MESB323

MODELLING AND CONTROL

OF DYNAMIC SYSTEMS

CHAPTER 7

Time domain analysis and Design of Control

system
 Automatic controllers
Think of what goes on in domestic hot water thermostat:
 The temperature of the water is measured.
 Comparison of the measured and the required values
provides an error, e.g. ‘too hot’ or ‘too cold’.
 On the basis error, a control algorithm decides what to do.
 Such an algorithm might be:
 Ifthe temperature is too high then turn the heater off. If it is
too low then turn the heater on.
 The adjustment chosen by the control algorithm is applied
to some adjustable variable, such as the power input to
the water heater.
 Automatic controllers
 A feedback control system seeks to bring the measured
quantity to its required value or set-point.

 The control system does not need to know why the

measured value is not currently what is required, only
that is so.

 There are two possible causes of such a disparity;

 The system has been disturbed.
 The set point has changed. In the absence of external
disturbance, a change in set point will introduce an error.
The control system will act until the measured quantity
reach its new set point.
 Automatic controllers
 The PID control actions is the most popular feedback
controller used.

 As the name suggest, the PID control actions consists of

three basic modes:
 The Proportional mode, 𝐺𝑐 𝑠 = 𝐾𝑝
𝐾𝑖Τ
 The Integral mode, 𝐺𝑐 𝑠 = 𝑠
 The Derivative mode, 𝐺𝑐 𝑠 = 𝐾𝑑 𝑠

 When utilizing the PID, it is necessary to decide which modes

are to be used (P, I or D) and the specify the parameters (or
settings) for each mode used.
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Example 1 (1st Order system);

Control the height of water level tank;

Use partial fraction method with proportional controllers.

1
Answ: 𝐸 𝑠 𝑜𝑟 𝑒𝑠𝑠 = 1+𝑅𝐾 𝑖𝑓 ℎ 𝑡 = 1
𝑝
Automatic controllers
Example 2 (1st Order system);

Control the height of water level tank;

You can use FINAL VALUE THEOREM with integral controllers;

𝑒𝑠𝑠 = lim 𝑠 𝐸(𝑠)

𝑠→0

ANSW: 𝑒𝑠𝑠 = lim 𝑠 𝐸(𝑠) = 0

𝑠→0
Automatic controllers
Example 2 (2nd Order system);

By identifying the characteristic equation of transfer function

(T.F), system is imaginary stable;
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Cont. Example 2 (2nd Order system);

By identifying the characteristic equation of transfer function

(T.F), system is imaginary stable – not good;
Automatic controllers
Cont. Example 2 (2nd Order system);

By identifying the characteristic equation of transfer function

(T.F), system is imaginary stable – not good;
Automatic controllers
Example 3 (2nd Order system);
Stability Analysis
 System must be stable.
 Using Routh Hurwitz criteria – to check stability of the system.
 Example 4;
 Given characteristic equation;

𝑠 4 + 2𝑠 3 + 3𝑠 2 + 4𝑠 + 5 = 0
 Steps,
 Draw the table

𝑠4 1 3 5
𝑠3 2 4 0
𝑠2
𝑠
Stability Analysis
 Steps,
 Calculate value inside the table

𝑠4 1 3 5
𝑠3 2 4 0
𝑠2 2(3) – 4(1) 2(5) – 0(1) 0
2 2
=1 =5
𝑠 1(4) – 5(2) 0 0
1
= −6

Unstable because there is sign changed

Stability Analysis
 Example 5,
 Find the range of K for which the system is stable