Feedback Control Systems

Fall 2020

September 9, 2020
Today

Disturbances

r e u y
Controller System
−

ym

Measurements

Objective
I Analyze plant models
I Design dynamic models for particular systems
I Simulate in MATLAB and Simulink
Introduction

I The ultimate goal in feedback control design is to drive the plant

output to follow a desired reference variable
Introduction

I The ultimate goal in feedback control design is to drive the plant

output to follow a desired reference variable
I The first step in this process is to derive the plant dynamic model
Introduction

I The ultimate goal in feedback control design is to drive the plant

output to follow a desired reference variable
I The first step in this process is to derive the plant dynamic model
I Two approaches: Physics-based and system identification
Dynamics of Mechanical Systems

Physics-based derivation
I Newton’s Law of Motion:

F = ma

F : Sum of all forces applied to each body in a system

a: The vector of acceleration of each body w.r.t. a reference
frame
m: Mass of the body
I For instance: Weight of a body: mg, (g : gravitational
acceleration)
Example: Cruise Control Model

Derive the equations of motion. In other words, find the relation

between the input u and the output y
I u: Force enacted by engine
I b: Friction affecting the car’s motion in the opposite direction of
the car’s velocity
I x: Coordinates of the car’s body
I ẋ: Car’s speed
I ẍ: Car’s acceleration
Example: Cruise Control Model

Total force equals the total mass times acceleration:

u − fb ẋ = mẍ

Equivalently:
fb u
ẍ + ẋ =
m m
Our variable of interest is the velocity v. Rewriting yields:
fb u
v̇ + v=
m m
Example: Cruise Control Model

Although frequency response will be covered later, here let’s assume a

solution of the form:
v = V0 est
Time derivative is given as:
v̇ ≡ sV0 est
Rearrange:
 
fb 1
s+ V0 est = U0 est
m m
Thus, we have
1
V0
= m fb
U0 s+ m
Example: Cruise Control Model

We will use the following form to denote the fact that the variables
are transformed to another domain:
1
V (s)
= m fb
U (s) s+ m

I We will name this expression the transfer function of the vehicle.

I The term s denotes the time derivative d/dt.
Example: Cruise Control Model

1
V (s)
= m fb
U (s) s+ m

Time response of the system can be simulated on MATLAB (both on

script file and Simulink):
Example: Car Suspension System

I Also known as quarter car system. Consists of a

mass-spring-damper model
Example: Car Suspension System

I Also known as quarter car system. Consists of a

mass-spring-damper model
I Our aim is to find the relation between the input u and the
output y in the simplified model
Example: Car Suspension System

I Also known as quarter car system. Consists of a

mass-spring-damper model
I Our aim is to find the relation between the input u and the
output y in the simplified model
I x, y: Displacements of the two masses from their equilibrium
positions
I b: Damper coefficient (probably hydraulic)
I ks : Spring constant
Example: Car Suspension System

Focus on the free-body diagram of the system

I Spring and damper act on the two masses with same amount of
force but in the opposite directions

Fs = ks (y − x)
Fb = b(ẏ − ẋ)
Example: Car Suspension System

Focus on the free-body diagram of the system

I Spring and damper act on the two masses with same amount of
force but in the opposite directions

Fs = ks (y − x)
Fb = b(ẏ − ẋ)

I The lower spring denotes the tire compressibility. It softens the

affects of road bumps which changes the road level reference r:

Fw = kw (x − r)
Example: Car Suspension System

Focus on the free-body diagram of the system

I Spring and damper act on the two masses with same amount of
force but in the opposite directions

Fs = ks (y − x)
Fb = b(ẏ − ẋ)

I The lower spring denotes the tire compressibility. It softens the

affects of road bumps which changes the road level reference r:

Fw = kw (x − r)

