Lecture 2 Review of Classical Control

Modeling & Simulation of Dynamic
Systems
Lecture-2
Review of Basic Concepts of Classical control
Dr. Imtiaz Hussain

Associate Professor
Department of Electronic Engineering
email: imtiaz.hussain@faculty.muet.edu.pk
URL :http://imtiazhussainkalwar.weebly.com/
1
What is Control System?
• A system Controlling the operation of another
system.
• A system that can regulate itself and another
system.
• A control System is a device, or set of devices
to manage, command, direct or regulate the
behaviour of other device(s) or system(s).
2
Types of Control System
• Natural Control System
– Universe
– Human Body
• Manmade Control System
– Vehicles
– Aeroplanes
3
• Manual Control Systems
– Room Temperature regulation Via Electric Fan
– Water Level Control
• Automatic Control System

– Room Temperature regulation Via A.C
– Human Body Temperature Control
4
Open-Loop Control Systems
Open-Loop Control Systems utilize a controller or control actuator to
obtain the desired response.
• Output has no effect on the control action.
• In other words output is neither measured nor fed back.
Input Output
Controller Process
Examples:- Washing Machine, Toaster, Electric Fan

5
Open-Loop Control Systems
• Since in open loop control systems reference input is not

compared with measured output, for each reference input there
is fixed operating condition.
• Therefore, the accuracy of the system depends on calibration.
• The performance of open loop system is severely affected by the

presence of disturbances, or variation in operating/
environmental conditions.
6
Closed-Loop Control Systems
Closed-Loop Control Systems utilizes feedback to compare the actual

output to the desired output response.
Input Output
Comparator Controller Process
Measurement
Examples:- Refrigerator, Iron
7
Multivariable Control System
Temp Outputs
Humidity Comparator Controller Process
Pressure
Measurements
8
Feedback Control System
• A system that maintains a prescribed relationship between the output

and some reference input by comparing them and using the difference
(i.e. error) as a means of control is called a feedback control system.
Input + error Output

Controller Process
-
Feedback
• Feedback can be positive or negative.
9
Servo System
• A Servo System (or servomechanism) is a feedback control system in

which the output is some mechanical position, velocity or acceleration.
Antenna Positioning System Modular Servo System (MS150)

10
Linear Vs Nonlinear 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
20
y(t)
y(t)
-10
15
-15
10
-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t)
u(t) 11
• 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
12
• Linear control System Does not
exist in practice. Adhesion Characteristics of Road
0.4
• Linear control systems are
idealized models fabricated by
Adhesion Coefficient
0.3
the analyst purely for the
simplicity of analysis and design. 0.2
• When the magnitude of signals 0.1

in a control system are limited to
range in which system 0
0 0.02 0.04 0.06 0.08
components exhibit linear Creep
characteristics the system is
essentially linear.
13
• Temperature control of petroleum product in a distillation column.
°C
Temperature
500°C
Valve Position
0% 25% 100%
% Open
14
Time invariant vs Time variant
• When the characteristics of the system do not depend upon time itself
then the system is said to time invariant control system.
y(t )  2u(t )  1
• Time varying control system is a system in which one or more

parameters vary with time.
y(t )  2u(t )  3t
15
Lumped parameter vs Distributed Parameter
• Control system that can be described by ordinary differential equations

are lumped-parameter control systems.
d 2x dx
M 2
C  kx
dt dt
• Whereas the distributed parameter control systems are described by
partial differential equations.
2
x x  x
f1  f2 g 2
dy dz dz
16
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
17
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)
t 18
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.
19
Learning Control System
• A control system that can learn from the

environment it is operating is called a learning
control system.
20
Classification of Control Systems
Control Systems
Natural Man-made
Manual Automatic
Open-loop Closed-loop
Non-linear linear
Non-linear linear
Time variant Time invariant

Time variant Time invariant
21
Examples of Control Systems
Water-level float regulator
22
Examples of Control Systems
23
Examples of Modern Control Systems
24
25
26
Transfer Function
• Transfer Function is the ratio of Laplace transform of the
output to the Laplace transform of the input. Assuming
all initial conditions are zero.
u(t) Plant y(t)
If u(t )  U ( S ) and
y(t )  Y ( S )
• Where  is the Laplace operator.

27
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)
28
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 
sa
• Where s is a complex variable (complex frequency) and is
given as
s    j 29
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 )
 2
 s X ( S )  x( 0) 
dt dt
30
Laplace Transform of Derivatives
• In general
n
d x(t ) n n 1 n 1
 n
 s X (S )  s x( 0 )    x (0)
dt
• Where x(0) is the initial condition of the system.
31
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.
32
Laplace Transform of Integrals
1
 x(t )dt  X ( S )
s
• The time domain integral becomes division by

s in frequency domain.
33
Calculation of the Transfer Function
• Consider the following ODE where y(t) is input of the system
and x(t) is the output.
d 2 x(t ) dy(t ) dx(t )
A C B
• or dt 2 dt dt
Ax' ' (t )  Cy' (t )  Bx' (t )

