Automatic Control Systems

Lecture 1

Introduction
 Outlines
 System Modelling
Transfer Function
Block Diagrams
Signal Flow Graphs
 State Variable Models
 System Analysis
 Time Domain Analysis (Test Signals)
Ruth_ Herwitz Stability Criterion
Root locus Method
 Proportional Integral Derivative Control System (PID)
 Frequency Domain Analysis
Bode Plots
Nyquist Plots
Reference Books
A. Modern Control Engineering, (5th Edition)
By: Katsuhiko Ogata. (Prof Emeritus) Mechanical Engineering,
University of Minnesota
B. Control Systems Engineering, (6th Edition)
By: Norman S. Nise. (Professor Emeritus) Electrical and Computer
Engineering Department at California State Polytechnic University
C. Modern Control Systems, (12th Edition)
By: Richard C. Dorf and Robert H. Bishop.
D. Automatic Control Systems, (9th Edition)
By: Golnaraghi and B. C. Kuo.
Prerequisites
Differential Equations
Laplace Transform
Inverse Laplace Transform
Partial Fraction Expansion Method
Basic Physics
Basics of Differentiations and Integration
How to solve the above methods using Matlab
 What is Control System?
A system Controlling the operation of another
system.
A system that can regulate itself and another
system.
A control System is a device, or set of devices
to manage, command, direct or regulate the
behaviour of other device(s) or system(s).
 Definitions
 System – An interconnection of elements and devices
for a desired purpose.
 Control System – An interconnection of components
forming a system configuration that will provide a
desired response.
 Process – The device, plant, or system under control.
The input and output relationship represents the cause-
and-effect relationship of the process.

Input Process Output

 Definitions
o Controlled Variable– It is the quantity or condition
that is measured and Controlled. Normally
controlled variable is the output of the control
system.
o Manipulated Variable– It is the quantity of the
condition that is varied by the controller so as to
affect the value of controlled variable.
o Control – Control means measuring the value of
controlled variable of the system and applying the
manipulated variable to the system to correct or
limit the deviation of the measured value from a
desired value.
Definitions
Open-Loop Control Systems
utilize a controller or control
actuator to obtain the
desired response.

Closed-Loop Control Systems

utilizes feedback to compare
the actual output to the
desired output response.

Multivariable Control System

Definitions
Manipulated Variable

Input
or Output
Set point Controller Process Or
or Controlled Variable
reference

Disturbances– A disturbance is a signal that tends to

adversely affect the value of the system. It is an
unwanted input of the system.

• If a disturbance is generated within the system, it

is called internal disturbance. While an external
disturbance is generated outside the system.
Controller:
1. Comparator:
To compare the actual output value with the desired value of
the output.
2. Control Action Device
To produce the output according to the actuating error.
Sensor : To measure the actual output.
Actuator:
to transform the control signal to a suitable signal having the
capability to change the input of the system.
Steady state:
The state of the system at which the controlled variable is in
equilibrium case and it has not any oscillation.
Steady state error:
Is the difference between the actual value of the controlled
variable and its desired value when the system enters again to
steady state direct after the transient state has been ended.
 Types of Control System
• Natural Control System
– Universe
– Human Body
• Manmade Control System
– Vehicles
– Aeroplanes
• Manual Control Systems
– Room Temperature regulation Via Electric Fan
– Water Level Control
• Automatic Control System
– Room Temperature regulation Via A.C
– Human Body Temperature Control
 Types of Control System
Open-Loop Control Systems
Open-Loop Control Systems utilize a controller or control
actuator to obtain the desired response.
• Output has no effect on the control action.
• In other words output is neither measured nor fedback.

Input Output
Controller Process

Examples:- Washing Machine, Toaster, Electric Fan

 Types of Control System
Open-Loop Control Systems

• Since in open loop control systems reference input is not

compared with measured output, for each reference input there
is fixed operating condition.

• Therefore, the accuracy of the system depends on calibration.

• The performance of open loop system is severely affected by the

presence of disturbances, or variation in operating/
environmental conditions.
 Types of Control System
Closed-Loop Control Systems
Closed-Loop Control Systems utilizes feedback to compare the
actual output to the desired output response.

Input Output
Comparator Controller Process

Measurement

Examples:- Refrigerator, Iron

 Types of Control System
Open Loop Control Systems
Control action is independent
of the desired output.
Feedback path is not present.
These are also called as non-
feedback control systems.
Easy to design.
These are economical.
Inaccurate.
Closed Loop Control Systems
Control action is dependent of
the desired output.
Feedback path is present.
These are also called as
feedback control systems.
Difficult to design.
These are costlier.
Accurate.
15
 Types of Control System
Multivariable Control System

Temp Outputs
Humidity Comparator Controller Process
Pressure

Measurements
 Types of Control System
Feedback Control System
• A system that maintains a prescribed relationship between the
output and some reference input by comparing them and using
the difference (i.e. error) as a means of control is called a feedback
control system.