I Gravity effect can be omitted

Example: Car Suspension System

Overall system equations:

b(ẏ − ẋ) + ks (y − x) − kw (x − r) = m1 ẍ
−ks (y − x) − b(ẏ − ẋ) = m2 ÿ

It is useful to leave the terms with highest order derivatives alone:

b ks kw kw
ẍ + (ẋ − ẏ) + (x − y) + x= r
m1 m1 m1 m1
b ks
ÿ + (ẏ − ẋ) + (y − x) = 0
m2 m2
Example: Car Suspension System

We can obtain the transfer function in the same fashion:

Example: Car Suspension System

We can obtain the transfer function in the same fashion:

I

b ks kw kw
s2 X(s) + s (X(s) − Y (s)) + (X(s) − Y (s)) + X(s) = R(s)
m1 m1 m1 m1
b ks
s2 Y (s) + s (Y (s) − X(s)) + (Y (s) − X(s)) = 0
m2 m2
Example: Car Suspension System

We can obtain the transfer function in the same fashion:

I

b ks kw kw
s2 X(s) + s (X(s) − Y (s)) + (X(s) − Y (s)) + X(s) = R(s)
m1 m1 m1 m1
b ks
s2 Y (s) + s (Y (s) − X(s)) + (Y (s) − X(s)) = 0
m2 m2
I Rearranging yields:

Y (s)
=?
R(s)
Example: Pendulum

Equations of motion
Example: Pendulum

Equations of motion
I Torque: Tc
I Mass concentrated at the tip m
I Gravitational acceleration: g
I Output: The angle θ
Example: Pendulum

Equations of motion
I Torque: Tc
I Mass concentrated at the tip m
I Gravitational acceleration: g
I Output: The angle θ
I Applied torque is equal to the sum of moments at the tip:

Tc − mgl sin(θ) = I θ̈
g Tc
θ̈ + sin(θ) =
l ml2
Example: Pendulum

I Nonlinear due to sin(θ)

g Tc
θ̈ + sin(θ) =
l ml2
Example: Pendulum

I Nonlinear due to sin(θ)

I Can linearize around the equilibrium
θ = 0 such that sin(θ) u θ g Tc
θ̈ + sin(θ) =
l ml2
I Dynamics becomes
g Tc
θ̈ + θ =
l ml2
Example: Pendulum

I Nonlinear due to sin(θ)

I Can linearize around the equilibrium
θ = 0 such that sin(θ) u θ g Tc
θ̈ + sin(θ) =
l ml2
I Dynamics becomes
g Tc
θ̈ + θ =
l ml2
I Apply the transformation s instead
of d/dt:
g 1
s2 Θ(s) + Θ(s) = Tc (s)
l ml2
1
Θ(s) 2
= 2ml g
Tc (s) s + l
Example: Pendulum

I Nonlinear due to sin(θ)

I Can linearize around the equilibrium
θ = 0 such that sin(θ) u θ g Tc
θ̈ + sin(θ) =
l ml2
I Dynamics becomes
g Tc
θ̈ + θ =
l ml2
I Apply the transformation s instead
of d/dt:
g 1
s2 Θ(s) + Θ(s) = Tc (s)
l ml2
1
Θ(s) 2
= 2ml g
Tc (s) s + l

I Shows oscillatory (periodic) behavior

Exercise: Simulation
I Simulate the behavior of the output θ for step input on MATLAB
Exercise: Simulation
I Simulate the behavior of the output θ for step input on MATLAB
I m = 1 kg, l = 1 m, g = 9.81 m/sec2 . System becomes:

θ̈ = −9.81θ + 1

I Simulate for 10 seconds

Exercise: Simulation
I Simulate the behavior of the output θ for step input on MATLAB
I m = 1 kg, l = 1 m, g = 9.81 m/sec2 . System becomes:

θ̈ = −9.81θ + 1

I Simulate for 10 seconds

I
Exercise: Simulation
I Simulate the behavior of the output θ for step input on MATLAB
I m = 1 kg, l = 1 m, g = 9.81 m/sec2 . System becomes:

