Linear Control System Design-Introduction02

LINEAR SYSTEM CONTROL
Introduction
Unggul Wasiwitono
Mechanical Engineering Department

Faculty of Industrial Technology and Systems Engineering
Learning Outcome and References Motivation for Control Engineering Historical Periods of Control Theory System Integration The Principal Goal of Control MATLAB
Table of contents
1. Learning Outcome and References
2. Motivation for Control Engineering
3. Historical Periods of Control Theory
4. System Integration
5. The Principal Goal of Control
6. MATLAB
U. Wasiwitono [Linear System Control] - Introduction

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Learning Outcome and References

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Learning Outcome
1 Students are able to model the dynamics system in mechanical engineering in the form of
state-space.
2 Students are able to analyze stability, controllability, observability and realization of the
state-space model.
3 Students are able to design control systems using the pole placement method, linear
quadratic regulator, linear quadratic Gaussian.

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Learning Outcome
1 Students are able to model the dynamics system in mechanical engineering in the form of
state-space.
2 Students are able to analyze stability, controllability, observability and realization of the
state-space model.
3 Students are able to design control systems using the pole placement method, linear
quadratic regulator, linear quadratic Gaussian.
References
1 Robert L. Williams and Dauglas A. Lawrence, Linear State-Space Control Systems, Jhon Wiley
& Sons, Inc, 2007.
2 Elbert Hendricks, Ole Jannerup, Paul Haase Sørensen , Linear System Control: Deterministic
and Stochastic Methods, Springer Berlin Heidelberg, 2008.

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Motivation for Control Engineering

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Feedback control has a long history which began with the early desire of humans to harness
the materials and forces of nature to their advantage.

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By the end of the twentieth century, control has become a ubiquitous (but largely unseen)
element of modern society.

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Virtually every system we come in contact with is underpinned by sophisticated control
systems. Examples range from
simple household products (temperature regulation in air-conditioners, thermostats in hot water
heaters etc.)
to more sophisticated systems such as the family car (which has hundreds of control loops)
to large scale systems (such as chemical plants, aircraft, and manufacturing processes).

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Virtually every system we come in contact with is underpinned by sophisticated control
systems. Examples range from
simple household products (temperature regulation in air-conditioners, thermostats in hot water
heaters etc.)
to more sophisticated systems such as the family car (which has hundreds of control loops)
to large scale systems (such as chemical plants, aircraft, and manufacturing processes).
Beyond these industrial examples, feedback regulatory mechanisms are central to the
operation of biological systems, communication networks, national economies, and even
human interactions.

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To carry out control successfully one needs to combine many disciplines including
modeling (to capture the underlying physics and chemistry of the process),
sensor technology (to measure the status of the system),
actuators (to apply corrective action to the system),
communications (to transmit data),
computing (to perform the complex task of changing measured data into appropriate actuator
actions), and
interfacing (to allow the multitude of different components in a control system to talk to each other
in a seemless fashion).
Control engineering is an exciting multidisciplinary subject with an enormously large range of
practical applications.

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Market Globalization Issues

To stay in business, manufacturing industries are necessarily placing increasing emphasis on
issues of quality and efficiency.
This focuses attention on the development of improved control systems so that processes
operate in the best possible way.
Improved control is a key enabling technology underpinning:
enhanced product quality
waste minimization
environmental protection
greater throughput for a given installed capacity
deferring costly plant upgrades, and
higher safety margins.
Link

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Historical Periods of Control Theory

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Historical Perspective
A key step forward in the development of control occurred during the industrial revolution.
General recognition of the value of control systems came during the Industrial Revolution
when James Watt began to use fly-ball speed governors for his steam engines in about 1788.
Unfortunately in some cases use of the governor lead to speed instability and to solve this problem it
was necessary to create a theory to explain why this could occur.
The first analysis of speed governors was carried out by George Airy (Astronomer Royal at
Greenwich from 1835).
A direct attack on the problem of engine speed governors was made by James Clerk
Maxwell in a paper from 1868, “On governors”.
In this work it was pointed out that for stability the characteristic equation of the linearized system
must have roots with negative real parts.