Input + error Output

Controller Process
-

Feedback

• Feedback can be positive or negative.

 Types of Control System
Servo System
• A Servo System (or servomechanism) is a feedback control system
in which the output is some mechanical position, velocity or
acceleration.

Modular Servo System (MS150)

Antenna Positioning System
 Types of Control System
Linear Vs Nonlinear Control System
• A Control System in which output varies linearly with the input
is called a linear control system.

u(t) Process y(t)

y(t )  2u(t )  1 y(t )  3u(t )  5
y=-2*u(t)+1 y=3*u(t)+5
5 35

0 30

25
-5
y(t)

y(t) 20
-10
15
-15
10
-20
0 2 4 6 8 10 5
u(t) 0 2 4 6 8 10
u(t)
 Types of Control System
Linear Vs Nonlinear Control System
When the input and output has nonlinear relationship the
system is said to be nonlinear.
Adhesion Characteristics of Road

0.4
Adhesion Coefficient

0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08
Creep
 Types of Control System
Linear Vs Nonlinear Control System
 Linear control System Does not
exist in practice. Adhesion Characteristics of Road

 Linear control systems are idealized 0.4

models fabricated by the analyst

Adhesion Coefficient
purely for the simplicity of analysis 0.3

and design.
 When the magnitude of signals in a 0.2

control system are limited to range 0.1

in which system components
exhibit linear characteristics the 0
0 0.02 0.04 0.06 0.08
system is essentially linear. Creep
 Types of Control System
Time invariant vs Time variant
• When the characteristics of the system do not depend upon
time itself then the system is said to time invariant control
system.
y(t )  2u(t )  1

• Time varying control system is a system in which one or more

parameters vary with time.
y(t )  2u(t )  3t
 Types of Control System
Lumped parameter vs Distributed Parameter
• Control system that can be described by ordinary differential
equations are lumped-parameter control systems.

d 2x dx
M C  kx
dt 2 dt

• Whereas the distributed parameter control systems are described

by partial differential equations.

x x 2x
f1  f2 g 2
dy dz dz
 Types of Control System
Continuous Data Vs Discrete Data System
• In continuous data control system all system variables are function
of a continuous time t.
x(t)

• A discrete time control system involves one or more variables that

are known only at discrete time intervals.
X[n]

n
 Types of Control System
Deterministic vs Stochastic Control System
• A control System is deterministic if the response to input is
predictable and repeatable.
x(t) y(t)

t t

• If not, the control system is a stochastic control system

z(t)

t
 Classification of Control Systems
Control Systems

Natural Man-made

Manual Automatic

Open-loop Closed-loop

Non-linear linear
Non-linear linear

Time variant Time invariant

Time variant Time invariant
 Examples of Control Systems

Water-level float regulator

Examples of Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
Mathematical Models of Systems Objectives
 We use quantitative mathematical models of physical
systems to design and analyze control systems. The
dynamic behavior is generally described by ordinary
differential equations. We will consider a wide range of
systems, including mechanical, hydraulic, and electrical.
Since most physical systems are nonlinear, we will discuss
linearization approximations, which allow us to use
Laplace transform methods.
 We will then proceed to obtain the input–output
relationship for components and subsystems in the form of
transfer functions. The transfer function blocks can be
organized into block diagrams or signal-flow graphs to
graphically depict the interconnections. Block diagrams
(and signal-flow graphs) are very convenient and natural
tools for designing and analyzing complicated control
systems.
Introduction
Six Step Approach to Dynamic System Problems

 Define the system and its components.

 Formulate the mathematical model and list the
necessary assumptions.
 Write the differential equations describing the
model.
 Solve the equations for the desired output
variables.
 Examine the solutions and the assumptions.
 If necessary, reanalyze or redesign the system.
 Differential Equation of Physical Systems
Electrical Inductance Describing Equation Energy or Power

d 1 2
v 21 L i E  L i
dt 2
Translational Spring 2
1 d 1 F
v 21  F E 
k dt 2 k

Rotational Spring 2
1 d 1 T
21  T E 
k dt 2 k

Electrical Capacitance
𝑑 1 2
𝑖 = 𝐶 𝑑𝑡 𝑣21 𝐸 = 2 𝐶𝑣21

Rotational Damper 2
T b 21 P b 21

Translational Damper

2
F b  v 21 P b  v 21
 Differential Equation of Physical Systems

Electrical Resistance
1 1 2
i  v 21 P  v 21
R R
Translational Mass
d 1 2
F M v2 E  M v2
dt 2
Rotational Mass

d 1 2
T J 2 E  J 2
dt 2
Differential Equation of Physical Systems

2
d d
M y( t)  b y ( t )  k y ( t ) r( t )
2 dt
dt
Differential Equation of Physical Systems

t
v( t) d 1 
 C v( t)    v( t) dt r( t)
R dt L 0
  1 t
y( t) K 1 e  
 sin  1 t   1
Differential Equation of Physical Systems
 Differential Equation of Physical Systems
K2  1  2  .5  2  10  2  2

