Steps for feedback control

1. Understand your system

1. Modeling

2. Control objectives: Less energy consumption , lower time response..

3. Design the controller:

• Open or closed (PID)
• Classical method or state space method

5. Analyze the performance:

• Analysis
• Simulation
• Experiments
 Classical PI controller

State space controller

 Control design methods
Classical control methods

• work well for simple systems,

• can be tuned based on trial-and-error or engineering
intuition,
• do not require a mathematical model of the system
but
• are typical iterative,
• are difficult to use for larger-scale systems (complex
systems) with multiple inputs and outputs (MIMO),
 Control design methods
State-space methods

• can easily handle larger-scale systems (complex

systems) with multiple inputs and outputs (MIMO),
• tuning can be formed as an optimization problem,
• are easy to implement
but
• require a mathematical model of the system,
 State Space Systems
State space models are a representation of the dynamics using first order differential
equations . The most common representation are linear systems.
A state vector x can be viewed as the memory of system. It is the minimum number of
independent variables that are enough to describe the system

State space and linear system are easy to implement due to the matrix form

Exp1. Determine A,B,C and D matrices for the cruise

control system and Exp2. for a simple gain system
 Laplace transform

f(t) F(s)
Time domain Laplace transform S domain
‘s’ is a complex number
Inverse Laplace transform
s= σ + iω

Transfer Function T is the ratio of Laplace Transform

of output to the Laplace Transform of input, when all
the initial conditions are assumed to be zero.

Input T Output
 Diff eq to transfer function

Exp. Determine the transfer function T of the following:

State space to transfer function
 Ways to represent a dynamical System
There are 3 equivalent ways to represent and solve a dynamical System:

•1. Differential equation

•2.State space
• 3. Transfer function
Basic definitions
 Basic definitions
• Poles are the values of s that cause G(s)  ꝏ

• Zeros are the values of s that cause G(s)  0

• Gain is the value of G(s) under steady state

conditions , or G(0)
Basic definitions
State-space models
Differential equation to state-space
Differential equation to state-space
Matlab code