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Airy’s and Maxwell’s papers influenced indirectly the work of Edward Routh who published his
well known stability criteria in 1877 at Cambridge University.
Independently of Airy and Maxwell, I. Vyshnegradskii carried out an analysis of governors in
Russia in 1876.
Aurel Stodola, who was working on the control of hydroelectric turbines in Switzerland, noted
Vyshnegradskii’s paper and asked Adolf Hurwitz to consider the problem of finding a stability
criteria for systems of any order.
Hurwitz was not aware of the work of Routh and found his own form of the simple stability criteria for
linear systems.
This took the form of a set of determinant inequalities in Hurwitz’s formulation.

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In 1892 Alexandr Lyapunov considered the stability of a very general class of nonlinear
systems based on earlier work by Jean-Louis Lagrange.
On the basis of general energy considerations he was able to give a general stability criteria for
nonlinear systems
Lyapunov’s paper was not well known in the West until about 1960 when it was re-discovered in the
literature.
Lyapunov’s analysis and methods are now in wide general use in the design of control systems.
At approximately the same time (1892–1898) operational calculus (Laplace transform
analysis) was invented by Oliver Heavyside in England to analyse the transient behavior of
linear electrical systems.
Both Lyapunov analysis and the operational calculus played an important part in the
theoretical development of control theory in the next century.

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In 1892 Alexandr Lyapunov considered the stability of a very general class of nonlinear
systems based on earlier work by Jean-Louis Lagrange.
On the basis of general energy considerations he was able to give a general stability criteria for
nonlinear systems
Lyapunov’s paper was not well known in the West until about 1960 when it was re-discovered in the
literature.
Lyapunov’s analysis and methods are now in wide general use in the design of control systems.
At approximately the same time (1892–1898) operational calculus (Laplace transform
analysis) was invented by Oliver Heavyside in England to analyse the transient behavior of
linear electrical systems.
Both Lyapunov analysis and the operational calculus played an important part in the
theoretical development of control theory in the next century.
This period extends from antiquity up to the beginning of the Second World War, about
1940 known as Primitive Period Developments

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Experimenting with lighting lamps in 1880, Thomas Edison discovered the Edison effect.
This effect is that a current could flow through a vacuum to a metal conductor in the lamp
envelope.
No explanation for this effect could be given until the identification of the electron in 1897 by
J. J. Thompson in England.
The discovery of the Edison effect was followed in 1904 by the invention of the thermionic
rectifier diode in 1904 by John Flemming in England and eventually by the invention of the
thermionic triode amplifier by Lee de Forest in 1906.
This was the beginning of the Age of Electronics.
Very rapidly hereafter feedback was applied around the triode amplifier resulting first in
regenerative or positive feedback radio frequency amplifiers in 1912 and finally in negative
feedback audio amplifiers in 1927.

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The general use of amplifier circuits in radio frequency receivers and telephone
communication lead to a need to understand more deeply the theoretical nature of
amplifier circuits and the reasons for stable and unstable behavior.
This resulted in the work of Harry Nyquist on amplifier stability based on transfer function analysis in
1932 and
that of Hendrik Bode on magnitude and phase frequency plots of the open and closed loop
transfer functions of a system in 1940.
The work of Nyquist resulted in the derivation of the Nyquist stability criterion and that of Bode
in the investigation of closed loop stability using the concepts of gain and phase margin.
In contrast to earlier work these stability criteria gave an idea of the relative level of stability
which could be obtained.
All of the available theory thus came from the electronics and communication industries.

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In 1947 Nathaniel Nichols published his Nichols chart for the design of feedback systems
Walter Evans published in 1948 his root locus design technique which is suitable to handle the
large number of different states which describe the motion of an aircraft.
An important problem in all electronic systems and in particular radar is noise.
Albert Hall and Norbert Wiener realized the importance of this problem and developed
frequency domain methods to deal with it.
Hall’s contribution was a frequency domain formulation of the effect of noise on control systems in
1941.
Wiener introduced in 1942 the use of stochastic models to treat the effect of noise in dynamic
systems and created an optimal filter to improve the signal to noise ratio in communication systems,
the Wiener filter.

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In 1947 Nathaniel Nichols published his Nichols chart for the design of feedback systems
Walter Evans published in 1948 his root locus design technique which is suitable to handle the
large number of different states which describe the motion of an aircraft.
An important problem in all electronic systems and in particular radar is noise.
Albert Hall and Norbert Wiener realized the importance of this problem and developed
frequency domain methods to deal with it.
Hall’s contribution was a frequency domain formulation of the effect of noise on control systems in
1941.
Wiener introduced in 1942 the use of stochastic models to treat the effect of noise in dynamic
systems and created an optimal filter to improve the signal to noise ratio in communication systems,
the Wiener filter.
This period extends known as Pre-Classical Period Developments

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Classical Control Period

Thus began the period of Classical Control Theory: just after the end of the Second World War.
The main theoretical tools included the frequency domain methods of Laplace transforms,
transfer functions and s-plane analysis.

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The Classical Control period was characterized by a concentration on single loop,

Single Input, Single Output feedback (SISO) systems designed with the theoretical tools
developed during and just after the Second World War.

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The Classical Control period was characterized by a concentration on single loop,

Single Input, Single Output feedback (SISO) systems designed with the theoretical tools
developed during and just after the Second World War.
The theoretical tools were those developed by Nyquist, Bode, Evans and Nichols earlier and
the connection between these methods was clarified and extended.
Performance was assessed in terms of bandwidth, gain and phase margin or rise time,
percentage overshoot, steady state error, resonances and damping.
More refined methods of tuning and compensating (using simple lead/lag compensators)
single loop systems were developed.

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In about 1956 a great interest developed in the control of aeronautical and astronautical
systems and in particular aircraft, missiles and space vehicles: the Age of Space was
beginning.

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beginning.
Such systems have naturally a Multiple Input, Multiple Output (MIMO) quality which
confounds the use of Classical Control Theory.

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beginning.
Such systems have naturally a Multiple Input, Multiple Output (MIMO) quality which
confounds the use of Classical Control Theory.
The problem in controlling missiles (free flying) objects can be formulated physically in terms of
a coupled set of physically derived nonlinear differential equations.
As an important help in doing this one has available the classic variational formulations of analytic
mechanics as given by Lagrange and Hamilton on the basis of physical conservation principles.
This differential equation approach to the problem formulation is called the state variable or state
space approach in control technology

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State space approach
Use of the state space approach makes it possible to treat MIMO systems in a natural
way and to use the compact and convenient vector and matrix description of the
control object and its associated feedback system.

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Rise of the Modern Control

Thus the Classical Control Period lasted between approximately 1945 to 1956 and gave
rise to the Modern Control Period from 1956 to the present.

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Rise of the Modern Control

Thus the Classical Control Period lasted between approximately 1945 to 1956 and gave
rise to the Modern Control Period from 1956 to the present.
Classical control typically is the focus at the undergraduate level, perhaps along with
an introduction to state-space methods.
An indepth exposure to the state-space approach then follows at the advanced
undergraduate/first-year graduate level

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Modern Control Theory

In Modern Control Theory it is common to minimize a performance index which may be a
generalized quadratic energy function, in many cases with some secondary constraints

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In 1957 Richard Bellman applied dynamic programming to the optimal control of discrete
time systems.
This work demonstrated that it was possible to solve control problems based on a performance
index resulting in closed loop feedback controls which could in general be nonlinear.
In 1960 and 1961 a significant set of breakthroughs were made generally available with the
publication of four papers by Rudolf Kalman and co-workers.
The first two control papers are based on minimizing a very general energy control performance
index.
The last two deal with applying the same techniques to the optimum filtering (or estimation)
problem which is a generalization of the least squares fitting techniques

19 / 29

In 1957 Richard Bellman applied dynamic programming to the optimal control of discrete
time systems.
This work demonstrated that it was possible to solve control problems based on a performance
index resulting in closed loop feedback controls which could in general be nonlinear.
In 1960 and 1961 a significant set of breakthroughs were made generally available with the
publication of four papers by Rudolf Kalman and co-workers.
The first two control papers are based on minimizing a very general energy control performance
index.
The last two deal with applying the same techniques to the optimum filtering (or estimation)
problem which is a generalization of the least squares fitting techniques
Computer control has become extremely important in control applications so that it should
be mentioned that discrete time control emerged at the same time as modern control theory.
Together with the state variable formulation of system dynamics this work on discrete time
control forms the backbone of current technical and industrial control applications in many
fields.
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System Integration

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Typical feedback loop
Reference
Disturbance
Desired
value Control Actual
of output signal System output
Controller Actuators
or Plant
Measurements
Sensor
Measurement
noise