θ̈ = −9.81θ + 1

I Simulate for 10 seconds

I Linearization yields sufficiently accurate results

Exercise: Simulation
I Repeat the same simulation in Simulink in continuous time

θ̈ = −9.81θ + 1
Exercise: Simulation
I Repeat the same simulation in Simulink in continuous time

θ̈ = −9.81θ + 1

I Block 1/s stands for integrator

Exercise: Simulation
I Repeat the same simulation in Simulink in continuous time

θ̈ = −9.81θ + 1

I Block 1/s stands for integrator

I We can simulate the original nonlinear system as well
Example: Satellite Attitude Model

I Motion executed in three axes

(x, y, z)
Example: Satellite Attitude Model

I Motion executed in three axes

(x, y, z)
I Derive the equations of motion in
each axis
Example: Satellite Attitude Model

I Motion executed in three axes

(x, y, z)
I Derive the equations of motion in
each axis
I Forces and moments:
Fc : Satellite jets produces force with
air-breath (measured in the axis
perpendicular to the paper)
d: Distance between the force point
and the c.o.m.
Md : Disturbance moment caused by
the solar panels
θ: Orientation caused by the moment
Fc d (output)
I: Inertia of the satellite in the
corresponding axis
Example: Satellite Attitude Model

I Dynamics become:

Fc d + Md = I θ̈

Named double integrator plant

Example: Satellite Attitude Model

I Dynamics become:

Fc d + Md = I θ̈

Named double integrator plant

I Transfer function:
Θ(s) 1 1
=
U (s) I s2

where U = Fc d + Md is the input to

the system.
Exercise: Simulation

I Design the model on Simulink

Fc d + Md = I θ̈
Θ(s) 1 1
=
U (s) I s2
Exercise: Simulation

I Design the model on Simulink

Fc d + Md = I θ̈
Θ(s) 1 1
=
U (s) I s2
I Simulate for 10 seconds
Exercise: Simulation

I Design the model on Simulink

Fc d + Md = I θ̈
Θ(s) 1 1
=
U (s) I s2
I Simulate for 10 seconds

I
Exercise: Simulation

I Design the model on Simulink

Fc d + Md = I θ̈
Θ(s) 1 1
=
U (s) I s2
I Simulate for 10 seconds

I Two integrators in series

Inserting Flexibility into the Model: Disk Drive

I Information on the disk is

read by the optical head
Inserting Flexibility into the Model: Disk Drive

I Information on the disk is

read by the optical head
I There is a sort of flexibility
between the read head and
the drive motor
Inserting Flexibility into the Model: Disk Drive

I Information on the disk is

read by the optical head
I There is a sort of flexibility
between the read head and
the drive motor
I Let’s derive the equations of
motion. Recall the quarter car
model (two-mass system). We
have a similar set of forces
and moments here
Inserting Flexibility into the Model: Disk Drive

I Equations of motion on the motor side

I1 θ̈1 + b(θ̇1 − θ̇2 ) + k(θ1 − θ2 ) = Mc + Md

Inserting Flexibility into the Model: Disk Drive

I Equations of motion on the motor side

I1 θ̈1 + b(θ̇1 − θ̇2 ) + k(θ1 − θ2 ) = Mc + Md

I Equations of motion on the head side

I2 θ̈2 + b(θ̇2 − θ̇1 ) + k(θ2 − θ1 ) = 0

Inserting Flexibility into the Model: Disk Drive
Equations of motion:
I1 θ̈1 + b(θ̇1 − θ̇2 ) + k(θ1 − θ2 ) = Mc + Md
I2 θ̈2 + b(θ̇2 − θ̇1 ) + k(θ2 − θ1 ) = 0

I For simplicity, can ignore Md and b. TF from the torque to the

read head:
Θ2 (s) k
=  
Mc (s) 2
I1 I2 s + k
+ k
I1 I2
Inserting Flexibility into the Model: Disk Drive
Equations of motion:
I1 θ̈1 + b(θ̇1 − θ̇2 ) + k(θ1 − θ2 ) = Mc + Md
I2 θ̈2 + b(θ̇2 − θ̇1 ) + k(θ2 − θ1 ) = 0

