Design of Optimized based Controller for Linear Time Invariant Systems

Under Mini Project for B.Tech. Final Year-2012 Submitted for first review

VR Siddhartha Engineering College (Autonomous) Department of Electronics and Instrumentation Engineering Kanuru, Vijayawada-520007.

PROJECT GUIDE: H. K. Paik (Assoc. Professor)

PROJECT BATCH NUMBER: 10

PROJECT BATCH MEMBERS: 1. M. Pardha Dharma Raju 2. B. Siddhartha 3. S. Varahala Reddy 4. Ch. Vijay Kumar (Y09EI093) (Y09EI066) (L10EI129) (Y09EI073)
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Abstract :
Most of control systems are Linear Time Invariant systems which find their applications in control system engineering area. The performance of such LTI systems can be characterized by several methods. The methods which are implemented in this project work are based up on optimization of system parameters. Various system parameters such as damping ratio, rise time, overshoot, etc., determine the system performance. In this project work, an optimized based controller is designed for a closed loop LTI system and the system response is observed. Also the system performance is evaluated both in time domain and in frequency domain. The controller is designed using optimization technique such that the control system needs the system specifications. In the design of the controller, an LTI system model consisting of gain, limited integrator and a delay unit is created. The controller is then tuned to optimize the system parameters. The stability of the system is determined from the root locus diagram in frequency domain. The system is designed for optimizing and settling time and rise time. The simulation results are verified using MATLAB simulink software.

INTRODUCTION :
This is the project for designing an Optimized based Controller for LTI Systems. In this project we use the concept of optimization for designing a LTI system to give its output as perfect as possible with respect to specific parameters. In this we design the controller to get a stable output with in desired (or) specified range for a given stable input.

Optimization:
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Optimization is a collection of methods and techniques to design and make use of engineering systems as perfectly as possible with respect to specific parameters. In industrial engineering, one typical optimization problem is in inventory control. It can also be defined as finding an alternative with the highest achievable performance under the given constraints, by maximizing desired factors and minimizing to undesired attain the ones. highest In or

comparison, maximization means trying

maximum result or outcome .In computer simulation (modelling), optimization is achieved usually by using linear programming techniques of operations research. Different optimization techniques are : unconstrained optimization, Constrained optimization, linear programming optimization, simplex method for solving linear programs, Lagrange's conditions, Least squares, Convex optimization, Global optimization methods are Genetic algorithms and Particle swarm optimization (PSO) method, Multiobjective optimization.

Model based Design :

Computer analysis models are crucial for the design and improvement of advanced industrial systems. Production processes are becoming increasingly complex, and simple trial and error on the real-life system is often not a feasible solution anymore. Instead, computer models are required. They, for example, enable to analyse several design alternatives to make sound design choices in an early stage of the design process. This is also called optimization. Similarly, computer models make clear the structure of the
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system, which can be used for deriving strategies to influence the systems in a desired way. This is called control design.

Optimization and Control :

Basically, design optimization is the selection of the best design within available means. An optimization problem is mathematically defined by design variables, objective function, and constraints. The design variables represent the parameters that describe the design. The objective function is the criterion that we would like to minimize, while the constraints impose additional restrictions to the design. Then optimization is to find the design variable values that will minimize the objective function while satisfying the constraints. A control problem is defined by a plant, a desired behaviour, and a set of admissible controllers. The plant is a dynamical system which contains some free variables (often called: inputs). We would like to use this freedom to make the plant behave in a desired way. This can be achieved by inter connecting the plant with a controller, which also is a dynamical system. Due to constraints we cannot interconnect the plant with any controller. The problem of control is: first, to describe the set of admissible controller, second, to describe what desirable properties the controlled system should have, and third, to find an admissible controller such that the interconnection of controller and plant has these desired properties. In fact the research for the admissible controller which achieves the desired plant behaviour, can also be seen as an optimization problem. Compared with design optimization an optimal control problem generally has less design
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variables (inputs), though originates from a larger space (of infinite dimensions).

