t)+f2(t) ] = Fi (s) + F2 (s) Linearity theorem
4. 2' [e- a1f(t) ] = F(s+a) Frequency shift theorem
5. !t' [f(r - T)] = e-•TF(s) Time shift theorem

6. .!f' [f(at)] = ~F(~) Scaling theorem

" a
7. !/' [df]
dt = sF(s) - f(O-) Differentiation theorem

2
8. u [d
."f d12f] = s2F(s) - sf(O - ) - f(O- ) Differentiation theorem

9. [d"f]
r.
2" dt"
= ~n F(s) -
II

L l'- kl-1(0-) Differentiation theorem

k= l

10. 2"[f~_ f(r)dr]

= F(s) Integration theorem
s
11. /(oo) = lim sF(s) Final value theorem 1
s- 0
12. f(O+) = lim sF(s) Initial value theorem2
.f-00

1
For this theorem to yield correct finite results, all root s o( the denominat.o r of F(s) must have negative real
parts, nod no more than one can be at the origin.
2
For this theorem to be valid. f(t) must be continuous or have a step discontinuity at t = 0 (that is. no
impulses or their derivatives at / = 0).
Table2.2
o John Wiley & Sons, Inc. All rights reserved.

14