• Taking the Laplace transform on either sides
A[ s 2 X ( s )  sx( 0 )  x' ( 0)]  C[ sY ( s )  y( 0 )]  B[ sX ( s )  x( 0)]
34
Calculation of the Transfer Function
A[ s 2 X ( s )  sx( 0)  x' ( 0)]  C[ sY ( s )  y( 0)]  B[ sX ( s )  x( 0)]
• Considering Initial conditions to zero in order to find the transfer

function of the system
As 2 X ( s )  CsY ( s )  BsX ( s )
• Rearranging the above equation
As 2 X ( s )  BsX ( s )  CsY ( s )
X ( s )[ As 2  Bs ]  CsY ( s )
X (s) Cs C
 2

Y ( s ) As  Bs As  B 35
Example
1. Find out the transfer function of the RC network shown in figure-1.
Assume that the capacitor is not initially charged.
Figure-1
2. u(t) and y(t) are the input and output respectively of a system defined by
following ODE. Determine the Transfer Function. Assume there is no any
energy stored in the system.
6u' ' (t )  3u(t )   y(t )dt  3 y' ' ' (t )  y(t )
36
Transfer Function
• In general
• Where x is the input of the system and y is the output of

the system.
37
Transfer Function
• When order of the denominator polynomial is greater

than the numerator polynomial the transfer function is
said to be ‘proper’.
• Otherwise ‘improper’
38
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
39
Stability of Control System
• There are several meanings of stability, in general
there are two kinds of stability definitions in control
system study.
– Absolute Stability
– Relative Stability
40
• Roots of denominator polynomial of a transfer

function are called ‘poles’.
• And the roots of numerator polynomials of a

transfer function are called ‘zeros’.
41
• Poles of the system are represented by ‘x’ and

zeros of the system are represented by ‘o’.
• System order is always equal to number of
poles of the transfer function.
• Following transfer function represents nth
order plant.
42
• Poles is also defined as “it is the frequency at which
system becomes infinite”. Hence the name pole
where field is infinite.
• And zero is the frequency at which system becomes

0.
43
• Poles is also defined as “it is the frequency at which
system becomes infinite”.
• Like a magnetic pole or black hole.
44
Relation b/w poles and zeros and frequency
response of the system
• The relationship between poles and zeros and the frequency
response of a system comes alive with this 3D pole-zero plot.
Single pole system
45
• 3D pole-zero plot
– System has 1 ‘zero’ and 2 ‘poles’.
46
47
Example
• Consider the Transfer function calculated in previous
slides.
X (s) C
G( s )  
Y ( s ) As  B
the denominato r polynomial is As  B  0
• The only pole of the system is
B
s
A
48
Examples
• Consider the following transfer functions.
– Determine
• Whether the transfer function is proper or improper
• Poles of the system
• zeros of the system
• Order of the system
s3 s
)i G( s )  )ii G( s ) 
s( s  2 ) ( s  1)( s  2 )( s  3)
( s  3) 2 s 2 ( s  1)
)iii G( s )  )iv G( s ) 
s( s 2  10) s( s  10)
49
Stability of Control Systems
• The poles and zeros of the system are plotted in s-plane
to check the stability of the system.
j
LHP RHP
Recall s    j

s-plane
50
• If all the poles of the system lie in left half plane the
system is said to be Stable.
• If any of the poles lie in right half plane the system is said
to be unstable.
• If pole(s) lie on imaginary axis the system is said to be
marginally stable. j
• Absolute stability does not

LHP RHP
depend on location of
zeros of the transfer 
function
s-plane
51
Examples
Pole-Zero Map
5
3
stable
2
Imaginary Axis
-1
-2
-3
-4
-5
-5 -4 -3 -2 -1 0 1 2 3 4 5
Real Axis
52
Examples
Pole-Zero Map
5
4
stable
3
1
Imaginary Axis
-1
-2
-3
-4
-5
-5 -4 -3 -2 -1 0 1 2 3 4 5
Real Axis 53
Examples
Pole-Zero Map
5
4
unstable
3
1
Imaginary Axis
-1
-2
-3
-4
-5
-5 -4 -3 -2 -1 0 1 2 3 4 5
Real Axis
54
Examples
Pole-Zero Map
5
3 stable
2
Imaginary Axis
-1
-2
-3
-4
-5
-5 -4 -3 -2 -1 0 1 2 3 4 5
Real Axis
55
Examples
Pole-Zero Map
5
3 Marginally stable
2
Imaginary Axis
-1
-2
-3
-4
-5
-5 -4 -3 -2 -1 0 1 2 3 4 5
Real Axis
56
Examples
Pole-Zero Map
5
4
stable
3
2
Imaginary Axis
-1
-2
-3
-4
-5
-3 -2 -1 0 1 2 3
Real Axis
57
Examples
Pole-Zero Map
4
3 Marginally stable
1
Imaginary Axis
-1
-2
-3
-4
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Real Axis
58
Examples
• Relative Stability
Pole-Zero Map Pole-Zero Map

