ME451: Control Systems

Jongeun Choi, Ph.D.

Assistant Professor

Department of Mechanical Engineering, Michigan State University

http://www.egr.msu.edu/classes/me451/jchoi/

http://www.egr.msu.edu/jchoi

jchoi@egr.msu.edu
Course Information (Syllabus)
 Lecture: 2205 EB, Sections: 5, 6, 7, 8, MWF 12:40-1:30pm
 Class website: http://www.egr.msu.edu/classes/me451/jchoi/
 Laboratory website: http://www.egr.msu.edu/classes/me451/radcliff/lab
 Class Instructor: Jongeun Choi, Assisntant Professor, 2459 EB, Email:
jchoi@egr.msu.edu
 Office Hours of Dr. Choi: 2459 EB, MW 01:40-2:30pm, Extra hours by appointment
only (via email)
 Laboratory Instructor: Professor C. J. Radcliffe, 2445 EB, Phone: (517)-355-5198
 Required Text: Feedback Control Systems, C. L. Phillips and R. D. Harbor, Prentice Hall,
4th edition, 2000, ISBN 0-13-949090-6
 Grading: Homework (15%), Exam 1 (15%), Exam 2 (15%), Final
Exam(comprehensive) (30%), Laboratory work (25%)
 Note
 Homework will be done in one week from the day it is assigned.
 100% laboratory attendance and 75% marks in the laboratory reports will be
required to pass the course.
 Laboratory groups for all sections will be posted on the door of 1532 EB.

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About Your Instructor

 Ph.D. (‘06) in Mechanical Engineering, UC Berkeley

 Major field: Controls, Minor fields: Dynamics, Statistics
 M.S. (‘02) in Mechanical Engineering, UC Berkeley
 B.S. (‘98) in Mechanical Design and Production Engineering,
Yonsei University at Seoul, Korea
 Research Interests: Adaptive, learning, distributed and robust control,
with applications to unsupervised competitive algorithms, self-organizing
systems, distributed learning coordination algorithms for autonomous
vehicles, multiple robust controllers, and micro-electromechanical
systems (MEMS)
 2459 EB, Phone: (517)-432-3164, Email: jchoi@egr.msu.edu,
Website: http://www.egr.msu.edu/~jchoi/

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Motivation

 A control system is an interconnected system to manage,

command, direct or regulate some quantity of devices or
systems.
 Some quantity: temperature, speed, distance, altitude, force

 Applications
 Heater, hard disk drives, CD players
 Automobiles, airplane, space shuttle
 Robots, unmanned vehicles,

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Open-Loop vs. Closed-Loop Control

 Open-loop Control System

 Toaster, microwave oven, shoot a basketball

Manipulated
Signal Input variable
output
Controller Plant
(Actuator)

 Calibration is the key!

 Can be sensitive to disturbances

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Open-Loop vs. Closed-Loop Control

 Closed-loop control system

 Driving, cruise control, home heating, guided missile

Manipulated
Signal Input variable output
Error
Controller Plant
+
- (Actuator)

Sensor

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 Feedback Control

 Compare actual behavior with desired behavior

 Make corrections based on the error difference
 The sensor and the actuator are key elements of a feedback loop
 Design control algorithm

Signal Input Error output

Control
Actuator Plant
+ Algorithm
-

Sensor

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Common Control Objectives

 Regulation (regulator): maintain controlled output at constant

setpoint despite disturbances
 Room temperature control,
 Cruise control

 Tracking (servomechanism): controlled output follows a desired

time-varying trajectory despite disturbances
 Automatic landing aircraft,
 Hard disk drive data track following control

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Control Problem

 Design Control Algorithm

 such that the closed-loop system meets certain performance
measures, and specifications

 Performance measures in terms of

 Disturbance rejection
 Steady-state errors
 Transient response
 Sensitivity to parameter changes in the plant
 Stability of the closed-loop system

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Why the Stability of the Dynamical System?

 Engineers are not artists:

 Code of ethics, Responsibility
 Otherwise, Tacoma Narrows
Bridge: Nov. 7, 1940

Wind-induced vibrations

Catastrophe 10
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Linear (Dynamical) Systems

 H is a linear system if it satisfies the properties of superposition

and scaling:

 Inputs:
 Outputs:

 Superposition:
 Scaling:

 Otherwise, it is a nonlinear system

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Why Linear Systems?

 Easier to understand and obtain solutions

 Linear ordinary differential equations (ODEs),
 Homogeneous solution and particular solution
 Transient solution and steady state solution
 Solution caused by initial values, and forced solution
 Add many simple solutions to get more complex ones (Utilize
superposition and scaling!)
 Easy to check the Stability of stationary states (Laplace
Transform)
 Even nonlinear systems can be approximated by linear systems
for small deviations around an operating point

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Convolution Integral with Impulse

 Input signal u(t)

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Output Signal of a Linear System

 Input signal
 Output signal

Superposition!

def: impulse response

def: convolution

def: causality

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Impulse Response

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Causal Linear Time Invariant (LTI) System

 A causal system (a physical or nonanticipative system) is a

system where the output only depends on the input values

 Thus, the current output can be generated by the causal

system with the current and past input values
 Causal LTI impulse response

 Thus, we have

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Causal System (Physically Realizable)

past future past future

System
current current

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Causal System?

