Control Systems ELEC3114

Introduction

Dr. Arash Khatamianfar

School of Electrical Engineering and Telecommunications

T2 2021
Welcome to ELEC3114
Course Staff:

Course convenor
• Dr Arash Khatamianfar a.khatamianfar@unsw.edu.au
(feel free to call me Arash or Dr Arash! ☺)

Where to find me!

• Room 313, Level 3 of School of EET
• Email or message me on MS Teams

Lab demonstrators
• Head lab demo: Nelson Fu (most likely) nelson.fu@unsw.edu.au
• Lab demos: Jeremy, Jayden, Declan, Zhuoyu (Tony), David, Charles, Cameron, Mitch, Brent, Philip, Ji Zhao,
Kelvin, Shadman, Tim, Shahram

Tutors and mentors

• Arash, (TBC)
Page 1
About the course
Lecture
• 2x2hr sessions every week
• Live-streamed via a dedicated Microsoft (MS) Team called ELEC3114
T2 2021.
• Optional in-person in Rex Vowless Theatre (COVID cap of 70!)

Tutorial
• F2F in EE108 and Live-streamed (hybrid) via the same MS Team
• 1.5 hours every week
A guide will be available on
how to use remotely
Laboratory:
accessed labs
• In-Person and Remote in EE109
• 3 hours every week
• Remotely accessed labs are for overseas students (Fri Labs only!)
• All on-campus students MUST enrol in Face-to-Face labs (Mon-Thu Labs)

Page 2
About the course (2)
Lecture
• A recurring calendar invite will be send out in Lecture channel.
• Lecture videos will be available in Lecture Recordings (T2 2021) tab under
Lecture channel of MS Teams.
• Old Lecture recordings are also available under ‘(2020 Lecture Recordings)’ tab.

Tutorial
• A variety of tutorials questions will be available in Files tab under Tutorial channel.
• The live-stream tutorial will be run via Meet Now in the Tutorial channel.
Moodle is primarily used for
• Tutorial sessions will focus on solving a selection of questions in the first hour. online quizzes and
• The last 30min will be mostly for consultation and teamwork on a challenging problem. assignment/exam
• You are expected to have practiced the given problems beforehand. submissions.

Laboratory
• Compulsory (unless having legitimate reasons (like sickness or exam clash).
• All attendances will be kept (No exemption!!).
• Two catch-up labs for those who are eligible (due to unforeseen circumstances).
• You should not be late by more than 15 minutes (you simply cannot complete the
lab, and you cannot expect extra help from lab demos or catch-up lab access). Page 3
Laboratories
Lab files and Lab manual
• Available in Files tab Laboratory channel.
• Lab manual for each lab experiment will be released one week in
advance.

Lab guidance videos

• Each lab experiment comes with a short lab guidance video.
• Separate MATLAB and Simulink tutorial videos (from 2017) and
documents are also provided.
• MATLAB and Simulink Onramp available at
https://matlabacademy.mathworks.com/?s_tid=pl_learn
• Compulsory to watch before your first lab

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Laboratories – Assessment
Pre-Lab Exercises
• Must complete Pre-Lab exercises before the lab (formative assessment).
• All the lab experiments are heavily dependent on your Pre-Lab results.
• Must complete a short Pre-Lab quiz (summative assessment 10%, max 3 attempts).
• Preferably before your lab but can complete it during the lab week.
• Please read course outline for more details on Pre-Lab assessments.

Lab Exercises (summative assessment 90%)

• You are expected to:
• work in pairs,
• maintain a record of everything related to labs (digital documentation or paper-based lab book),
• follow the instructions, and collect all measurements,
• Have your simulation results ready for assessments,
• Maintain consistent accuracy.
• Assessment is based on satisfying task requirements (Req 45%) and understanding of the experiment (Und 45%)
• Req mark is capped by Und mark.
• Please read course outline for more details on Lab assessments.

• Both pre-lab quizzes and Lab exercises account for 21% of course mark.
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Laboratories – Assessment (2)
Post-Lab Exercises (formative assessment)
• Must complete a Post-Lab quiz after your lab finishes (unlimited attempt! Reflection activity)
• Preferably right after your lab but can complete it during the lab week.
• 4 correct questions out of 5 to be considered as completed.
• Not completing Post-lab quizzes will result in loss of Pre-lab quiz mark.
• Please read course outline for more details on Post-lab assessments.

Lab Exam (summative assessment, 7% of course mark)

• Scheduled in Week 10
• Details are being worked out
• Most likely analytical and simulation, but choice of equipment use will be considered.
• It mainly convers everything from lab assessments (Pre-labs, lab exercises, Post-labs).

