SPECIAL LECTURE ON CONTROL

ENGINEERING 2
TERM PROJECT PRESENTATION
ANTENNA AZIMUTH CONTROL USING
SERVOMECHANISM

Presented by
NITIN SIVAKUMAR
ID-2021327478
1. PROBLEM FORMULATION

1. What are the inputs and outputs of the system?

 The input to the system is the angular displacement given to the input potentiometer θi (t) and
output of the system is the azimuth angular displacement of antenna θo (t)

2. What is the purpose of the system?

 The purpose of the system is to make the azimuth angle output of the antenna, θi (t) , follow the
input angle of the potentiometer, θo(t)

3. What is the control problem?

 The control problem is to achieve good system performance which depends upon the transient
response, the steady-state error, and stability.

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4. Illustrations

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Working of the system
• The system is employs a servomechanism for azimuth position control of a telescopic antenna
which is used to track a satellite

• It consists of a potentiometer at the input terminal which uses an angular displacement input i(t)
to create a corresponding voltage

• The output of the system being the angular output o(t) is converted to a corresponding voltage
signal by another potentiometer.

• The two voltages are compared and the error signal is created by a differential amplifier whose
output is boosted by a power amplifier.

• The output of the power amplifier drives the DC motor which creates the required angular
displacement. The shaft of the motor is connected through a gear system to the antenna to align
it in the required manner

• The potentiometer is connected to the shaft of antenna through a gear

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 BLOCK DIAGRAM
Input Summing Plant or
Transducer Junction Process
Angular Angular
Input Potentio Pre- Power Motor, load & Output
meter amplifier Amplifier Gears
vi(t)
i (t ) ve(t) vp(t) ea(t)  o (t )

vo(t) Sensor
(Output Transducer)

Potentiometer

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STATE SPACE
REPRESENTATION
 Power Amplifier

Ea ( s ) 100
G(s)  
V p ( s ) s  100
dea
 100ea  100v p (t )
dt
dea
 100ea  100v p (t )
dt
y  ea

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MOTOR AND LOAD

ea (t )  ia (t ) Ra  vb
d m
ea (t )  ia (t ) Ra  K b
dt
d 2 m d m
Tm  K t ia (t )  J m  Dm
dt 2 dt
 Ra J m  d 2 m  Ra Dm  d m
ea (t )    2    K b
K
 t  dt  K t  dt

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 Assuming state variables

x1   m
d m Parameters Values
x1  x2 
dt Ra 8
 Ra J m  dx2  Ra Dm 
ea (t )      Kb  x2 Jm 100
 K t  dt  Kt  Dm 100
dx2 1  Kt Kb   Kt  Kt 2.083
   Dm  x2    ea (t )
dt J m  Ra   Ra J m  Kb 1.71
y  0.1x1

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 SIGNAL FLOW GRAPH
1 1 1 1
K 100 s s 0.1
 s 2.083

o ( s)
i ( s) Vp (s) Ea ( s ) X 2 (s) X 1 (s)

100  1.71

1



x1   x2
x 2   1.71x2  2.083ea
y   0  0.1x1
e a  3.18 Kx1  100ea  31.8i
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FINAL STATE SPACE
EQUATION
 0 1 0   0 
x   0 1.71 2.083 x   0  i
 3.18 K 0 100  31.8 K 

y  [0.1 0 0]x

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MODEL ANALYSIS
1. Assuming a preamplifier gain, K of
State transition matrix, e At  L1[ SI  A]1

1 0.5848(1  e 1.71t ) 2.12e 4 e 100t  0.0124e1.71t  0.0122 

 1.71t 1.71t 100 t 
e  0
At
e 0.0212e  0.0212e 
0 0 e 100 t 
 

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CONTROLLABILITY
 Controllability matrix Q=[B AB A2B]

 0 0 0.0013 
7  
Q  1.0e *  0 0.0013 0.1347 
0.006 0.0636 6.36 

Determinant Q=-1.162e12 which is not equal to zero so controllable

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OBSERVABILITY
 C 
 Observability matrix P   CA 
CA2 

0.1 0 0 
P   0 0.1 0 
 0 0.171 0.2083
Determinant P=0.0021 which is not equal to zero so observable

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 STABILIZABILITY,
DETECTABILITY AND

MINIMAL REALIZATION
Since the system is controllable and observable, it has stabilizability and
detectability
 Since the system is controllable and observable , its has no minimal realization

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CONTROLLER DESIGN
 We first design the controller by finding the desired characteristic equation.
 A 10% overshoot and a settling time of 1 second yield   0.591 and n  6.77
 Thus, the characteristic equation for the dominant poles is s 2  8s  45.8  0the
where
dominant poles are located at The third
4  jpole
5.46will be 10 times as far from the
imaginary axis
 Hence, the desired characteristic equation for the closed-loop system is
( s  40)( s 2  8s  45.8)  s3  48s 2  365.8s  1832  0 (1)

 The Eigen values are -40,

-4+5.4589i,
-4-5.4589i
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 Assuming a preamplifier gain of 200 and removing existing feedback , the forward transfer
function is
Motor and
Preamplifier Power Amplifier Load
Y (s) 1325

U ( s ) s ( s  1.71)( s  100) 𝐾 100
s  100
2.083
s ( s  1.71)