I For simplicity, can ignore Md and b. TF from the torque to the

read head:
Θ2 (s) k
=  
Mc (s) 2
I1 I2 s + k
+ k
I1 I2

I With the same assumption, TF from the applied torque to the

motor to the motion output θ1 :
Θ1 (s) I s2 + k
= 2 
Mc (s) I1 I2 s2 + Ik1 + k
I2
Inserting Flexibility into the Model: Disk Drive
Equations of motion:
I1 θ̈1 + b(θ̇1 − θ̇2 ) + k(θ1 − θ2 ) = Mc + Md
I2 θ̈2 + b(θ̇2 − θ̇1 ) + k(θ2 − θ1 ) = 0

I For simplicity, can ignore Md and b. TF from the torque to the

read head:
Θ2 (s) k
=  
Mc (s) 2
I1 I2 s + k
+ k
I1 I2

I With the same assumption, TF from the applied torque to the

motor to the motion output θ1 :
Θ1 (s) I s2 + k
= 2 
Mc (s) I1 I2 s2 + Ik1 + k
I2

I Later on, we will see that designing a controller for a flexible

system needs more care than the designs for a non-flexible
system.
Bridged Tee Circuit

I Includes only passive circuit

elements
Bridged Tee Circuit

I Includes only passive circuit

elements
I Derive the equations using the
Kirschoff’s laws and node
analysis
Bridged Tee Circuit

I Includes only passive circuit

elements
I Derive the equations using the
Kirschoff’s laws and node
analysis
I Take node 4 as the ground
node: v4 = 0.
Bridged Tee Circuit

I v4 = 0 → v1 = vi
Bridged Tee Circuit

I v4 = 0 → v1 = vi
I v2 = v1 − R1 i1 , etc.
Bridged Tee Circuit

I v4 = 0 → v1 = vi
I v2 = v1 − R1 i1 , etc.
I Node 2:
v1 − v2 v2 − v3 dv2
− + + C1 =0
R1 R3 dt
Node 3:
v3 − v2 d(v3 − v1 )
+ C2 =0
R2 dt
Bridged Tee Circuit

I v4 = 0 → v1 = vi
I v2 = v1 − R1 i1 , etc.
I Node 2:
v1 − v2 v2 − v3 dv2
− + + C1 =0
R1 R3 dt
Node 3:
v3 − v2 d(v3 − v1 )
+ C2 =0
R2 dt
I HW: Find the relation
between the input vi and
output v3
Opamp Circuit Model
I Assume an ideal opamp
Opamp Circuit Model
I Assume an ideal opamp
I For the opamp circuit shown,
derive the equations of motion
Opamp Circuit Model
I Assume an ideal opamp
I For the opamp circuit shown,
derive the equations of motion
I Positive node connected to
ground: v− = 0
I Thus,
v1
i1 =
R1
v2
i2 =
R2
vo
io =
Rf
I Note that i1 + i2 + i0 = 0. So
Rf Rf
vo = − v1 − v2
R1 R2
Opamp Integrator Model

I Ideal opamp
Opamp Integrator Model

I Ideal opamp
I For the opamp circuit shown,
derive the equations of motion
Opamp Integrator Model

I Ideal opamp
I For the opamp circuit shown,
derive the equations of motion
I iin + iout = 0. Thus
vin dvout
+C =0
Rin dt
Opamp Integrator Model

I Ideal opamp
I For the opamp circuit shown,
derive the equations of motion
I iin + iout = 0. Thus
vin dvout
+C =0
Rin dt
I Again, using the derivative
d
operator (s ≡ ):
dt
Vo (s) 1
=−
Vin (s) Rin Cs
DC Motor Model

