DISCUSSION CLASS 2

AUC401M
 Control System
➢An interconnection of
components with a configuration
designed to give a desired
response.
 Open-loop system
• Has controller but has no
feedback
I/P O/P
Controller Actuator Process

• I/P – input to the system

• O/P – output or response
 Open-loop system
• Process – represents the plant to be
controlled e.g. electric stove oven
• Controller – modifies the signal to
get desired output e.g.
voltage/current flow system
• Actuator – enables configuration of
the controller, e.g. oven nob
 Closed-loop system
• Has feedback loop
• E is the error, the difference
between the input and the feedback
I/P E O/P
Controller Actuator Process

Sensor
 Disturbance and noise
➢Disturbance – From external source
➢Noise – from measurement
D
I/P E Contr- Actu- O/P
Process
oller ator
N
Sensor
 Block diagrams
➢Physical systems can be
represented by block diagrams
➢Each block stands for an element
of the system
➢Mathematical expression
governs behaviour of each block
 Block diagrams
➢Block diagram reduction
simplifies
➢Diagrams can also be solved
analytically
 Reduction…involves…
➢Moving pick-up and summation
points
➢Combining elements
➢Removing feed-back and feed-
forward loops, etc.
Reduction, general rule…
➢Compensate for any actions to
make sure the signal at any point
from any route remains
unchanged
 Reduction, pick-up…
X(s) Y(s)
+ E
G1 G2 G3
-
H
• Original system
• Feedback includes signals from
G1 and G2
 Moving pick-up after G3:
X(s) Y(s)
+ E
G1 G2 G3
-
H/G3
• Feedback now pick up G3
• Compensation: divide by G3
 Moving pick-up before G2:
X(s) Y(s)
+ E
G1 G2 G3
-
HG2
• Feedback now excludes G2
• Compensation: multiply by G2
 Reduction, summation…
X(s) Y(s)
+
G1 G2 G3
-
H
• Original system
• Feedback is through G2 and G3
 Moving summation before G1
X(s) Y(s)
+
G1 G2 G3
-
H/G1
• Now signal also goes though G1
• Compensation: divide by G1
 Moving summation after G2
X(s) Y(s)
+
G1 G2 G3
-
H G2
• Now there is no feedback in G2
• Compensation: multiply by G2
 Reduction, combining blocks
X(s) Y(s)
+
G1 G2 G3
-
H
• Original system
• G2 and G3 in series: multiply
them
 Combining blocks
X(s) Y(s)
G1
+
G2 G3
-
H
• G2 and G3 are combined
• Now G2 and G3 are in one block
 Combining blocks, in parallel
X(s) Y(s)
+
G1 G2 G4
+
G3
• Original system
• G2 and G3 in parallel: add them
 Combining blocks
• G2 and G3 are combined
X(s) Y(s)
G1 G2+G3 G4

• Then combining all the blocks…

X(s) Y(s)
G1G4(G2+G3)
 Reduction, feed-back:
X(s) Y(s)
+ E F
G1 G2 G3
-
H1
• Let signal before G1 be E and after F
• E = X(s) – FH1
• F = E G1= X(s)G1 – FG1H1
 …feed-back…
• F = E G1= X(s)G1 – FG1H1
• F + FG1H1 = X(s)G1
• F(1 + G1H1) = X(s)G1
• F = [G1/(1 + G1H1)] x X(s)
 Finally no feed-back…
X(s) G1 Y(s)
1 + G1H1
G2 G3

• Loop is eliminated
• Replaced by one block
• All the blocks are combined…
 Combined blocks…
X(s) Y(s)
G1G2G3
1 + G1H1

• Y(s) = X(s) [(G1G2G3) / (G1 + G1H1)]

• Transfer function, T(s) = Y(s)/X(s)
• T(s) = (G1G2G3) / (G1 + G1H1)
 Mathematical models
➢Physical systems can be
represented by mathematical
models
➢Differential equations are used
 Vibration system
• Mass – m
• Damper – b k b
• Spring – k
r(t) m
Velocity, acceleration:
Displacement = x
dx
Velocity , v = =x
dt
2
v d x
Acceleration, a = = v = 2 = x
dt dt
 Recall – from vibration…
➢Equation of motion for a force system:

 mx ( t ) + bx ( t ) + kx ( t ) = r ( t )
➢where:
➢r(t) – applied external force
➢x - displacement
 Recall – from vibration…
➢Equation can be written:

2
d x dx
 m 2 + b + kx = r ( t )
dt dt
 Operator D…
➢Differential operator, D = d/dt:
2
dx d x
= Dx and 2
= D 2
x
dt dt
 mD x + bDx + kx = r ( t )
2
 Recall – from vibration…
n = k / m , bC = 2mn ,  = b / bc
 mx ( t ) + bx ( t ) + kx ( t ) = r ( t )
b k
x ( t ) + x ( t ) + x ( t ) = 1/ m  r ( t )
m m
2bn
x (t ) + x ( t ) + n x ( t ) = 1/ m  r ( t )
2

2mn
 Recall – from vibration…
2bn
x (t ) + x ( t ) + n x ( t ) = 1/ m  r ( t )
2

2mn
b
x ( t ) + 2n x ( t ) + n x ( t ) = 1/ m  r ( t )
2

bc

x ( t ) + 2n x ( t ) + n x ( t ) = 1/ m  r ( t )
2
 Laplace Transforms
➢Time domain – real t domain
➢Laplace domain – s domain used
to simplify computation
Differential equation soln…
• A second order differential
equation is of the form:

 mx ( t ) + bx ( t ) + kx ( t ) = r ( t )
• The Laplace Transform for each
term is as follows:
 Laplace transform…
x (t ) → X ( s ) , r (t ) → R ( s ) ,
dx
x (t ) = → sX ( s ) − x0 ,
dt
2
d x
x ( t ) = 2 → s X ( s ) − sx0 − x0
2

dt
• The equation becomes:
Differential equation soln…
m  s X ( s ) − sx0 − x0  +
2

b  sX ( s ) − x0  + kX ( s ) = R ( s )

