Linear Control System

Engr. Waqar Ahmed

Linear Control System by Engr Waqar

1
Ahmed
 Control system design objective
Define the control system objective.
Identify the system boundaries.
Design a mathematical model for components and
subsystem.
Combine all subsystem to construct a system.
Apply analysis and design techniques to determine
the control system structure and
parameter values of the control system.
Test the control model on the computer simulation.
Implement and test the design on actual process or
plant.
Linear Control System by Engr Waqar
2
Ahmed
 Types of Control System
A Control System in which output varies linearly
with the input is called a linear control system.

u(t) Process y(t)

y(t ) 2u(t ) 1 y(t ) 3u(t ) 5

y=3*u(t)+5
y=-2*u(t)+1
35
5

30
0
25
-5

y(t)
y(t)

20
-10
15

-15
10

-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t) Linear Control System by Engr Waqar
u(t) 3
Ahmed
 Linear Vs Nonlinear Control System
When the input and output has nonlinear relationship the system is said
to be nonlinear.

Adhesion Characteristics of Road

0.4
Adhesion Coefficient

0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08
Creep
Linear Control System by Engr Waqar
4
Ahmed
 Linear Vs Nonlinear Control System
Linear control System Does not exist in practice.

Linear control systems are idealized models fabricated by the analyst purely for the
simplicity of analysis and design.

When the magnitude of signals in a control system are limited to range in which system
components exhibit linear characteristics the system is essentially linear.
Adhesion Characteristics of Road

0.4
Adhesion Coefficient

0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08
Linear Control System by Engr Waqar
Creep 5
Ahmed
Lumped parameter vs Distributed Parameter

Control system that can be described by

ordinary differential equations are lumped-
parameter control systems.
2
d x dx
M 2
C kx
dt dt
Whereas the distributed parameter control systems are
described by partial differential equations.

x x 2x
f1 f2 g 2
dy dz dz
Linear Control System by Engr Waqar
6
Ahmed
 Continuous Data Vs Discrete Data System

In continuous data control system all system variables are function of a

continuous time t.
x(t)

A discrete time control system involves one or more variables that are
known only at discrete time intervals.

X[n]

n
Linear Control System by Engr Waqar
7
Ahmed
 Deterministic vs Stochastic Control System
A control System is deterministic if the response to input is predictable
and repeatable.

x(t) y(t)

t t

If not, the control system is a stochastic control system

z(t)

Linear Control System by Engr Waqar t 8

Ahmed
 Adaptive Control System

The dynamic characteristics of most control

systems are not constant for several reasons.
The effect of small changes on the system
parameters is attenuated in a feedback control
system.
An adaptive control system is required when the
changes in the system parameters are significant.

Linear Control System by Engr Waqar

9
Ahmed
 Classification of Control Systems
Control Systems

Man-made
Natural

Manual Automatic

Open-loop Closed-loop

linear Non-linear linear

Non-linear

Time variant Time invariant

Time variant Time invariant

Linear Control System by Engr Waqar

10
Ahmed
Examples of Control Systems

Water-level float regulator

Linear Control System by Engr Waqar

11
Ahmed
 Transfer Function
Transfer Function is the ratio of Laplace transform of the
output to the Laplace transform of the input.
Considering all initial conditions to zero.

u(t) y(t)
Plant

If u ( t ) U ( S ) and
y(t ) Y ( S )
Where is the Laplace operator.

Linear Control System by Engr Waqar

12
Ahmed
 Transfer Function

Then the transfer function G(S) of the plant is

given as
Y (S )
G( S )
U (S )

U(S) G(S) Y(S)

Linear Control System by Engr Waqar

13
Ahmed
 Why Laplace Transform?
By use of Laplace transform we can convert many
common functions into algebraic function of complex
variable s.
For example

sin t 2 2
s
Or
at 1
e
sa
Where s is a complex variable (complex frequency) and
is given as s j
Linear Control System by Engr Waqar
14
Ahmed
 Laplace Transform of Derivatives
Not only common function can be converted into
simple algebraic expressions but calculus operations
can also be converted into algebraic expressions.
For example
dx(t )
sX ( S ) x( 0)
dt

2
d x(t ) 2 dx( 0 )
s X ( S ) x( 0)
dt 2 dt
Linear Control System by Engr Waqar
15
Ahmed
 Laplace Transform of Derivatives

In general
d x(t )
n
n 1 n 1
n
s X (S ) s
n
x( 0) x ( 0)
dt

Where x(0) is the initial condition of the system.

Linear Control System by Engr Waqar

16
Ahmed
 Example: RC Circuit

u is the input voltage applied at t=0

y is the capacitor voltage

If the capacitor is not already charged then

y(0)=0.

Linear Control System by Engr Waqar

17
Ahmed
 Laplace Transform of Integrals
The time domain integral becomes division by
s in frequency domain.

1
x(t )dt X ( S )
s

Linear Control System by Engr Waqar

18
Ahmed
Transfer Function

Transfer function helps us to check

The stability of the system

Time domain and frequency domain characteristics of the

system

Response of the system for any given input,.

Linear Control System by Engr Waqar

19
Ahmed