Fakulti Kejuruteraan Mekanikal

Overview Universiti Teknologi MARA

• Lecture 1: INTRODUCTION
– Introduction into Control Systems
– Open Loop & Closed Loop system
– Transfer Function
– Mathematical Modelling

• Lecture 2: MATHEMATICAL REVIEW

© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

– Complex Variables & Complex Functions

– Differential Equations
– Linear Systems
– Laplace Transformation
– Inverse Laplace Transformation
– Partial Fraction Expansion

• Lecture 3: BASICS OF CONTROL SYSTEMS

– Definition of Stability
– Basic Control Actions
– Block Diagram & Reduction Methods

24
 Fakulti Kejuruteraan Mekanikal
Transfer Function Universiti Teknologi MARA

• Transfer functions are used to characterise the input-output

relationships of systems.

• The transfer function of a linear time-invariant, differential equation

system is defined as the ratio of the Laplace transform of the output to
the input under the assumption that all initial responses are zero.
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

• If the transfer function of a system is known, the output or response can

be studied for various forms of inputs.

• A transfer function does not provide any information concerning the

physical structure of the system.

• Block diagram
Y(s)
G (s)

25
 Fakulti Kejuruteraan Mekanikal
Characteristic Equation Universiti Teknologi MARA

Y(s)
G (s)
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

=0

Characteristic Equation

• The characteristic equation of a LTI system is defined as the equation obtained by

setting the denominator polynomial of the transfer function to zero.

• The stability of a linear single-input single-output system is governed completely by

the roots of the characteristic equation

26
 Fakulti Kejuruteraan Mekanikal
Open Loop vs Closed Loop Universiti Teknologi MARA

OPEN LOOP CONTROL

• ERROR SIGNAL
E(s) = R(s) - C(s)
= Desired value - Actual value
R(s) G(s) C(s)
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

CLOSED LOOP CONTROL

• Output is measured using a SENSOR +
R(s) Gc(s) G(s) C(s)
H(s) = Sensor TF. -
• Error signal : E(s) = R(s) - C(s) . H(s)
• Gc (s) = Controller. H(s)
Control Action Specified by Designer.
• ACTUATING SIGNAL: U(s) = E(s). Gc(s)
Error signal used to drive system

27
 Fakulti Kejuruteraan Mekanikal
Closed Loop Control Universiti Teknologi MARA

• CLOSED LOOP TRANSFER FUNCTION

Gc ( s )  G ( s ) +
T (s)  R(s) Gc(s) G(s) C(s)
1  Gc ( s )  G ( s )  H ( s ) -

H(s)
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

• PLANT UNCERTAINTIES
– If Gc(s) is sufficiently large, then
T(s) = 1.
– i.e. Closed loop dynamics are independent
of plant dynamics.
– NOTE - Actuator saturation.

28
 Fakulti Kejuruteraan Mekanikal
Stability Universiti Teknologi MARA

• A stable system is defined as a system which gives a bounded

output in response to a bounded input.

unstable
stable
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

neutral

29
 Fakulti Kejuruteraan Mekanikal
Stability Universiti Teknologi MARA

• The total response of a system is the sum of the natural response

and the forced response.
Total response = Natural response + Forced Response

• Natural response depends only on the system. It describes the way

the system dissipates or acquires energy.
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

• Forced response is dependent on the input. Control systems

must be designed
• For a control system to be useful, the natural response must to be stable!
– Eventually approach zero (leaving only the forced response)
– oscillate

• In some systems, the natural response grows without bound rather

than diminish to zero or oscillate ─ instability
(could lead to self-destruction of physical devices).

• A time plot of an unstable system would show a transient

response that grows without bound and without any evidence of
steady state response.
30
 Fakulti Kejuruteraan Mekanikal
Unit-Step Response for Linear Systems Universiti Teknologi MARA

• For linear control

systems, the time
response is charac-
terized by using the
unit-step input.

• The response of the

control system to the
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

unit-step input is
called the unit-step
response.

31
 Fakulti Kejuruteraan Mekanikal
Stability in the s-plane Universiti Teknologi MARA

The output of a linear time-invariant system is given by

u(t) = input
y(t) = output
g(t) = impulse response
This response is bounded (stable) if and only if the
absolute value of the impulse response, g(t),
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

integrated over an infinite range, is finite. That is

Mathematically, this is satisfied when the roots of the characteristic equation,

or the poles of G(s), are all located in the left-half of the s-plane.