• Solution depends on the initial

conditions and input function:
 Initial conditions
➢Initial displacement – x0
➢Initial velocity – x’0
➢Input can be:
✓Impulse: R(s) = 1
✓Unit step: R(s) = 1/s
✓Unit ramp: R(s) =1/s 2
 Example
x (t ) + 5x (t ) + 4 x (t ) = r (t )

➢Input: unit step function

➢Initial conditions: x0 = x’0 = 0
 Solution…
 s X ( s ) − sx0 − x0  +
2

5  sX ( s ) − x0  + 4 X ( s ) = R ( s )

• R(s) = 1/s
• x0 = x’0 = 0
 Solution

s X ( s ) + 5sX ( s ) + 4 X ( s ) = 1/ s
2

X ( s )  s + 5s + 4  = 1/ s
2

1
X (s) =
s  s + 5s + 4 
2
 Solution
1
X (s) =
s ( s + 1)( s + 4 )

A B C
X (s) = + +
s ( s + 1) ( s + 4 )
 Solving for A, B, C: Method 1
1 A B C
= + +
s ( s + 1)( s + 4 ) s ( s + 1) ( s + 4 )
➢Cross multiply all terms by the
denominator, s(s + 1)(s + 4):
1 = A ( s + 1)( s + 4 ) + Bs ( s + 4 ) + Cs ( s + 1)
 Method 1:
( ) ( ) (
1 = A s + 5s + 4 + B s + 4 s + C s + s
2 2 2
)
➢comparing coefficients:
s 2: 0=A+B+C (i)
s 1: 0 = 5A + 4B + C (ii)
s 2: 1 = 4A OR A=¼ (iii)
 Method 1:
➢Substituting into (i) and (ii) :
B + C = - ¼ OR 4B + 4C = - 1 (iv)
4B + C = 5(-1/4) OR
16B + 4C = -5 (v)
(v) – (iv): 12B = -4 OR B = - 1/3 (vi)
4C = – 1 –4 (-1/3) OR C = 1/12 (vii)
 Method 1:
A 1 1
X (s) = − +
4 s 3 ( s + 1) 12 ( s + 4 )
• From Laplace transforms table ,
change back to t domain:
1 1 − t 1 −4t
x (t ) = − e + e
4 3 12
1
x ( t ) = 3 − 4e + e 
−t −4 t

12
Solving for A, B, C: Method 2
1
X (s) =
s ( s + 1)( s + 4 )
A B C
X (s) = + +
s ( s + 1) ( s + 4 )
 Method 2
A = lim  sX ( s ) 
s →0

 1 
A = lim  s  
s →0
 s ( s + 1)( s + 4 )
1 1
A= =
(1)( 4 ) 4
 Method 2
B = lim ( s + 1) X ( s ) 
s →−1

 1 
B = lim ( s + 1)  
s →−1
 s ( s + 1)( s + 4 ) 
1 1 1
B= = =−
( −1)( −1 + 4 ) ( −1)( 3) 3
 Method 2
C = lim ( s + 4 ) X ( s ) 
s →−4

 1 
C = lim ( s + 4 )  
s →−4
 s ( s + 1)( s + 4 ) 
1 1 1
C= = =
( −4 )( −4 + 1) ( −4 )( −3) 12
 Response of a system

R(s) 1 C(s)
2
(s+2)(s+3)
H = s+3

• Input: unit impulse function

• Initial conditions: x0 = x’0 = 0
Response of a system
H = ( s + 3)
1
G = 2
( s + 2 )( s + 3)
G
Ts =
1 + GH
 Response of a system

 2 
 
 ( s + 2 )( s + 3) 
Ts =
 2 ( s + 3) 
1 + 
 ( s + 2 )( s + 3 )
 Response of a system

 2 
 
 ( s + 2 )( s + 3 )
Ts =
 ( s + 2 )( s + 3) + 2 ( s + 3) 
 
 ( s + 2 )( s + 3 ) 
 Response of a system

 2 
 
 ( s + 2 )( s + 3 )
Ts =
 ( s + 3) ( s + 2 ) + 2  
 
 ( s + 2 )( s + 3) 
 Response of a system

 2 
 
 ( s + 2 )( s + 3 )
Ts =
 ( s + 3)( s + 4 ) 
 
 ( s + 2 )( s + 3 )
 Response of a system
 2 
Ts = C ( s ) / R ( s ) =  
 ( s + 3 )( s + 4 )
 2R ( s ) 
C (s) =  , R(s) = 1
 ( s + 3 )( s + 4 )
 2 
C (s) =  
 ( s + 3 )( s + 4 )
 Response of a system
A B
C (s) = +
( s + 3) ( s + 4 )
 ( s + 3)  2 
A = lim   =2
s →−3 ( s + 3 )( s + 4 )
 
 ( s + 4)  2 
B = lim   = −2
s →−4 ( s + 3 )( s + 4 )
 
 Response of a system
2 2
C (s) = −
( s + 3) ( s + 4 )
c ( t ) = 2e −3t
− 2e −4 t

c ( t ) = 2 e −3t
−e −4 t

Thank you!!!