Control

Definitions
• System: Set of elements that interact with each other for the
conversion of input signals into output signals.

• Control system: They are used to manipulate the parameters involved

in the system and obtain the desired output signal.
Open loop control system

• In this type of system, the output signal is not monitored, only the
control action is exerted on the process.
Closed loop control system

• The system continuously feeds back to monitor the output signal and
adjust the control action to minimize error.
Linear system
• A linear system obeys the superposition theorem "the response produced
by the simultaneous application of two different excitatory functions is the
sum of the two individual responses".
• It is the Laplace transform of the impulse response of a control system:
Y(t) = X(t)G(t)
• If X(t) is a unit impulse:
Y(S) = G(S)
• The transfer function of a quantitative relationship between inputs and
outputs:
G(S) = Y(S)/X(S)
• The transfer function can be expressed as the quotient of two
polynomials by the gain factor:
G(S) = K(S + Z1)(S + Z2)(S + Z3)…/(S + P1)(S + P2)(S + P3)…
• The transfer function can be expressed as the quotient of two
polynomials by the gain factor:
(S + P1)(S + P2)(S + P3)… = 0
• The order of the characteristic equation is the order of the system.
The roots of the numerator are the zeros and the roots of the
denominator are the poles.
The response of a system consists of:
• 1. Transient state: the part of the response associated with variations
due to external perturbations.

• 2. Steady state: The equilibrium state is reached.

t --> ∞ (time tends to infinity)
• NOTE: Usually a system has a series of oscillations before
reaching a steady state.
• Stability: A system is stable if it remains in a state of equilibrium or if it
eventually returns to that state after receiving external perturbations.
Error coefficients for systems with unitary feedback
Error coefficient
• 1. R(s) = Unitary impulse
• Kp = position coefficient ep = position error
• Kp = lim(s--0) G(S) ep = 1/1+Kp

• 2. R(s) = Unitary step

• Kv = speed coefficient ev = velocity error
• Kv = lim(s--0) SG(s) ev = 1/Kv

• 3. R(S) = Unitary ramp

• Ka = acceleration coefficient ea = acceleration error
• Ka = lim(s--0) S^2G(s) ea = 1/Ka
Example

Kp= lim s--0 4(S+2)/S(S+4)(S+1) Ka = lim s—0 S^2(4(S+2)/S(S+4)(S+1))

Kp= lim s—0 4(2)/0 Ka = lim s—0 2S(S+2)/(S+4)(S+1)
Kp = 8/0 Ka = 0/4
Kp = ∞ Ka = 0

ep = 1/1+∞ ea = 1/Ka
ep = 1/∞ ea = 1/0
ep = 0 ea = ∞

Kv = lim s—0 S(4(S+2)/S(S+4)(S+1))

Kv = lim s—0 4S(S+2)/S(S+4)(S+1)
Kv = lim s—0 4(s+2)/(s+4)(S+1)
Kv = 8/4
Kv = 2

ev = 1/Kv
ev = 1/2