Automatic Control

3. Basics of Mathematical tools [2]

김승균 (Seungkeun Kim)
Office: 3-226, skim78@cnu.ac.kr
 Where are we?
Contents
❖ [Ch1] 1. Intro: what is control? & what is feedback?
❖ [Ch2] 2. Mathematical modeling of physical systems
❖ [Ch3] 3. Basics of mathematical tools: ODE, Laplace transform, etc
❖ [Ch3] 4. Transfer function & Block diagram
❖ [Ch3] 5. Effects of Pole locations & Time-domain specifications
❖ [Ch3] 6. Effects of zeros, additional poles, & Stability
❖ 7. Mid-exam

❖ [Ch4] 8. System type

❖ [Ch4] 9. Basic classical control: PID (1) – Definition & PID elements
❖ [Ch4] 10. Basic classical control: PID (2) – Example & Z-N tuning
❖ [Ch5] 11. Root-locus design (1): Intro & how to draw RL
❖ [Ch5] 12. Root-locus design (2): Find a gain from RL & examples
❖ [Ch6] 13. Frequency-response design (1): Intro
❖ [Ch6] 14. Frequency-response design (2): Bode plot
❖ [Ch6] 15. Frequency-response design (3): GM/PM & Final-exam

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 3. Basics of mathematical tools
Laplace Transform of ODE
❖ Ex. L[f(t)]
◼ f(t) = dy/dt

◼ f(t) = d2y/dt2

◼ …

❖ Ex. L[f(t)]
𝑡
◼ f(t) = ‫׬‬0 𝑦 𝑡 𝑑𝑡

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 3. Basics of mathematical tools
Laplace Transform of ODE
❖ Ex. Solve y ''− y = t , y ( 0 ) = 1, y ' ( 0) = 1

◼ Step 1: LT

◼ Step 2: Rearrange with respect to Y(s)

◼ Step 3: ILT

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 3. Basics of mathematical tools
Laplace Transform of ODE
❖ Ex. Solve y ''− y = t , y ( 0 ) = 1, y ' ( 0) = 1

4
x 10
3.5
◼ t = 0:0.1:10;
◼ y = exp(t) + sinh(t) - t; 3

◼ plot(t,y)
2.5

1.5

0.5

0
0 1 2 3 4 5 6 7 8 9 10

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 3. Basics of mathematical tools
Laplace Transform of ODE
❖ Check the meaning of damping from:
◼ ex1. yሷ + 4𝑦 = 0
◼ ex2. yሷ + 2𝑦ሶ + 4𝑦 = 0

❖ Laplace transform of 2nd order ODE

◼ u(t) : a control input
◼ 𝝎𝒏 : natural frequency
◼ 𝜻: damping ratio

◼ The system is Stable or Unstable?

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 3. Basics of mathematical tools [2]
Laplace transform supplement
❖ Final value theorem (3.1.6)
◼ If all poles of sY(s) are in the LHP (Left Half Plane) of the s-plane, then
◼ lim y (t ) = lim sY ( s ) (3.35)
t → s →0

◼ proof
 dy   dy
L   = sY ( s) − y (0) =  e− st dt
 dt  0 dt

 dy  dy
lim  sY ( s ) − y (0)  = lim(  e dt ) = 
− st
dt
s →0 s →0 0 dt 0 dt

= lim  y (t ) − y (0)  = lim  y (t )  − y (0)

t → t →

 lim y (t ) = lim sY ( s )
t → s →0

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 3. Basics of mathematical tools [2]
Laplace transform supplement
❖ Final value theorem (3.1.6)
◼ Ex 3.9
3( s + 2)
Y ( s) =
s( s 2 + 2 s + 10)
3 2
y () = sY ( s ) s =0 = = 0.6
10

◼ Ex 3.10
3 −3 2 3 2
Y ( s) = = +
s( s − 2) s s−2
3
y ( ) = sY ( s ) s =0 = −
2
◼ Is this conclusion right?
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 3. Basics of mathematical tools [2]
Laplace transform supplement
❖ Q. Revisit to the general 2nd order system.

◼ Find the final value of the above system

◼ Q1. when the input 𝑢 𝑡 is an impulse function 𝛿(𝑡)

◼ Q2. when the input 𝑢 𝑡 is a step function 1(𝑡)

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 3. Basics of mathematical tools
Laplace transform supplement
❖ TABLE A.1

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 3. Basics of mathematical tools
Eigenvalue Problem
❖ Can u change the 2nd order ODE to 1st order systems of ODE?

❖ 𝒙ሶ = 𝑨𝒙 + 𝑩𝒖: state-space equation

◼ The eigenvalues of A are the same as
◼ 1) the roots of the 2nd order ODE’s characteristic equation

◼ 2) the poles of the TF

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 3. Basics of mathematical tools
Eigenvalue Problem
❖ 2nd order ODE
◼ 𝑦ሷ + 2𝑦ሶ + 4𝑦 = 4𝑢
◼ Find the natural frequency 𝜔𝑛 & damping ratio 𝜁.

◼ Find the characteristic equation of the ODE.

◼ Find the transfer function of the ODE.

◼ Find 1st order systems of ODE and its eigenvalue.

❖ 𝒙ሶ = 𝑨𝒙 + 𝑩𝒖: state-space equation

◼ The eigenvalues of A are the same as
◼ 1) the roots of the 2nd order ODE’s characteristic equation

◼ 2) the poles of the TF

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 Summary
3. Basics of mathematical tools
❖ Laplace transform of ODEs

❖ FVT (Final value theorem)

❖ 2nd order ODE → 1st order Systems of ODE

◼ Eigenvalue / eigenvector

Automatic Control

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