Double pass criteria: You Must achieve at least 14 out of 28 of the total lab marks.

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Other Assessments
Online quiz
• Review quizzes (from Week3)
• Weekly, 5 attempts. within a one-week period.
• They are marked on your highest attempt.
• The average mark of each quiz will be considered as Assessment type Weight
your final mark.
1. Assignments 26%
• Accounts for 6% of the final course mark.
2. Laboratory assessments (lab experiments + lab exam) 21% + 7% = 28%

Two assignments 3. Online quizzes 6%

• Two assignments in Week 4 and Week 8. 4. Final exam (2 hours): 40%

• Covers all materials up to the end of Week 3 and Week 7, Total: 100%
respectively.
• Accounts for 26% of the final course mark (each 13%).

Final Exam Please read course outline

• Accounts for 40% of the final course mark. for more details on all
• Double pass criteria: You MUST achieve at least 16% assessments
out of 40% to pass the course.

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Indicative lecture schedule
Week Summary of Lecture Program
Week 1 Introduction to Control Systems – Mathematical Models of Systems
Week 2 Permanent Magnet DC Motor – State Variable Models
Week 3 Time Response of LTI Systems – Feedback Control System Characteristics
Stability of LTI Systems – Steady State Error
Week 4
Assignment A due date (Friday of Week 4)
Week 5 PID Controllers
Week 6 Flexibility Week
Week 7 State Variable Feedback Systems
Root Locus Technique
Week 8
Assignment B due date (Friday of Week 8)
Week 9 Frequency Response Method
Robust Control Systems (Optional)
Week 10
Catch-up/Revision lecture

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Indicative Laboratory Schedule

Period Summary of Laboratory Program

Week 1 No Lab
Lab 0: Remote Lab Familiarisation (Fri Labs only)
Week 2
Lab 1: MATLAB & Simulink Training (Mon Labs only)
Week 3 Lab 1: MATLAB & Simulink Training (Tue, Wed Thu, and Fri Labs)
Week 4 Lab 2: DC Motor Modelling with Load
Week 5 Lab 3: Flexible Joint Robotic Arm Modelling
Week 6 Catch-up lab
Week 7 Lab 4: DC Motor Speed Control
Week 8 Lab 5: DC Motor Position Control
Week 9 Lab 6: Flexible Joint Robotic Arm Control
Week 10 Lab Exam + Catch-up lab

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How can you contribute to the course?

Give us feedback
• Both positive and constructive feedback and comments are very welcome.
• Tell us what you like and dislike about the course.
• Make suggestions for improvements.
• Fill out myExperience (the more responses, the more influence you can exert)
• This is the one main job I ask of you to do when the time comes, as I do my best in fixing the course!

Share useful materials

• Contribute in Students Forum by participating in discussions.
• Share useful websites/links.
• Share interesting and challenging problems to solve.

Page 10
Let's have a break

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Introduction to Control Systems
• Control systems engineering is a multidisciplinary field of A system is an
engineering. interconnection of elements
• Sensors and actuators are indispensable parts of any control and devices for a desired
system. purpose
For instance:
• An automobile cruise control (system) A sensor is a device that
• Variable resistance temperature detector (sensor) provides a measurement of a
• An electric motor drive to rotate a robotic arm like a stepper motor (actuator) desired desired signal from
Mechatronic systems the plant or the environment
• Synergistic interaction of mechanical, electrical, and computer systems
leading to intelligent products.
• Robotic prosthetics, An actuator is a device
• Humanoid robots, employed by the control
• Universal Soft Robotic Gripper/Soft Robotics' octopus-inspired robots industrial system to alter or adjust the
grippers/Enabling Dunkin Donuts Packaging with Soft Robotics plant

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Introduction to Control Systems (2)
A control system can be simply described as below:

A control system is an interconnection of components

forming a system configuration that will provide a desired
system response

The basis for the analysis of a control system is the foundation

provided by linear system theory which assumes a linear
cause-and-effect relationship for the components.

A major component in a control system is called the

process or the plant.