Model Based Optimization and Control:

When modelling, we aim for a model complexity that describes the main desired characteristics of the real-life system as good as possible. In case of manufacturing, these models are often discrete event In general, good models simulation models.

are computationally demanding. As a result,

these models are unsuitable from an optimization and control point of view. Not only are they computationally unpleasant properties. On the one hand we have a complex simulation model, on the other hand we have a set of available tools for optimization and control. From an optimization point of view one could think of standard techniques like Sequential Quadratic Programming, Integer programming, and Simulated Annealing. All techniques assume computationally cheap function evaluations. From a control point of view one could think of standard techniques like Robust Control, Optimal Control, and Model Predictive Control. These techniques also assume simple-quick to evaluate-continuous or discrete time models. The challenge is to bridge the gap between complex models and available standard tools. For that reason we introduce a concept of approximation. We replace the complex model by an approximation which is suitable for applying standard techniques.
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involved,

they

also

contain

some

This process can be applied repeatedly. Obviously, the approximation strongly depends on the properties of the simulation model (integral design variables, stochastic process-time) and the concept or standard tools available.

Research objectives :
The Optimization and control research of the System Engineering group aims to develop controller design and optimization tools starting from computer models of manufacturing systems and machines. These tools should enable an efficient and systematic decision making for the design and control of advanced industrial systems.

Scientific cooperation:
The Optimization and control research team participates in the Dutch Engineering Mechanism Research School. In this research programme we cooperate with the Dynamics and Control group at Eindhoven University of Technology, and the Structural Optimization and Computational Mechanics group at Delft University of Technology.

Linear Time Invariant Systems:

A system is considered to be Linear Time Invariant (LTI) system if it satisfies the requirement of time-invariance and linearity. LTI systems are one of the most
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important

types

of

systems.

It

has

direct

applications

in NMR

spectroscopy, seismology, circuits, signal processing, control theory, and other technical areas. It investigates the response of a linear and time-invariant system to an arbitrary input signal. Trajectories of these systems are commonly measured and tracked as they move through time, but in applications like image processing and field theory, the LTI systems also have trajectories in spatial dimensions. Thus these systems are also called linear translation-invariant to give the theory the most general reach. In the case of generic discrete-time systems, linear shift-invariant is the corresponding term. A good example of LTI systems are electrical circuits that can be made up of resistors, capacitors and inductors

System Response:
The order of the system is defined as being the highest power of derivative in the differential equation, or being the highest power of S in the denominator of the transfer function. First-Order LTI system: It is a system which has the highest power of s being one in the denominator of the transfer function of that system. Many systems are
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approximately first-order. The important feature is that the storage of mass, momentum and energy can be captured by one parameter. Examples of firstorder systems are velocity of a car on the road, control of the velocity of a rotating system, electric systems where energy storage is essentially in one capacitor or one inductor, incompressible fluid flow in a pipe, level control of a tank, pressure control in a gas tank, temperature in a body with essentially uniform temperature distribution (e.g. steam filled vessel). Second-Order LTI system: It is a system which has the highest power of s being two in the denominator of the transfer function of that system. System response is defined as the response of system for different test inputs applied on it. The different test inputs signals (or) the input functions that are commonly used for the system response are: Impulse function: In the time domain, u(t)=ct). In the S domain, U(s)=c. Step function: In the time domain, u(t)=c. In the S domain, U(s)=c/s. Ramp function: In the time domain, u(t)=ct. In the S domain, U(s)=c/s2. Sinusoidal function: in time domain, u(t)=csin(t). In the S domain, U(s)=c/(s2+2). Where C is a constant in all the above. Which of these typical signals are to be used for analysing system characteristics may be determined by the form of the input that the system will be subjected to most frequently under normal operation. If the inputs to a control system are gradually changing functions of time, then a ramp function of time may be a good
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test signal. Similarly, if a system is subjected to sudden disturbances, a step function of time may be a good test signal, and for a system subjected to a shock input, an impulse function may be best. The time response of a control system consists of two parts: the transient response and the steady state response. The transient response is defined as the part of the time response which goes from the initial state to the final state and reduces to zero as time becomes very large. The steady-state response is defined as the behaviour of the system as t approaches infinity after the transients have died out. Thus the system response y(t) may be written as: y(t) = yt(t) + yss(t) where yt(t) denotes the transient response, and yss(t) denotes the steady-state response.
Step Response 1.5