  2 t
y ( t )  K2 e 
 sin  2 t   2 
  2 t   2 t
y1 ( t )  K2 e y2 ( t )  K2 e

y ( t)

y1 ( t ) 0
y2 ( t )

1
0 1 2 3 4 5 6 7
t
 The Laplace Transform

Definition


  s t
L( f ( t) )  f ( t)  e dt = F(s)

0

Here the complex frequency is s   j w

The Laplace Transform exists when


  s t
 f ( t)  e dt  
 this means that the integral converges
0
 The Laplace Transform
Determine the Laplace transform for the functions

a) f1( t)  1 for t0


  s t
F1( s )   e dt 1  ( s t ) 1
 =  e
0 s s

 ( a t )
b) f2( t) e


  ( a t )  ( s t )
F2( s )  e e dt 1  [ ( s a)  t ] 1
 =  e F2( s )
0 s1 sa
 The Laplace Transform
Evaluate the laplace transform of the derivative of a f unction



 d f ( t) 
L  d  ( s t )
 
f ( t)  e dt
 dt  
dt
0
 
by the use of  u dv = u v   v du
 
 ( s t )
where u e dv df ( t )

and, from which

 ( s t )
du s  e  dt
and v f ( t)
we obtain
 
 
f ( t )   s  e
 ( s t )  ( s t ) 
 u dv = f ( t)  e   dt
 
0 0

  ( s t )
= -f(0+) + s  f ( t)  e dt

0
L 
 d f ( t) 

 d t  = sF(s) - f(0+) note that the initial condition is included in the transformation
 The Laplace Transform
Practical Example - Consider the circuit.

The KVL equation is

d
4 i( t )  2 i( t ) 0 assume i(0+) = 5 A
dt

Applying the Laplace Transform, we have

  
  
  4 i( t)  2 d i( t)   e ( s t ) d t 4 
 ( s t )
d t  2 
d  ( s t )

  0

i( t )  e

i( t )  e dt 0
  dt  0 
dt
0 0

4 I( s )  2 ( s  I( s )  i( 0) ) 0 4 I( s )  2 s  I( s )  10 0

5 transforming back to the time domain, with our present knowledge of

I( s ) 
s  2 Laplace transform, we may say that
t  ( 0  0.01 2)
6

 ( 2 t )
i( t )  5 e 4
i( t )
2

0
0 1 2
t
 The Laplace Transform
The Partial-Fraction Expansion (or Heaviside expansion theorem)

Suppose that

s  z1 The partial fraction expansion indicates that F(s) consists of

F(s)
a sum of terms, each of which is a factor of the denominator.
( s  p1 ) ×( s  p2 )
The values of K1 and K2 are determined by combining the
individual fractions by means of the lowest common
denominator and comparing the resultant numerator
or
coefficients with those of the coefficients of the numerator
K1 K2 before separation in different terms.
F(s) 
s  p1 s  p2

Evaluation of Ki in the manner just described requires the simultaneous solution of n equations.
An alternative method is to multiply both sides of the equation by (s + pi) then setting s= - pi, the
right-hand side is zero except for Ki so that

( s  pi ) ×( s  z1 )
Ki s = - pi
( s  p1 )  ( s  p2 )
 The Laplace Transform
Property Time Domain Frequency Domain
 ( s T )
e  F( s )
1. Time delay f ( t  T)  u ( t  T)

 F

1 s
 
2. Time scaling f ( at ) a a

d
3. Frequency differentiation t f ( t)  F( s )
ds

 ( a t )
4. Frequency shifting f ( t)  e F( s  a)


f ( t) 
5. Frequency Integration  F( s ) d s
t 
0

6. Initial-value Theorem Lim( f ( t ) ) f ( 0) Lim( s  F( s ) )

t -> 0 s -> infinite

7. Final-value Theorem Lim( f ( t ) ) Lim( s  F( s ) )

t -> infinite s -> 0

 The Laplace Transform
Consider the mass-spring-damper system

( Ms  b )  yo
Y( s ) equation 2.21
2
Ms  bs  k

 s  b  y
   s  2  n
 M o
y( s )
s 2   b   s  k  2 2
    s  2  n  n
 M M

 
2
s1   n  n    1
k b
n 
M 2 k M 

 
2
s2   n  n    1

 
Roots 2
s1   n  j n  1  
Real
Real repeated
 
2
Imaginary (conjugates) s2   n  j n  1  
Complex (conjugates)
The Laplace Transform