A process or plant can be described by its input-output relationship

which shows how it processes the input signal to provide the desired
output signal.
• For example, an amplifier is a process described by the input-output
relationship 𝑦 = 𝐴𝑢 where 𝑦 is the output, 𝑢 is the input and 𝐴 is the gain of the
amplifier relating input to output.
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Introduction to Control Systems (3)
x (t)

Second-order linear system (Spring-Mass system with friction). +

k
• How to describe the behaviour of this system?
f (t)
m
• System Modelling b
• First principle (Newton’s Second Law σ 𝑎𝑙𝑙 𝑓𝑜𝑟𝑐𝑒𝑠 = 𝑚 × 𝑎)

𝑚𝑥(𝑡)
ሷ + 𝑏𝑥(𝑡)
ሶ + 𝑘𝑥(𝑡) = 𝑓 • 𝑚: Mass of the block
• 𝑘: Spring constant/stiffness
Some observations:
• 𝑏: Friction coefficient
• One-degree-of-freedom (1DOF) system. 𝑑𝑥
• 𝑥:ሶ Time derivative of position 𝑥, 𝑥ሶ =
• (freedom of motion for the main object which is the mass block). 𝑑𝑡

• Solution of differential equation 𝑥(𝑡) determines the motion of the Input force Mass position
mass block. 𝑓 𝑡
Process
𝑥(𝑡)
• Known as equation of motion. 𝑚𝑥ሷ + 𝑏𝑥ሶ + 𝑘𝑥 = 𝑓
• Characteristics of the motion depends on:
• Initial conditions (i.e., initial position and velocity)
• External input force 𝑓.
• Values of mass, spring stiffness and friction.
• Slow return to its initial position with weak spring (small 𝑘) and heavy friction (large 𝑏).
• Oscillatory behaviour before coming to rest with stiff spring (large 𝑘) and low friction
(small 𝑏).
Page 14
Introduction to Control Systems (4)
Unforced response, i.e., 𝑓 = 0 (also known as natural response):
𝑚𝑥ሷ + 𝑏𝑥ሶ + 𝑘𝑥 = 0 ⇒ 𝑥 𝑡 = 𝑐1 𝑒 𝑠1 𝑡 + 𝑐2 𝑒 𝑠2 𝑡 Im{𝑠} 𝑥 𝑡

𝑐1 and 𝑐2 are constants depending on initial conditions. Overdamped

R{𝑠}
• Characteristic equation: 𝑠2 𝑠1
𝑏 𝑏2 − 4𝑘𝑚
𝑚𝑠 2 + 𝑏𝑠 + 𝑘 = 0 ⇒ 𝑠1,2 = − ± 𝑠-plane
2𝑚 2𝑚 𝑥 𝑡
Im{𝑠}
𝑠1 and 𝑠2 are roots of the characteristic equation.
Critically damped

• Overdamped response (𝑏 2 > 4𝑚𝑘): R{𝑠}

𝑠1,2
• Two real roots/poles, sluggish response, no oscillation.
• Friction dominates. 𝑠-plane

• Critically damped response (𝑏 2 = 4𝑚𝑘):

Im{𝑠} 𝑥 𝑡
• Two real repeated roots/poles, fastest response without
oscillation. Underdamped
𝑠1
• Friction and stiffness are balanced. R{𝑠}
• Underdamped response (𝑏 2 < 4𝑚𝑘): 𝑠2
• Two complex conjugate roots/poles, oscillatory behaviour. 𝑠-plane
• stiffness dominates. Page 15
Introduction to Control Systems (5)
Scenario 1 (unforced response) 𝑥=0

Overdamped response (𝑏2 > 4𝑚𝑘):

• 𝑚 = 1; 𝑏 = 5; 𝑘 = 4;
• 𝑥 0 = 2; 𝑥ሶ 0 = 0;

𝑥ሷ + 5𝑥ሶ + 4𝑥 = 0 ⇒ 𝑠 2 + 5𝑠 + 4 = 0
⇒ 𝑠1 = −1 8 −𝑡 2 −4𝑡
⇒ 𝑥 𝑡 = 𝑒 − 𝑒
𝑠2 = −4 3 3

• The speed at which the response decays to zero depends

on the exponents of exponential functions (roots of the
characteristic equations 𝑠1 and 𝑠2 ).
• The reciprocal of 𝑠1 and 𝑠2 are known as time constants.
• 𝜏1 = 1 sec and 𝜏2 = 0.25 sec

8 −𝑡 2 −4𝑡 As 𝑡 → ∞, 𝑒 −4𝑡 approaches zero

𝑥 𝑡 = 𝑒 − 𝑒
3 3 4 times faster than 𝑒 −𝑡 .
• The root at 𝑠1 = −1 is known as the dominant root/pole because
its impact dominates the responses due to 𝑒 −𝑡 decaying to zero Animation is adopted from: N. Khaled, Virtual Reality and Animation for
MATLAB and Simulink Users: Visualization of Dynamic Models and
slower than 𝑒 −𝑡 (𝜏1 = 1 sec is dominant time constant). Control Simulations, Springer-Verlag London Limited 2012 Page 16
 Introduction to Control Systems (6)
Scenario 2 (unforced response) 𝑥=0