Maximum overshoot Td

105% 95% 90%

1

Amplitude

0.5

Settling time

10%
0 0 5 10 15 20

Time (sec)
Rise time peak time

Fig. Output response curve of a LTI system for an analogue step input.
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Rise time:
In electronics, when describing a voltage or current step function, rise time refers to the time required for a signal to change from a specified low value to a specified high value. Typically, in analog electronics, these values are 10% and 90% of the step height: in control theory applications, rise time is defined as "the time required for the response to rise from x% to y% of its final value", with 0%100% rise time common for underdamped second order systems, 5%-95% for critically damped and 10%-90% for overdamped. The output signal of a system is characterized also by fall time: both parameters depend on rise and fall times of input signal and on the characteristics of the system. Rise time is an analog parameter of fundamental importance in high speed electronics, since it is a measure of the ability of a circuit to respond to fast input signals. Many efforts over the years have been made to reduce the rise times of generators, analog and digital circuits, measuring and data transmission equipment, focused on the research of faster electron devices and on techniques of reduction of stray circuit parameters (mainly capacitances and inductances). For applications outside the realm of high speed electronics, long rise times are sometimes desirable: examples are the dimming of a light, where a longer risetime results, amongst other things, in a longer life for the bulb, or digital signals apt to the control of analog ones, where a longer rise time means lower capacitive feed through, and thus lower coupling noise.

Settling time:
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The time required for the step response to settle within a certain percentage of its final value. A frequently used figure is 2% or 5% in which case the settling time is approximately. The settling time of an amplifier or other output device is the time elapsed from the application of an ideal instantaneous step input to the time at which the amplifier output has entered and remained within a specified error band, usually symmetrical about the final value. Settling time includes a very brief propagation delay, plus the time required for the output to slew to the vicinity of the final value, recover from the overload condition associated with slew, and finally settle to within the specified error. Systems with energy storage cannot respond instantaneously and will exhibit transient responses when they are subjected to inputs or disturbances.

Peak time :

Damping ratio :
In engineering, the damping ratio is a dimensionless measure describing how oscillations in a system decay after a disturbance. Many systems exhibit oscillatory behaviour when they are disturbed from their position of static equilibrium. A mass suspended from a spring, for example, might, if pulled and released, bounce up and down. On each bounce, the system is "trying" to return to its equilibrium position, but overshoots it. Sometimes losses

(e.g. frictional) damp the system and can cause the oscillations to gradually decay in amplitude towards zero. The damping ratio is a measure of describing how rapidly the oscillations decay from one bounce to the next.
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The behaviour of oscillating systems is often of interest in a diverse range of disciplines that include control engineering, mechanical engineering, structural engineering and electrical engineering. The physical quantity that is oscillating varies greatly, and could be the swaying of a tall building in the wind, or the speed of an electric motor, but a normalised, or non-dimensionalised approach can be convenient in describing common aspects of behaviour. The damping ratio is a parameter, usually denoted by (zeta), that characterizes the frequency response of a second order ordinary differential equation. It is particularly important in the study of control theory.

Where the springmass system is completely lossless, the mass would oscillate indefinitely, with each bounce of equal height to the last. This hypothetical case is called undamped.

If the system contained high losses, for example if the springmass experiment were conducted in a viscous fluid, the mass could slowly return to its rest position without ever overshooting. This case is called overdamped.

Commonly, the mass tends to overshoot its starting position, and then return, overshooting again. With each overshoot, some energy in the system is dissipated, and the oscillations die towards zero. This case is

called underdamped.

Between the overdamped and underdamped cases, there exists a certain level of damping at which the system will just fail to overshoot and will not make a single oscillation. This case is called critical damping. The key difference between critical damping and overdamping is that, in critical damping, the system returns to equilibrium in the minimum amount of time.

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