CONTROL SYSTEM DESIGN

ME4006
ZZZZ
Mathematical Modeling of Physical Systems
Example:
Mathematical Modeling of Physical Systems
Example: Mechanical Systems
Mathematical Modeling of Physical Systems
Example: Mechanical Systems
Mathematical Modeling of Physical Systems
Example: Mechanical Systems
Mathematical Modeling of Physical Systems
Example: Mechanical Systems
Mathematical Modeling of Physical Systems
ANALYSIS
Mathematical Modeling of Physical Systems
HOME WORK
Z
HOMEWORK
SIGNAL FLOW
GRAPHS
SIGNAL FLOW GRAPHS
 SIGNAL FLOW GRAPHS
Forward paths: 02
EXAMPLE
 SIGNAL FLOW GRAPHS
LOOP PATHS: 03
SIGNAL FLOW GRAPHS
APPLY MASON’s GAIN FORMULA
HOMEWORK
TIME RESPONE ANALYSIS
 TIME RESPONE ANALYSIS
STANDARD TEST SIGNALS

RAMP SIGNAL
STEP SIGNAL
 TIME RESPONE ANALYSIS
STANDARD TEST SIGNALS

IMPULSE SIGNAL

PARABOLIC SIGNAL
PRACTISE 1
PRACTISE 2
TIME RESPONSE
SPECIFICATIONS
TIME RESPONSE SPECIFICATIONS
TIME RESPONSE SPECIFICATIONS
TIME RESPONSE SPECIFICATIONS
PERFORMING ERROR ANALYSIS
PERFORMING ERROR ANALYSIS

The steady state error is the difference between the

desired output (input) and the actual output of the system
during steady state (as time approaches infinity)
PERFORMING ERROR ANALYSIS
PERFORMING ERROR ANALYSIS
PERFORMING ERROR ANALYSIS

when the type of the system is increased for a specific

input, the steady state error reduces. This is an important
observation to be made
THE CONCEPT OF STABILITY
 THE CONCEPT OF STABILITY

This is commonly called as BIBO

Stability meaning – Bounded Input
Bounded Output Stability
 THE CONCEPT OF STABILITY
EXAMPLES 1: poles on the negative real axis

the response approaches zero and the system is stable

 THE CONCEPT OF STABILITY
EXAMPLES 2: Poles on positive real axis

The response increases exponentially, and this

means that the system doesn’t settle, and it is
marked as unstable
 THE CONCEPT OF STABILITY
EXAMPLES 3: Poles at origin

• If the response slightly decreases with time, then

it eventually settles at zero and the system can be
called stable
• If the response slightly increases with time, the
response increases to infinity eventually and the
system is marked unstable
 THE CONCEPT OF STABILITY
EXAMPLES 4: two poles at origin

the response increases without bound and hence the

system is marked unstable
 THE CONCEPT OF STABILITY
EXAMPLES 5: Complex pole in the left half of
s-plane

As the response approaches 0 as time increases, the

system is stable
 THE CONCEPT OF STABILITY
EXAMPLES 6: Complex poles in the right
half of the s-plane

the oscillation of the response keeps growing in

amplitude and hence the system response becomes
unbound and unstable
 THE CONCEPT OF STABILITY
EXAMPLES 7: Poles on the imaginary axis

The condition where in the response is a sustained

oscillation, lies in between being stable and unstable
 THE CONCEPT OF STABILITY
SUMMARIZE
 Routh-Hurwitz Criterion for Stability
For any system, just find the location of the poles by solving the denominator polynomial (also called the
characteristic equation) of the transfer function and then if all poles lie in the left half of the s-plane, you
call that system stable. Now, you can probably solve a quadratic equation easily. You may also be able to
solve a cubic equation with some difficulty. But, as the order of the characteristic equation increases, it
gets hard for us to solve and find the location of the poles. Hence, the RH Criterion is where we can
determine the stability without solving for the poles

Before going any further, let’s discuss a few points.

Consider a system with characteristic equation,

For a system to be stable, i.e., to ensure that all the poles lie in the left side of the s-plane, it is necessary
that:
1. All the coefficients of the equation q(s) should have the same sign,
The main reason why we get a coefficient of a different sign is because of having a pole in the right
half plane. Try it out!
2. There should be no missing term. This means that there should not be any coefficient with zero value
between the highest power of s and lowest power of s in the equation q(s).
Routh-Hurwitz Criterion for Stability
Generate a Routh Array
Routh-Hurwitz Criterion for Stability
Generate a Routh Array
Routh-Hurwitz Criterion for Stability
EXAMPLE 1

EXAMPLE 2
Routh-Hurwitz Criterion for Stability
HOMEWORK