Lecture #2

06.01.2023

1/13/2023 ME 325 Control Systems

1/13/2023 ME 325 Control Systems
 Open-Loop Transfer Function Im
j
R(s) = Input Signal

E(s) = Error Signal


Re
𝐸 𝑠 𝐶 𝑠 𝐵 𝑠 C(s) = Output Signal
𝐺 𝑠 𝐻 𝑠
B(s) = Feedback Signal

Open-Loop Transfer Function is the ratio of the feedback signal B(s) to the actuating error

B(s)
signal E(s)
= G(s) H (s)
E (s)
Feedforward Transfer Function is the ratio of the output signal C(s) to the actuating error

C (s)
signal E(s)
= G(s)
E (s)
When the open-loop transfer function and the feedforward transfer function are
the same?
1/13/2023 ME 325 Control Systems
 Closed loop transfer function with NEGATIVE Feedback

C (s) = G(s) E (s)

E ( s ) = R ( s ) − B ( s ) = R ( s ) − H ( s )C ( s )
B(s)
C ( s ) = G ( s )  R ( s ) − H ( s ) C ( s ) 

C ( s ) = G ( s ) R ( s ) − G ( s ) H ( s )C ( s )

C (s) G(s)
Closed loop transfer function =
R(s) 1+ G(s) H (s)

1/13/2023 ME 325 Control Systems

 Closed loop transfer function with POSITIVE Feedback

C (s) = G(s) E (s)

E ( s ) = R ( s ) + B ( s ) = R ( s ) + H ( s )C ( s )

C ( s ) = G ( s )  R ( s ) + H ( s ) C ( s ) 

C (s) G(s)
Closed loop transfer function =
R(s) 1− G(s) H (s)

1/13/2023 ME 325 Control Systems

1/13/2023 ME 325 Control Systems
 Im
j

+ 4.330

 Re

-2.5

s - plane

1/13/2023 ME 325 Control Systems

 G1(s)R(s)+G2(s)R(s)=C(s)
?

1/13/2023 ME 325 Control Systems

 Block diagram of an industrial control system, which consists of an
automatic controller, an actuator, a plant, and a sensor (measuring element).

ME 325 Control Systems

 Framework for system control
Mechanical, Electrical, Fluid, Thermal
Time Varying   Time Varying
 Input Dynamic Output 
Frequent Dependent   Frequent Dependent
System
• Real Physical System
• Multi-Domain Ideal Elements
• Network Representations
• Idealized Representation: Lumped Model
Modelling
• State Variables and LODE’s
• Resulting Equations of Motion
• Laplace Transforms
• Transfer Function Representations
• Pole Zero Analysis Linear System
• Frequency Response Analysis
• Standard Inputs and Prediction of Responses Theory
• Transient Response
• Bode Diagrams
• System Design Changes; Feedback Control
• Steady State Errors Control System
• Input Tracking
• Response Shaping
•“Desired” Input - Output Response
Design
1/13/2023 ME 325 Control Systems
1/13/2023 ME 325 Control Systems
 Thank you

1/13/2023 ME 325 Control Systems