5 5
4 4
stable 3
stable
3
2 2
1
Imaginary Axis
Imaginary Axis
0 0
-1 -1
-2 -2
-3 -3
-4 -4
-5 -5
-5 -4 -3 -2 -1 0 1 2 3 4 5 -6 -4 -2 0 2 4
Real Axis Real Axis
59
• For example
C
G( s )  , if A  1, B  3 and C  10
As  B
• Then the only pole of the system lie at
pole  3
j
LHP RHP
X 
-3
s-plane
60
Examples
• Consider the following transfer functions.
 Determine whether the transfer function is proper or improper
 Calculate the Poles and zeros of the system
 Determine the order of the system
 Draw the pole-zero map
 Determine the Stability of the system
s3 s
)i G( s )  )ii G( s ) 
s( s  2 ) ( s  1)( s  2 )( s  3)
( s  3) 2 s 2 ( s  1)
)iii G( s )  )iv G( s ) 
s( s 2  10) s( s  10)
61
Another definition of Stability
• The system is said to be stable if for any bounded
input the output of the system is also bounded
(BIBO).
• Thus the for any bounded input the output either
remain constant or decrease with time.
u(t) overshoot
y(t)
1
Plant 1
t
t
Unit Step Input
Output
62
Another definition of Stability
• If for any bounded input the output is not
bounded the system is said to be unstable.
u(t)
y(t)
1
e at
Plant
t
t
Unit Step Input
Output
63
BIBO vs Transfer Function
• For example
Y ( s) 1 Y (s) 1
G1 ( s )   G2 ( s)  
U (s) s  3 U ( s) s  3
Pole-Zero Map Pole-Zero Map
4 4
unstable
3 stable 3
2 2
1 1
Imaginary Axis
Imaginary Axis
0 0
-1 -1
-2 -2
-3 -3
-4 -4
-4 -2 0 2 4 -4 -2 0 2 4
Real Axis Real Axis 64
• For example
Y ( s) 1 Y (s) 1
G1 ( s )   G2 ( s)  
U (s) s  3 U ( s) s  3
1 Y ( s)
1 1 1 Y ( s) 1
 G1 ( s )    1
 G2 ( s )   1
1
U ( s) s3 U (s) s 3
 y (t )  e 3t u (t )  y (t )  e 3t u (t )
65
• For example
3t
y (t )  e u (t ) y (t )  e3t u (t )
exp(-3t)*u(t) 12
x 10 exp(3t)*u(t)
1 12
10
0.8
8
0.6
6
0.4
4
0.2
2
0 0
0 1 2 3 4 0 2 4 6 8 10 66
• Whenever one or more than one poles are in
RHP the solution of dynamic equations
contains increasing exponential terms.
• Such as e 3t
.
• That makes the response of the system
unbounded and hence the overall response of
the system is unstable.
67
To download this lecture visit
http://imtiazhussainkalwar.weebly.com/
END OF LECTURE-2
68

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Modeling & Simulation of Dynamic

Dr. Imtiaz Hussain

• Automatic Control System

Examples:- Washing Machine, Toaster, Electric Fan

• Since in open loop control systems reference input is not

• Therefore, the accuracy of the system depends on calibration.

• The performance of open loop system is severely affected by the

Closed-Loop Control Systems utilizes feedback to compare the actual

Examples:- Refrigerator, Iron

• A system that maintains a prescribed relationship between the output

Input + error Output

• Feedback can be positive or negative.

• A Servo System (or servomechanism) is a feedback control system in

Antenna Positioning System Modular Servo System (MS150)

u(t) Process y(t)

y(t )  2u(t )  1 y(t )  3u(t )  5

Adhesion Characteristics of Road

• When the magnitude of signals 0.1

• Time varying control system is a system in which one or more

• Control system that can be described by ordinary differential equations

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

• A control System is deterministic if the response to input is predictable

• If not, the control system is a stochastic control system

• The dynamic characteristics of most control systems

• An adaptive control system is required when the

• A control system that can learn from the

Time variant Time invariant

u(t) Plant y(t)

• Where  is the Laplace operator.

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

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

• u is the input voltage applied at t=0

• If the capacitor is not already charged then

• The time domain integral becomes division by

Ax' ' (t )  Cy' (t )  Bx' (t )

A[ s 2 X ( s )  sx( 0 )  x' ( 0)]  C[ sY ( s )  y( 0 )]  B[ sX ( s )  x( 0)]

A[ s 2 X ( s )  sx( 0)  x' ( 0)]  C[ sY ( s )  y( 0)]  B[ sX ( s )  x( 0)]

• Considering Initial conditions to zero in order to find the transfer

6u' ' (t )  3u(t )   y(t )dt  3 y' ' ' (t )  y(t )

• Where x is the input of the system and y is the output of

• When order of the denominator polynomial is greater

– The stability of the system

– Time domain and frequency domain characteristics of the

– Response of the system for any given input

• Roots of denominator polynomial of a transfer

• And the roots of numerator polynomials of a

• Poles of the system are represented by ‘x’ and

• And zero is the frequency at which system becomes

Single pole system

the denominato r polynomial is As  B  0

• The only pole of the system is

• Absolute stability does not

Pole-Zero Map Pole-Zero Map

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