Critically damped response (𝑏2 = 4𝑚𝑘):

• 𝑚 = 1; 𝑏 = 5; 𝑘 = 6.25;
• 𝑥 0 = 2; 𝑥ሶ 0 = 0;

𝑥ሷ + 5𝑥ሶ + 6.25𝑥 = 0 ⇒ 𝑠 2 + 5𝑠 + 6.25 = 0

⇒ 𝑠1,2 = −2.5 ⇒ 𝑥 𝑡 = 2𝑒 −2.5𝑡 + 5𝑡𝑒 −2.5𝑡

A question: When 𝑡 → ∞, what happens to

5𝑡𝑒 −2.5𝑡 ?

Page 17
Introduction to Control Systems (7)
Scenario 3 (unforced response)
𝑥=0
underdamped response (𝑏2 < 4𝑚𝑘):
• 𝑚 = 1; 𝑏 = 5; 𝑘 = 70.25;
• 𝑥 0 = 2; 𝑥ሶ 0 = 0;

𝑥ሷ + 5𝑥ሶ + 70.25𝑥 = 0 ⇒ 𝑠 2 + 5𝑠 + 70.25 = 0

⇒ 𝑠1,2 = −2.5 ± 𝑗8

⇒ 𝑥 𝑡 = 2𝑒 −2.5𝑡 cos 8𝑡 + 0.625𝑒 −2.5𝑡 sin 8𝑡

or 𝑥 𝑡 = 2.0954𝑒 −2.5𝑡 cos 8𝑡 − 17.354°

A question: In underdamped case, what would

happen if the mass is too heavy?

Page 18
Introduction to Control Systems (8)
x (t)

Control of spring-mass system with friction. +

k
• How to manipulate the behaviour of the system if the process
parameters are fixed? f (t)
m
• What if the natural response of the process is NOT what we wish it to be? b
Forced response, i.e., 𝑓 ≠ 0
• Recall that we can exert an external force to the system.
• If system parameters 𝑚, 𝑏, and 𝑘 are unchangeable, Input force Mass position
formulate the input 𝑓 as a function of main system 𝑓 𝑡
Process
𝑥(𝑡)
variables (position 𝑥 and velocity 𝑥).
ሶ 𝑚𝑥ሷ + 𝑏𝑥ሶ + 𝑘𝑥 = 𝑓
• Use sensors to measure 𝑥 and 𝑥.ሶ
• Use an actuator that can generate and apply a force to the
block. 𝑓 𝑡
𝑥(𝑡)
Process
• Compute the force that creates a desired system Actuator 𝑥ሶ(𝑡)
behaviour as a function of measured signals. − − 𝑚𝑥ሷ + 𝑏𝑥ሶ + 𝑘𝑥 = 𝑓

Velocity
𝑓 = −𝑘𝑃 𝑥 𝑡 − 𝑘𝐷 𝑥(𝑡)
ሶ 𝑘𝐷 Sensor

Position
This is known as Feedback Control Law to 𝑘𝑃 Sensor
regulate the position at system resting point 𝑥 = 0.
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Introduction to Control Systems (9)
Apply the feedback control law to the equation of 𝑓 𝑡
𝑥(𝑡)
motion: Process
Actuator 𝑥ሶ(𝑡)
− − 𝑚𝑥ሷ + 𝑏𝑥ሶ + 𝑘𝑥 = 𝑓
𝑚𝑥ሷ + 𝑏𝑥ሶ + 𝑘𝑥 = −𝑘𝑝 𝑥 𝑡 − 𝑘𝑑 𝑥(𝑡)
ሶ
Velocity
𝑘𝐷 Sensor
𝑚𝑥ሷ + 𝑏 + 𝑘𝐷 𝑥ሶ + (𝑘 + 𝑘𝑃 )𝑥 = 0
Position
𝑘𝑃 Sensor
𝑏 + 𝑘𝐷 (𝑏 + 𝑘𝐷 )2 −4(𝑘 + 𝑘𝑃 )𝑚
⇒ 𝑠1,2 =− ± Closed-loop Feedback system
2𝑚 2𝑚

By setting the control gains 𝑘𝑃 and 𝑘𝐷 we can place

the roots of the characteristic equation in any desired
location in 𝑠-plane to achieve a desired behaviour.

A question: Why should the control gains 𝑘𝑃 and 𝑘𝐷

be positive (why negative feedback)?

