AV-356

FEEDBACK CONTROL SYSTEMS

Lecture No 02

System Modelling
Text Book : Feedback Control Systems by Phillips and Parr,
5th Edition, Pearson, 2010
Chapter 2

Instructor: Dr Qasim Ali

Academic Week No 02/18
Number of Slides: 28
 Lecture Objectives

• Basics of control theory

• Classification of the systems
• Linear Time Invariant (LTI) System
• Mathematical modelling
• Mathematical modelling of physical
systems

2
 Basics of Control Theory Informatik 8
Basics of Control Theory
 What is a dynamic system?
 A system whose states evolve over the time according to some set rules
 Every system receives inputs and delivers outputs based on its dynamics
 e.g. inverted pendulum, spring-mass system, washing machine, car,
space vehicle, formation of aircraft etc.
 Control Theory
 Deals with how to influence the behaviour of a dynamical system
 Behaviour is modified based on feedback and/or system model
 Open-loop vs closed-loop system
 No feedback (open-loop)
 With feedback (closed-loop)
 Why feedback?
 Feedback helps to track and get rid of disturbances

3
 Basics of Control Theory Informatik 8
Basics of Control Theory
 Purpose of Controller
 Stability of closed-loop system (or open-loop system)
 Set point tracking
 Linear Systems
 A straight line when graphed on Cartesian plane (positive or negative
slope)
 Degree of equation is ‘1’
 Nonlinear systems
 Not a straight line
 Degree of equation is higher than ‘1’
 Equilibrium point
All derivatives are zero at Equilibrium point
 System model
A mathematical expression that relates inputs of a dynamical systems with
the outputs 4
 Requirements for
Requirements for a Control System System
a Control Informatik 8

 Command tracking

 Stability

 Transient response (rise time & overshoot)

 Settling time

 Sensitivity to change in parameters (Robust control)

 Steady-state error

 Disturbance rejection
 Control Input disturbance
 Process noise
 Output disturbance (sensor noise)

5
 Control System
Control System Examples
Examples
 Aircraft altitude control
 Controlled variable: Altitude
 Control variable: Throttle, Elevator
 Possible sensors: Pitot tube, LASER
 Quadcopter position control
 Controlled variable: 3D coordinates
 Control variable: Differential voltage input to motors
 Possible sensors: GPS, Optical flow sensor

6
 Controller Designing Informatik 8
Controller Designing

 Feedback controller designing refers to finding an algorithm

that relates error ‘ e‘ (difference between command and output
values) and control input u(t)
 Relation also known as ‘ Control laws‘
 Controller output is the input to the system (to be controlled)
 A number of controller designing methods available to achieve
this objective
 Deep mathematics involved

7
 Feedforward Control System
 Based on the notion that output ‘y’ depends on input ‘u’ i.e.
y = f(u)
 Control input may be computed using u = f -1(y)
 ‘Exact’ relation between input and output should be known i.e.
system model
 Relationship is not time dependent

Disturbance Measurement noise

u (t) y (t)
Command r (t) Feedforward Plant
[𝑥 𝑦 𝑧]
Controller

8
 Feedforward Control System
 Limitations
 Requires an accurate model of system
» Inaccurate model will lead to erroneous results

 Cannot handle parameter variations and change in

environmental conditions
» Control signal cannot be adjusted as per changing
conditions
» Not a robust technique

 Disturbances cannot be rejected

» Not a viable solution for many situations
 Solution to all these problems is Feedback Control

9
 Feedback Control
Feedback System
Control System

 Positive and negative feedback

 Divided into
 Non-model based
 Model based
 Helps to take corrective actions in time
 Control inputs may be computed continuously depending on current
output
 Control input depends on command values and output values
 Feedback may be a unity function or may have its own dynamics
 For some systems, a combination of feedforward and feedback is
also used
 We apply feedback in our daily life matters
10
Typical Feedback
Typical Feedback Control
Control SystemSystem

 Plant. System to be controlled

 Command r(t). Desired response of plant output
 Output y(t). Actual response of plant
 Controller. To provide input values to the plant which
give desired response
 Control Inputs u(t). Control signals to manipulate the
plant outputs
 Error e(t). Difference between commanded values and
actual output values
Disturbance Measurement noise

e (t) u (t) y (t)

Command r (t)+ Controller Plant
[𝑥 𝑦 𝑧]-

11
 Systemof
Basic Types Model
System Models
Informatik 8

 Differential Equations (Time domain)

 State Space Form (Time domain)

 Higher order differential equations can be written into state space

form i.e. multiple 1st order DEs.
 Transfer Functions (Frequency domain)
 Easy to solve
 Meant for zero initial conditions usually (i/p to sys. = 0 at t=0)
 A model in one domain may be transformed to other domain

12
Applications of Control Systems
 Robotics
 Aviation industry
 Space vehicles
 Ships
 Trains
 Guidance and navigation applications
 Automobile industry
 Embedded systems
 Process control
 Medical applications
 House appliances like Refrigerator, Air conditioner, Microwave
 and and and ……..

13
 System

• ‘System (process or plant)’ is an entity whose

behavior is governed by some rules e.g. aircraft,
computer, satellite, universe, etc.
• Every ‘System’ has an input and an output
• System’s output can be changed/modified by
applying different inputs
• ‘Manipulated inputs’ are functions of output

14
 Classification Of Systems
• Lumped Systems
– Mathematical modelling done through Ordinary
Differential Equations (ODEs). In ODEs
parameters depend on one variable only
• Distributed Systems
– Mathematical modelling done through Partial
Differential Equations (PDEs)
• Linear / Non Linear systems
– Why we study linear systems?
• Time Varying / Time Invariant Systems
15
Linear Time Invariant (LTI) System

16
LTI System

17
 System Modelling

• Why do we need system modelling?

– The first step in feedback control system
design
– We need models to predict the effects of
control actions
– For simulation purpose
– Economical

18
 System Modelling
• Mathematical Model
– Translating physical system into mathematical
equations
– Mathematical relationship that relates the output of
a system to its input
– Exact mathematical modelling of a physical
system is not possible
– Mathematical model should be simple yet it should
describe the characteristics of the system
adequately
– Physical laws such as Newton’s second law of
motion is a mathematical model

19
Mathematical Models

20
System Modelling

21
System Modelling

22
System Modelling

23
 System Modelling
F  Mx Bx  Kx
taking Laplace transform,
F ( s )  M [ s 2 X ( s )  sx (0)  x (0)]  B[sX (s )  x (0)]  KX (s )

F ( s )  X ( s )[ Ms 2  Bs  K ]  x(0)[ Ms  B ]  x (0) M

F ( s) [ Ms  B ]x(0) Mx (0)

X (s)   
Ms  Bs  K Ms  Bs  K Ms 2  Bs  K
2 2

F ( s) [ Ms  B ]x(0) Mx (0)

X (s)   
Ms 2
 Bs
      K           Bs
Ms 2
 Bs  K Ms 2
  K
Forced Response Initial Condition Response

X (s) 1
G ( s)  
F ( s ) Ms 2  Bs  K
        
Transfer Function
24
System Modelling

25
 Transfer Function
• Transfer Functions
– Transfer function is the ratio of Laplace
transform of the output to the Laplace
transform of the input
– All initial conditions of the system are set to
zero

Y ( s)
G (s) 
U (s)

26
 System Modelling
• Transfer Function

27
 Summary
• Classification of the system
• LTI system
• Why Mathematical modelling?
• Mathematical modelling of physical
systems

28