 Derivative operator (input: position, output: velocity)

 Integral operator (input: velocity, output: position)

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Complex Numbers

 Ordered pair of two real numbers

 Conjugate
 Addition

 Multiplication

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Complex Numbers

 Euler’s identity

 Polar form
 Magnitude
 Phase

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ME451 S07 21
 Transfer Function: Laplace Transform of Unit Impulse Response of
the System

 Input signal:
 Output signal:

def: Transfer Function

Laplace transform of
 Take
the impulse response

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 Frequency Response

 Input
 We know

 Complex numbers

Magnitude

Phase shift
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Frequency Response

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The Laplace Transform (Appendix B)

 Laplace transform converts a calculus problem (the linear

differential equation) to an algebra problem
 How to Use it:
 Take the Laplace transform of a linear differential equation
 Solve the algebra problem
 Take the Inverse Laplace transform to obtain the solution to the
original differential equation

def: Laplace transform

def: Inverse Laplace transform

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The Laplace Transform (Appendix B)

 Laplace Transform of a function f(t)

 Convolution integral

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Properties of Laplace Transforms (page 641-643)

 Linearity

 Time Delay

Non-rational function
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Properties of Laplace Transforms

 Shift in Frequency

 Differentiation

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Properties of Laplace Transforms

 Differentiation ( in time domain , s in Laplace domain)

 Integration ( in time domain , 1/s in Laplace domain)

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Laplace Transform of Impulse and Unit Step

 Impulse

 Unit Step

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Unit Ramp

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Exponential Function

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Sinusoidal Functions

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Partial-fraction Expansion (Text, page 637-641)

 F(s) is rational, realizable condition (d/dt is not

realizable)

zeros
poles

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Cover-up Method

 Check the repeated root for the partial-fraction expansion (page

638)

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Example

 Obtain y(t)?

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 Transfer Function

 Defined as the ratio of the Laplace transform of the output signal

to that of the input signal (think of it as a gain factor!)
 Contains information about dynamics of a Linear Time Invariant
system
 Time domain

Laplace transform

Inverse Laplace transform

 Frequency domain

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 Mass-Spring-Damper System

 ODE

 Assume all initial conditions are zero. Then take Laplace

transform,

Output

Transfer function

Input

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Transfer Function

 Differential equation replaced by algebraic relation Y(s)=H(s)U(s)

 If U(s)=1 then Y(s)=H(s) is the impulse response of the system
 If U(s)=1/s, the unit step input function, then Y(s)=H(s)/s is the
step response
 The magnitude and phase shift of the response to a sinusoid at
frequency is given by the magnitude and phase of the
complex number

 Impulse:

 Unit step:

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Kirchhoff’s Voltage Law

 The algebraic sum of voltages around any closed loop in an

electrical circuit is zero.

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Kirchhoff’s Current Law

 The algebraic sum of currents into any junction in an electrical

circuit is zero.

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Theorems

 Initial Value Theorem

 Final Value Theorem

 If all poles of sF(s) are in the left half plane, then

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DC Gain of a System

 DC gain: the ratio of the steady state output of a system to its

constant input (1/s)
 For a stable transfer function
 Use final value theorem to compute the steady state of the
output

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Pure Integrator

 Impulse response

 Step response

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First Order System

 Impulse response

 Step response

 DC gain: (Use final value theorem)

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Matlab Simulation
Impulse Response
5
 G=tf([0 5],[1 2]); 4.5
4
 impulse(G) 3.5

Amplitude
3
2.5
2
1.5
1
0.5
0
0 0.5 1 1.5 2 2.5 3
Time (sec)

Step Response
2.5

2
 step(G)
Amplitude

1.5

0.5

0
0 0.5 1 1.5 2 2.5 3
Time (sec)
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Second Order Systems with Complex Poles

 Assume

 Poles:

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Second Order Systems with Complex Poles

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Impulse Response of the 2nd Order System

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Matlab Simulation

 zeta = 0.3; wn=1;

 G=tf([wn],[1 2*zeta*wn wn^2]);
 impulse(G)
Impulse Response
0.7
0.6
0.5
0.4
Amplitude

0.3
0.2
0.1
0
-0.1
-0.2
-0.3
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
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Unit Step Response of the 2nd Order System

 DC gain

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Unit Step Response (page 122)

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Matlab Simulation

 zeta = 0.3; wn=1; G=tf([wn],[1 2*zeta*wn wn^2]);

 step(G)
Step Response
1.4
1.2
1
Amplitude

0.8
0.6
0.4
0.2
0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

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Laplace Transform Table

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Laplace Transform Table

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Laplace Transform Table

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Laplace Transform Table

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Resistance

 Voltage Source
 Kirchhoff’s voltage law:

 Current Source

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Linearization of nonlinear systems

 Identify an operating point

 Perform Taylor series expansion and keep only constant and 1st
derivative terms
 For a nonlinear function linearized around

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Linearization

 Define

 Linearize at

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