Page 20
Introduction to Control Systems (9) 𝑚𝑥ሷ + 𝑏 + 𝑘𝑑 𝑥ሶ + (𝑘 + 𝑘𝑝 )𝑥 = 0
𝑥(𝑡)
𝑓 𝑡
Scenario 1 (Forced response) Process
Actuator 𝑥ሶ(𝑡)
• If the parameters of the system are 𝑚 = 1, 𝑏 = 1, and − − 𝑚𝑥ሷ + 𝑏𝑥ሶ + 𝑘𝑥 = 𝑓
𝑘 = 1, find gains 𝑘𝑃 and 𝑘𝐷 for a position-regulation
control law that results in the system being critically Velocity
𝑘𝐷 Sensor
damped with a closed-loop stiffness of 16.
𝑥ሷ + 1 + 𝑘𝐷 𝑥ሶ + 1 + 𝑘𝑃 𝑥 = 0 Position
𝑘𝑃 Sensor

Closed-loop Closed-loop
Friction (new 𝑏) Stiffness (new 𝑘)
• For critically damped behaviour: 𝑏 2 = 4𝑚𝑘
2
1 + 𝑘𝐷 = 4(1 + 𝑘𝑃 )

• For closed-loop stiffness of 16:

1 + 𝑘𝑃 = 16
Im{𝑠} Im{𝑠}
𝑘𝑃 = 15
𝑘𝐷 = 7 𝑠1 − 0.866𝑗
R{𝑠} R{𝑠}
−

−0.5 𝑠1,2 = −4
𝑥ሷ + 8𝑥ሶ + 16𝑥 = 0 𝑠2 − −0.866𝑗
𝑠-plane 𝑠-plane Page 21
Open-loop vs Closed-loop
An open-loop control
Control systems are generally classified into
system utilises an
two categories:
actuating device to
Open-loop control systems control the process
• An open-loop control system uses a controller and an actuator to directly without using
obtain the desired response without feedback (example). feedback

A closed-loop control
Closed-loop control systems system utilises
• A closed-loop control system utilises an additional measurement of measurement of the
the actual output to compare the actual output with the desired output and feeds this
output response (example). signal back to compare
• The measurement of the output is called feedback. it with the desired
output signal
(reference or command
signal)

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Closed-loop feedback control systems
A feedback control system often amplifies the difference between the
measured output of the process under control (provided by the sensor) and
the reference signal to control the process and continually reduce that
difference.
The difference between the desired output and the actual output is called
the error signal.
The output of the controller (known as the control input/signal) causes the
actuator to manipulate the process to reduce the error.
The majority of closed-loop control systems use negative feedback, where
the output is subtracted from the desired output/reference signal to generate
the error signal (which then becomes the input to the controller).

Control Input

Page 23
Control System Design
The design process of a control system consists of seven main building blocks,
which are arranged into three groups
Establish the control goals

Establishment of goals, variables

Identify the variables to be controlled to be controlled, and
requirements/specifications
Write the design requirements/
specifications

Establish the system configuration

(control system block diagram)
System definition, modelling,
Obtain a model of the process, the
and identification
actuator, and the sensor

Choose a controller and select key

parameters to be adjusted
Control system design,
Optimise the controller parameters and simulation, and analysis
Otherwise analyse the performance

If the performance meet the requirements/ Page 24

specifications, finalise the design.
Control System Design (2)
An example: Insulin delivery control system
Design a system to regulate the blood sugar
Establish the control goals concentration of a diabetic person by controlled
dispensing of insulin.

Identify the variables to be controlled Blood glucose concentration.

Provide a blood glucose level for the diabetic

Write the design requirements/
specifications
person that closely approximates (tracks) the
glucose level of a healthy person in real time.
Establish the system configuration
(control system block diagram)

Obtain a model of the process, the

actuator, and the sensor

Choose a controller and select key

parameters to be adjusted Amplifier gain.

Optimise the controller parameters and Simulate the closed-loop system to check its
Otherwise analyse the performance performance and tune the amplifier gain.

If the performance meet the requirements/

specifications, finalise the design. Page 25
Summary
Control system engineering focuses on
the following:
• Modelling of physical systems.
• Using models to design controllers.
• The goals of the design are to achieve
desired performance characteristics:
• Stability
• Transient tracking (percent overshoot,
settling time, rise time, and peak time).
• Acceptable steady state tracking error
between the desired and actual output.
• Rejection of external disturbances.
• Reduction of measurement noise.
• Robustness against model
uncertainty.
A successful designer must
consider the following:
• Underlying physics of the
process under control (proper
modelling).
• Control design strategy
(proper steps for the design
process).
• Control design architecture
(what type of controller will be
employed).
• Effective control tuning
strategies.
• Hardware implementation and
proper interfacing strategies.
Page 26