Module:

FEEDBACK CONTROL SYSTEM ECE322a: 3

SOURCES:

CONTROL SYSTEMS ENGINEERING BY NOMAN S. NISE

FEEDBACK CONTROL SYSTEM LECTURE NOTES BY G. PLETT AND M. TRIMBOLI

CONTROL OF MECHANICAL SYSTEMS BY NOLAN TSUCHIYA

Hi there, future Engineers!

In this module we will discuss what is feedback control

LEARNING OUTCOMES

After working on this module, the reader will be able to know and understand the
following:
1. Conversion of an Ordinary differential equation to transfer function operation and vice versa
2. Laplace transforms and Inverse Laplace
3. Forced Responses
 L
SYSTEM model MATHEMATICAL
TRANSFER
DYNAMICS MODEL
FUNCTION
(REAL LIFE) (ODE)

L-1
(t) (s)
TRANSFER FUNCTION

u(t) H(s) y(t)

A transfer function is a compact way of representing the relationship between

the input into a system, and its output. It's a mathematical model that
captures the linear time invariant dynamics of a system.

The transfer function H(s) is defined as the Laplace transform of the output
y(s) divided by the Laplace transform of the input u(t).
LAPLACE TRANSFORM
Goals for the meeting:

❑ ODE -> TRANSFER FUNCTION

❑ (s) -> (t)
❑ Solve ODE
❑ Forced Reponse
Example 1:
Given:
u(t) = 1
U(s)=?
Example 2:
Given:
u(t) = bt
U(s)=?
Goals for the meeting:

❑ ODE -> TRANSFER FUNCTION

❑ (s) -> (t)
❑ Solve ODE
❑ Forced Reponse
Example 3:
Given:
H(s)=?
u(t) y(t)
Case 1: Trivial
Given:
1
F(s) =
𝑠 +2

f(t) ?
Case 2: Distinct Real Roots
Given:
3
F(s) =
𝑠 (𝑠 +2)

f(t) ?
Case 3: Repeated Real Roots
Given:
1
F(s) = 3
𝑠 𝑠 +1

f(t) ?
Case 4: Complex Roots
Given:
1
F(s) =
(𝑠+1) 𝑠2 + 2𝑠 +2

f(t) ?
Goals for the meeting:

❑ ODE -> TRANSFER FUNCTION

❑ (s) -> (t)
❑ Solve ODE
❑ Forced Reponse
Example:
Given:
ẋ + 3x = 2
where x(0) = 1

x(t) ?
Goals for the meeting:

❑ ODE -> TRANSFER FUNCTION

❑ (s) -> (t)
❑ Solve ODE
❑ Forced Reponse
Forced Reponse

The forced response is what the circuit does with the sources turned on,
but with the initial conditions set to zero.

U(s) H(s) Y(s)

Y(s) = H(s) x U(s)

 u(t) v(t)
Example:
Given:
ẋ = - 10v + 2u
where u(t) = 1

What is the Forced Response of the car?

End of the module