0 1 0  0 
 Converting to state space equation,
x  0 0 1  x  0  u
1 171 101.71 1 

y  [1325 0 0]x
 Controllability matrix Q=[B AB A2B]
 Determinant Q=-1 not =0, CONTROLLABLE
 0 0 0.0001 
Q  1.0e 4 *  0 0.0001 0.0102 
0.0001 0.0102 1.0174  03/06/2024 16
 Choosing the control signal u=-kx
 K=[k1 k2 k3]
 Desired system characteristic equation is |SI-A+BK|=0

 s 0 0 0 1 0  0 0 0 
 0 s 0   0 0 1    0 0 0   0
0 0 s  1 171 101.71  k1 k 2 k 3

s 1 0 
  0 s 1 

 k1 k2  171 k3  s  101.71

 s 3  (101.71  k3 ) s 2  (171  k2 ) s  k1  0 (2)

 Comparing equation 1 and 2

K=[1832 194.8 -53.7]

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OBSERVER DESIGN
1325 0 0 
 Observability matrix ,P=[C;CA;CA2]
P   0 1325 0 
 Determinant P=2.39e9 not= 0, OBSERVABLE
 0 0 1325

 Assume the observer gain matrix l=

 The desired characteristic system equation, =0

 s 0 0 0 1 0  1325l1 0 0
 0 s 0   0 0 1   1325l2 0 0   0
0 0 s  1 171 101.71 1325l3 0 0 

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 1325* l1  s 1 0 
  1325* l2 s 1 
 1325* l3 171 s  101.71

 s 3  0.04e3 s 2  0.37e5 s  1.84e6  0 (3)

 Comparing equation 1 and 2

 L=[0.288;-0.16e2;0.15e3]

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LQR
Program to evaluate LQR controller
clc;
clear all
A=[0,1;-171,-101.71];
B=[0;1];
C=[1325 0];
D=[0];
%constructing SS model
sys =ss(A,B,C,D);
Q=[10000000 0 ;0 1];
R = 0.001;
[K,S,P] =lqr(sys,Q,R);
X=-(C*(A-B*K)^-1*B)^-1;

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 CLOSED LOOP SYSTEM
RESPONSE
 The closed loop transfer function relating the Azimuth angle output to the angular input is
given by

Using Routh Hurwitz criterion, the limits of value of K is obtained

between 0 and 262 Value chosen is 200

 The resultant transfer function will be

 A PID controller is designed using Ziegler Nichols

method for the transfer function

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MATLAB Simulink diagram- PID controller applied to transfer function

Step Response of the system

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Ramp Response of the system

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PLOT OF STATE VARIABLES
 Program used
 A=[0 1 0;0 0 1;0 -171 -101.71]
 B=[0;0;1]
 C=[1325 0 0]
 D=[0]
 K=[1932 194.8 -53.7]
 Ke=[0.286;-1.57;1494]
 AA = [A-B*K B*K ; zeros(3,3) A-Ke*C];
 sys= ss (AA, eye (6), eye(6), eye(6));
 t=0:0.01:8;
 x0 = [1;0;1;0;1;0];
 x= initial (sys,x0,t);
x1 = [1 0 0 0 0 0]*x';
x2 = [0 1 0 0 0 0]*x';
x3 = [0 0 1 0 0 0]*x';
e1 = [0 0 0 1 0 0]*x';
e2 = [0 0 0 0 1 0]*x';
e2 = [0 0 0 0 0 1]*x';
subplot (3,3,1); plot(t,x1);grid
xlabel ('t(sec)'); ylabel('x1')
subplot(3,3,2); plot(t,x2);grid
xlabel('t(sec)'); ylabel('x2')
subplot (3,3,3); plot(t,e1);grid
xlabel ('t(sec)'); ylabel('x3')
subplot (3,3,4); plot(t,x1);grid
xlabel ('t(sec)'); ylabel('e1')
subplot(3,3,5); plot(t,x2);grid
xlabel('t(sec)'); ylabel('e2')
subplot (3,3,6); plot(t,e1);grid
xlabel ('t(sec)'); ylabel('e3') 03/06/2024 25
 10 -3
1 1 3

0.8 0
2
0.6
-1
x1

x2

x3
0.4
-2 1
0.2
-3
0 0
-4
0 2 4 6 8 0 2 4 6 8 0 2 4 6 8
t(sec) t(sec) t(sec)
10 -3
1 1 3

0.8 0
2
0.6
-1
e1

e2

e3
0.4
-2 1
0.2
-3
0 0
-4
0 2 4 6 8 0 2 4 6 8 0 2 4 6 8
t(sec) t(sec) t(sec)

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REFERENCE
References
1. Control systems engineering (7th ed.), Norman S. Nise, John Wiley & Sons,2015.
2. Digital Control of Dynamic Systems (3rd ed.), G. F. Flanklin, J. David Powell, M.L Workman, Addison Wesley
longman Inc,1998.
3. T. V. Hoi ,N. T. Xuan and B. G. Duong, “Satellite tracking control system using Fuzzy PID controller”, VNU Journal
of Science: Mathematics and Physics, vol. 31,pp.36-46,2015.
4. M. N. Soltani, R. Zamanabadi, and R. Wisniewski, “ Reliable control of ship-mounted satellite tracking antenna”,
IEEE Transactions on Control Systems Technology, 2010.

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THANK YOU

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