I The stator, non-rotating part, has

magnets which causes a magnetic
field
DC Motor Model

I The stator, non-rotating part, has

magnets which causes a magnetic
field
I The input voltage is converted to a
torque
DC Motor Model

I The stator, non-rotating part, has

magnets which causes a magnetic
field
I The input voltage is converted to a
torque
I In a brushed DC motor, the brushes
are in contact with the commutator
part to generate maximum torque
DC Motor Model

I The stator, non-rotating part, has

magnets which causes a magnetic
field
I The input voltage is converted to a
torque
I In a brushed DC motor, the brushes
are in contact with the commutator
part to generate maximum torque
I Derive the equations of motion ia :
The armature current
va : Input voltage
e: Back emf voltage
b: Viscous friction
θm : Rotor rotation angle (output)
θ̇m : Rotor angular velocity
T : Torque
DC Motor Model

I The circuit model:

dia
La + Ra ia = va − Ke θ̇m
dt
DC Motor Model

I The circuit model:

dia
La + Ra ia = va − Ke θ̇m
dt
I On the motor, there are two applied torques: T and bθ̇m :

Jm θ̈m + bθ̇m = Kt ia
DC Motor Model

I The circuit model:

dia
La + Ra ia = va − Ke θ̇m
dt
I On the motor, there are two applied torques: T and bθ̇m :

Jm θ̈m + bθ̇m = Kt ia
I Combining yields
Θm Kt
=
Va (s) s ((Jm s + b)(La s + Ra ) + Kt Ke )
DC Motor Model

I Usually, the inductance effect is ignored (La ≡ 0):

 
Kt Ke Kt
Jm θ̈m + b + θ̇m = va
Ra Ra
DC Motor Model

I Usually, the inductance effect is ignored (La ≡ 0):

 
Kt Ke Kt
Jm θ̈m + b + θ̇m = va
Ra Ra
I Thus, the resulting motor model is found as
Kt
Θm
=  Ra 
Va (s) Jm s2 + b + Kt Ke
s
Ra
Exercise - Gear Model

Generally, motors are used in

combination with gears. Derive
the model for the DC gear motors.
Advanced Models
I Thus far we have seen simple
models for basic systems
Advanced Models
I Thus far we have seen simple
models for basic systems
I Most mechatronic systems
comprise more complicated
motion models
Advanced Models
I Thus far we have seen simple
models for basic systems
I Most mechatronic systems
comprise more complicated
motion models
I Advanced systems are usually
modeled with nonlinear
models and include friction,
backlash, saturation, delay,
etc.
Advanced Models
I Thus far we have seen simple
models for basic systems
I Most mechatronic systems
comprise more complicated
motion models
I Advanced systems are usually
modeled with nonlinear
models and include friction,
backlash, saturation, delay,
etc.
I There is a trade-off: As the
system model gets more
complicated, controller design
becomes more difficult
Advanced Models
I Thus far we have seen simple
models for basic systems
I Most mechatronic systems
comprise more complicated
motion models
I Advanced systems are usually
modeled with nonlinear
models and include friction,
backlash, saturation, delay,
etc.
I There is a trade-off: As the
system model gets more
complicated, controller design
becomes more difficult
I Therefore, simplifications such
as linearization is commonly
applied to ease the controller
design process
Conclusion

I We have seen how to model basic systems with differential

equations in time domain
Conclusion

I We have seen how to model basic systems with differential

equations in time domain
I Converted the resulting models into frequency domain
Conclusion

I We have seen how to model basic systems with differential

equations in time domain
I Converted the resulting models into frequency domain
I Simulated the step response of the models
Conclusion

I We have seen how to model basic systems with differential

equations in time domain
I Converted the resulting models into frequency domain
I Simulated the step response of the models
I Simplifications can be done for nonlinear advanced systems
Conclusion

I We have seen how to model basic systems with differential

equations in time domain
I Converted the resulting models into frequency domain
I Simulated the step response of the models
I Simplifications can be done for nonlinear advanced systems
I Reading assignment: Chp. 2