Control system

design
WEEK 1 _ NGUYEN QUANG MINH _ MEC K58 _ 20132594
I. Math model of system
time domain
- Mathematical model of a control system
constitutes set of differential equations.

- The response of the output of the system can

be studies by solving the differential equations
for various input conditions.
The relationship between the input and output
signals of a continuous invariant linear system
can be described by the linear difference
equation with coefficient constant.

1 0
0 + 1 1 + + 0 + =

 1 0
0 + 1 1 + + 0 + =

1 0
0 + 1 1 ++ 0 +

where: n- level of system, complex system if nm

ai,bi parameters of system
II. Laplace and transfer
functions
Laplace
Laplace transforms: is method for solving
differential equations, converts differential
equations in time t into algebraic equations in
complex variable s .
The Laplace transform F=F(s) of a function f=f(t)
is defined by:

=

= )(
Transfer function
Transfer function are used to calculate the respond C(t) of a
system to a given input signal R(t).

And t stands for the time variable.

Given an input signal, we would like to know the
system response C(t).
III. Stability and Steady
error
Steady-state error

Steady-state error defined as the difference between the

input and output of a system in the limit as time goes to
infinity.

The steady-state error will depend on the type of input as

well as the system type (0, I, or II).
If the desired value of the output for a system is (a
constant) ad the actual output is y(t), the steady state
error is defined as

= lim ( )

System type and steady-state error

The system type is defined as the number of pure

intergrators in a system.
The system type is equal to the value of n when the
system is represented as: