FEEDBACK CONTROL SYSTEMS-REVISION

27-03-2013
By Mr. Wijewardana
PhD Student
(15-Minutes)
FEEDBACK CONTROL SYSTEMS
Lecture-1
Learning Objectives:
Introduction to Control Systems
Definitions and Basic Terms
Open-Loop Control Systems
Circuit Elements
Use of D-Operator
Mathematical Modelling of Control
Components


o Feedback control systems is one of the
important areas in engineering.

o Numerous feedback control systems from the
simplest to most sophisticated are around us.

o the thermostat
o the carburettor
o microprocessor controlled weapon systems
o the robots
o unmanned space crafts are a few examples
of automatic control systems.


In 1950s
- First came as conventional control
theory and then developed into:
- Single Input Single Output Systems
(SISO)
Late 1950s
- Multi Input and Multi Output
(MIMO)(Modern Control theory)
Today
- micro-controllers
- embedded systems
- Fuzzy logic and control systems
Actuating Signal: Output signal of the
controller which is fed into the process
input which usually may have an actuator
such as a valve, pump or power amplifier
etc.
Important Technical Terms:
last few slides :)
Like most other subjects and areas in engineering like wiring diagrams,
engineering drawings, graphics, symbols, control systems also have many
block diagrams. Simplest one is a rectangular block and is shown in the next
slide:
SIMPLE OPEN-LOOP CONTROL SYSTEM
Control systems in which the output quantity has no effect upon the input
quantity.
E.g. Street light system operated by Photo-electric sensor. When light intensity
goes down sensor reacts and turns on. When the light intensity goes up then it
turns off. There is no control over the output.
Controller
Controlled
Process/Plant
Reference
Input(r)
Actuating
signal
Controlled
variable
The controlled system is also referred to as the plant.
Open loop control has obvious limitations. For instance, if
there is a disturbance on the output side of the process,
control action does not take it into consideration. In order to
remove this limitation, feedback has to be provided.
In open loop control the controller is blind to what
actually takes place at the output end and goes on
driving the plant in a fixed and predetermined manner.

Why do we need feedback control systems or closed loop control systems?
CLOSED LOOP CONTROL SYSTEMS
Closed loop operation using negative
feedback
The effects of disturbances are countered by
virtue of negative feedback.
Closed loop operation can be unstable even
if the plant is stable.
In closed loop or feedback control the
controller notices what actually takes place at
the output end and drives the plant in such a
way as to obtain the desired output.

CIRCUIT ELEMENTS
By ohms law v = R i ; hence i = v/R
}
+ = =
L
K dt v
L
i
dt
di
L v .
1
.
L= inductance in Henry
K
L
= constant of integration




v
i
Capacitor= C ( Capacitance in farads)
dt
dv
C
}
+ =
C
K idt
C
v
1
i=
USE OF D -OPERATOR
The dynamics of most of the
electromechanical, hydraulic and thermal
systems can be expressed with the use of
differential equations. To simplify the writing
of differential equations, the classical D
operator notation is used. D indicates the
differential operator with respect to an
independent variable.
E.g.
... 3 , 2 , 1 , = = n
dt
d
D
n
n
n
When x and y are functions of time and by
taking

dt
d
D =
Dy Dx
dt
dy
dt
dx
y x
dt
d
y x D + = + = + = + ) ( ) (
This implies that the D operator obeys the distributive law
i.E D(x+y)= Dx + Dy ------ Distributive law
Similarly
Dx + Dy = Dy +Dx ------ Commutative law

(D + a ) y = Dy + ay

(D + a)(D + b)y = (D+b)(D+a)y
= [D
2
+ (a+b)D + ab]y

D(au) = aDu
D
n
D
m
u = D
(m+n)
.u ( m and n are integers)
LET US DEFINE AN INTEGRAL OPERATOR
I AS IY =YDX

Then
2 2
1
1

=
=
=
=
=
=
}
I D
D I
DI
y DIy
y
dx
dIy
d
y ydx
dx
d
}
+ =

t
y ydt y
D
y D
0
0
1
1
Where = y
o
is the value of the
integral at t=0; hence
}

+
0
0
ydt y
EXAMPLE
Consider the differential equation:
) ( ) ( ) ( t f t ax t x
dx
d
= +
In operational notation equation the above equation can
be written as;
) ( ) ( ) ( t f t x a D = +
-------- eq.1
--------eq.2
Equation-1 can be solved by multiplying with an
integrating factor:
at
e
| |
) (
) ( ) ( ) (
t f e
t x e
dt
d
t ax t x
dt
d
e
at
at at
=
=
(

+
Because under normal circumstances if we differentiate using product
rule we can write:
| |
at at at
e t ax t x
dt
d
e t x e
dt
d
). ( ) ( . ) ( . + =
Now by integrating both sides;
(c= constant of integration)
}
}
+ =
+ =
c dt e t f
dt t ax t x
dt
d
e t x e
at
at at
. ). (
)]. ( ) ( [ ) ( .
) ( .
) (
1
) (
) ( ) ( ) (
t f
a D
t x
t f t x a D
+
=
= +


Hence x(t) =
Taking the derivative of both sides of the above equation we can write:
Eq-3 can be written as:

| |
at at at
e t ax t x
dt
d
e t x e
dt
d
). ( ) ( . ) ( . + =
}
}
+ =
+ =
c dt e t f
dt t ax t x
dt
d
e t x e
at
at at
. ). (
)]. ( ) ( [ ) ( .
}
+

] ). ( [ c dt e t f e
at at
}

+ + = = ] ). ( [ ] ). ( [ . ) ( ) (
at at at at
e t f e c dt e t f e a t x
dt
d
t Dx
}
+ =

] . ). ( [ ) ( c dt e t f ae t ax
at at
-----------------------eq-4

-------------------------eq-5
----eq-3
Same as eq-2
by adding eq-4 &5
MATHEMATICAL MODELING
Spring Constant or force constant is
defined as the applied force if the
displacement in the spring is unity. It is
denoted by k.

Consider a force F stretches the spring so
that it displaces the equilibrium position by
x.

Where F = Force applied,
x = displacement by the spring
F=-kx Hookes Law
TWIST
T= torque(newton-metres)
K= spring constant(newton-meters/radian)
= the angular displacement or angle of twist
from equilibrium position(radians).
T = - K
Damper or Dashpot

It consists of a piston and
oil-filled cylinder. Relative
motion between the piston
rod and the cylinder, is
resisted by the oil in the
cylinder
Assume a constant force is required to move the damper disc
relative to one end. Assume the viscous friction force is
proportional to relative velocity.
Equation of motion:
F = c. dx/dt or
c= viscous friction coefficient.
With the D operator:
F= c D x

(Refer In 1959, Prof. H.M.Paynter gave the revolutionary idea of
portraying systems in terms of power bonds, connecting the
elements of the physical system to the so called junction
structures which were manifestations of the constraints. This
power exchange portray of a system is called Bond Graph
(some refer it as Bondgraph), which can be both power and
information oriented. Later on, Bond Graph theory has been
further developed by many researchers like Karnopp,
Rosenberg, Thoma, Breedveld, etc

) ( 2
.
1
.
x x C F =
MASS AND A SPRING
M M
f= variable force
x
Free
length

=
..
x M F
Applying the Newtons law
of motion
K f
Kx Mg
..
..
x M Kx f
x M Kx K f Mg
=
= + o
SPRING MASS DAMPER SYSTEM
K CD MD t f
t x
f x K CD MD
f Kx x C x M
f Kx x C x M
+ +
=
= + +
= + +
+ =
2
2
. ..
. ..
1
) (
) (
) (
SIMULINK modelling of a spring-mass-
damper system
Learning Outcomes

1. Introduction to control systems and some applications
2. Basic terms used in control theory
3. Difference between the open loop and closed loop
control systems
4. R-L-C circuit symbols and their mathematical
representation
5. Use of D operator and its application
6. D- operator as a mathematical tool.
7. Mathematical modelling of some mechanical systems
8. Application of Newtons Law and the Hookes Law.
9. Spring mass damper systems



Basic Terms
System: is defined as a combination of
components that acts together to perform
a task not possible with any of the
individual parts. System can be physical,
biological, economic and other entities
which can be represented through a
mathematical symbolism.
The study of feedback control systems is
essentially a study of an important aspect
of systems engineering and application

Output: is defined as a certain value that has to be maintained irrespective of
disturbances.
Eigenvalue: The eigenvalue of a matrix A is the root of the characteristic equation:
s I A = 0

Feedback: Feedback is an arrangement by which the actual output of a system is fed back
to the input end for comparison with the desired output.
Flow variable: A variable in a system whose product with the so-called effort variable has
the sense of power (rate of energy). It is also known as through variable.
Plant: The object that is to be controlled.
Pole: The point in the s-plane where the system transfer function attains an infinite value. It
is also a root of the characteristic equation of the system.
Sampled data: Signals and information available only at certain sampling instants.
Signal flow graph: A graphical representation of the interconnections of the subsystems in
a system in which nodes denote signals and branches represent subsystems.
Similarity transformation: A transformation in state space that changes the state variable
coordinate system without altering the system properties. The eigenvalues of a matrix
remain unaltered under similarity transformation.
SISO: Single-input-single-output.



Continuous time systems: Systems described in the continuous
time domain.
Control signal: The signal that is applied to a controlled plant in
order to make it respond in a certain desired way.
Controller(Compensator): The device or unit that generates the
control signal by considering the error in a control signal in a control
system. A computer may act as a controller in a control system.
Controller has to provide enough power to drive the system. You
dont want to try to control a large motor with a 741 opamp.
Controllers are normally high gain power amplifiers. Which means
the small error signal is amplified enough
Discrete time systems: Sampled data systems or systems
described in the discrete time domain.
Disturbance: A disturbance is an unwanted signal that tends to
adversely affect the output of a system.( while thermostat controls
the room temperature, opening and closing doors can disturb the
room temperature)
Effort variable: A variable in a system whose product with the so-
called flow variable has the sense of power (rate of energy). It is
also known as across variable.

Forced Response: The response of a system due only to the input
from outside in the absence of initial conditions.
Free response: The response of a system due only to the initial
conditions and no other input from outside.
Frequency response: The steady-state response of a system to
sinusoidal signals of unity amplitude and variable frequency. This
function in the frequency domain is obtained by setting s = je in the
system transfer function.
Input: an input is an excitation applied to a system as an input from
an external source. This also referred as reference input.
Interconnective constraints: Conditions arising out of the
connections among the elements within a system that constrain the
definition of variables in a system. They are based on Kirchhoffs
laws in a generalized setting.
Laplace transform: A mathematical transformation that converts
the calculus of time invariant linear differential equations into an
algebra thereby lending simplicity to the analysis and design of
control systems.
MIMO: Multiple-input-multiple-output
Open loop control: Control without feedback
State space: The higher dimensional space in which the dynamics of a
system is studied in terms of the trajectory of the state vector.
State vector: Vector whose elements are the state variables of a dynamical
system.
Time invariant systems: Dynamical systems whose properties are time
invariant. The parameters of the model of a time-invariant system are
constants.
Time response: The time history of the output of a system.
Time-varying systems: Dynamical systems whose properties change in
time. The parameters of the model of a time-varying system are
independent functions of time.
Transfer function: A mathematical function that characterizes the transfer
behavior of a system. It is the ratio of the Laplace transform of the output in
the absence of initial conditions, to the Laplace transform of the input.
Z-Transform: A mathematical transformation that converts the calculus of
time invariant discrete time dynamical systems into an algebra thereby
lending simplicity to the analysis and design of digital control systems. The
relation z=e
sT
, with T as the sampling period, connects the Laplace and z-
transforms.
Zero: The point in the s-plane where the system transfer function attains a
zero value.