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System Integration
Some of the issues that are embodied in a typical control design include:
plant, i.e. the process to be controlled
objectives
what does one want to achieve (energy reduction, yield increase, . . . )
what variables need to be controlled to achieve these objectives
what level of performance is necessary (accuracy, speed, . . . )
sensors
actuators
communications
delays issues could be of major importance in high speed real time control systems.
computing
computational delays & numerical precision.
architectures and interfacing
algorithms
accounting for disturbances and uncertainty
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The Principal Goal of Control

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The fundamental control problem

The central problem in control is to find a technically feasible way to act on a given
process so that the process behaves,as closely as possible, to some desired behavior.
Furthermore, this approximate behavior should be achieved in the face of uncertainty
of the process and in the presence of uncontrollable external disturbances acting on
the process.
Finding a good solution to this question frequently requires an involvement in process
design, actuator and sensor selection, mathematical analysis and modeling.

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Desired behavior. This needs to be specified as part of the design problem.
Feasibility. This means that the solution must satisfy various constraints, which can be of
technical, environmental, economic or other nature.
Uncertainty. The available knowledge about a system will usually be limited and of limited
accuracy.
Action. The solution requires that action be somehow applied to the process typically via one
or more manipulated variables which command the actuators.
Disturbances. The process to be controlled will typically have inputs other than those that are
manipulated by the controller. These other inputs are called disturbances.
Approximate behavior. A feasible solution will rarely be perfect. There will invariably be a
degree of approximation in achieving the specified goal.
Measurements. These are crucial to let the controller know what the system is actually doing
and how the unavoidable disturbances are affecting it.

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MATLAB

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The Matlab Environment

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Getting Started with MATLAB and Simulink
Getting Started with MATLAB Link
Getting Started with Simulink Link

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LINEAR SYSTEM CONTROL

Mechanical Engineering Department

1. Learning Outcome and References

2. Motivation for Control Engineering

3. Historical Periods of Control Theory

5. The Principal Goal of Control

U. Wasiwitono [Linear System Control] - Introduction

Learning Outcome and References

U. Wasiwitono [Linear System Control] - Introduction

Learning Outcome and References

U. Wasiwitono [Linear System Control] - Introduction

Learning Outcome and References

U. Wasiwitono [Linear System Control] - Introduction

Motivation for Control Engineering

U. Wasiwitono [Linear System Control] - Introduction

Motivation for Control Engineering

U. Wasiwitono [Linear System Control] - Introduction

Motivation for Control Engineering

U. Wasiwitono [Linear System Control] - Introduction

Motivation for Control Engineering

U. Wasiwitono [Linear System Control] - Introduction

Motivation for Control Engineering

U. Wasiwitono [Linear System Control] - Introduction

Motivation for Control Engineering

U. Wasiwitono [Linear System Control] - Introduction

Motivation for Control Engineering

Market Globalization Issues

U. Wasiwitono [Linear System Control] - Introduction

Historical Periods of Control Theory

U. Wasiwitono [Linear System Control] - Introduction

U. Wasiwitono [Linear System Control] - Introduction

U. Wasiwitono [Linear System Control] - Introduction

U. Wasiwitono [Linear System Control] - Introduction

U. Wasiwitono [Linear System Control] - Introduction

U. Wasiwitono [Linear System Control] - Introduction

U. Wasiwitono [Linear System Control] - Introduction

U. Wasiwitono [Linear System Control] - Introduction

This period extends known as Pre-Classical Period Developments

U. Wasiwitono [Linear System Control] - Introduction

Classical Control Period

U. Wasiwitono [Linear System Control] - Introduction

Classical Control Period

The Classical Control period was characterized by a concentration on single loop,

U. Wasiwitono [Linear System Control] - Introduction

Classical Control Period

The Classical Control period was characterized by a concentration on single loop,

U. Wasiwitono [Linear System Control] - Introduction

Classical Control Period

U. Wasiwitono [Linear System Control] - Introduction

Classical Control Period

U. Wasiwitono [Linear System Control] - Introduction

Classical Control Period

U. Wasiwitono [Linear System Control] - Introduction

Classical Control Period

U. Wasiwitono [Linear System Control] - Introduction

Classical Control Period

Rise of the Modern Control

U. Wasiwitono [Linear System Control] - Introduction

Classical Control Period

Rise of the Modern Control

U. Wasiwitono [Linear System Control] - Introduction

Modern Control Theory

U. Wasiwitono [Linear System Control] - Introduction

Modern Control Theory