32
 Fakulti Kejuruteraan Mekanikal
Stability in the s-plane Universiti Teknologi MARA

or
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Marginally stable or
Stable marginally unstable
due to s = ± j2.

Unstable Unstable due to the

due to the multiple-order pole
pole at s = 1 at s = ± j2.

33
 Fakulti Kejuruteraan Mekanikal
Open-Loop and Closed-Loop Stability Universiti Teknologi MARA
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

A system is open-loop stable if the poles of the open-loop

transfer function G(s)H(s) are all in the left hand side of s-
plane.

A system is closed-loop stable (or simply stable) if the poles

of the closed-loop transfer function (or zeros of 1+G(s)H(s))
are all in the left hand side of s-plane

34
 Fakulti Kejuruteraan Mekanikal
Transfer function of multivariable system Universiti Teknologi MARA

Since the principle of superposition is valid for linear systems, we can

write the simultaneous equations for the output variables as
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

35
 Fakulti Kejuruteraan Mekanikal
Announcement Universiti Teknologi MARA

• Class Replacement

• Date: 19 February 2011 (Saturday)

• Time: 14:00 till 17:30

© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

• Test 1: 14:00 till 15:00 (Exam Hall, Level 8)

• Lecture: 15:00 till 17:30

36
 Fakulti Kejuruteraan Mekanikal
Analysis and Design Objectives Universiti Teknologi MARA

• Producing the desired transient response

• Reducing steady-state error

• Achieving stability
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Design Concerns

• Cost

• Sensitivity of system performance to changes in parameters

(robust design)

• Motor sizing to fulfill power requirements

• Choice of sensors for Accuracy

37
 Block Diagram Fakulti Kejuruteraan Mekanikal
Example: DC Motor Universiti Teknologi MARA

Wiring
Diagram
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Block
Diagram

38
 © Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Block Diagram Elements

Universiti Teknologi MARA
Fakulti Kejuruteraan Mekanikal

39
 Block Diagram of a Linear Feedback Control Fakulti Kejuruteraan Mekanikal
System Universiti Teknologi MARA
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

40
 Fakulti Kejuruteraan Mekanikal
Block Diagram Reduction Techniques Universiti Teknologi MARA
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

41
 Fakulti Kejuruteraan Mekanikal
Block Diagram Reduction Techniques Universiti Teknologi MARA
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

42
 Fakulti Kejuruteraan Mekanikal
Prove of Rule 6 Universiti Teknologi MARA

(i)
(ii)

The error signal is written as

© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Substitute (i)

Substitute (ii)

43
 Fakulti Kejuruteraan Mekanikal
Rule 7 Reduction of parallel subsystems Universiti Teknologi MARA
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

44
 Block Diagram Reduction Techniques Fakulti Kejuruteraan Mekanikal
Example 1 Universiti Teknologi MARA

Reduce the system shown to a single transfer function.

Rule 4
Moving a pick off
point behind a block
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

45
 Block Diagram Reduction Techniques Fakulti Kejuruteraan Mekanikal
Example 1 Universiti Teknologi MARA

Rule 1
Combining blocks
in cascade
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Rule 6
Eliminating a
feedback loop

46
 Block Diagram Reduction Techniques Fakulti Kejuruteraan Mekanikal
Example 1 Universiti Teknologi MARA

Rule 6
Eliminating a
feedback loop
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Rule 1
Combining blocks
in cascade

47
 Block Diagram Reduction Techniques Fakulti Kejuruteraan Mekanikal
Example 1 Universiti Teknologi MARA
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Rule 6
Eliminating a
feedback loop

48
 Block Diagram Reduction Techniques Fakulti Kejuruteraan Mekanikal
Example 2 Universiti Teknologi MARA

Reduce the system shown to a single transfer function.

Rule 6
Eliminating a
Rule 4 feedback loop
Moving a pick off
point behind a block
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

49
 Block Diagram Reduction Techniques Fakulti Kejuruteraan Mekanikal
Example 2 Universiti Teknologi MARA

Rule 5 Rule 7
Moving of a summing Reduction of parallel
point ahead of a block subsystems
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

50
 Block Diagram Reduction Techniques Fakulti Kejuruteraan Mekanikal
Example 2 Universiti Teknologi MARA
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Rule 1
Combining blocks
in cascade

Rule 7
Reduction of parallel
subsystems

51
 Block Diagram Reduction Techniques Fakulti Kejuruteraan Mekanikal
Example 2 Universiti Teknologi MARA

Rule 6
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Eliminating a
feedback loop
Rule 1
Combining blocks in cascade

52