EF

W
K

?? EF ?

? J

??W
K??

K
W

K
K

W

K J

K J

K J
K J

K J J

K J J
K J J
K J J

K J J

K J

K J J

K J J

K J
EF K J J

K J J

K J

K J
K J

--

W
W
K

EF
K
K

--

Introduction J K J
EControl-SystemF

K K
J J JF

KE
K

KKK

K
W

KKKK

Transportation F
--

KEEnvironmentFEUrban PlanningFESystems
EComputersF

KERobotF

W(Common Control System's Components) K J

KWEInputF

KWEOutputF

EInputFWEErrorF

KKEOutputF

WEReferenceF
K

:(Illustrative Examples of Control Systems) K J

W

WE-F
E-F

EFK

--

E1J1F

K K

WE2-1F

KE2-1F

FK

KE

--

E2J1F

WE3-1F
EFEa3-1F

EF

K
K

EF

--

Pneumatic valve

Controller

Inflow

Outflow

(a)

Desired level

Controller

Pneumatic
valve

Water tank

Actual level

Float
(b)

E3J1F

Eb3-1F

--

WEFE4-1F

EF

Ea4-1F

EFEF

K Eb4-1FK

--

Brain

(a)

E8J1F

Input

Brain

Hand
Muscle

Hand

Output

EF

Eye
(b)

E4J1F

WE5-1F
ENumerical ControlFE5-1F

KENumbersF

KEF

KEReaderF

K

--

EF

Frequency-modulated pulse

Controller

Reader

Tachometer

D-A
conv

Pulse D-A
conv

Tape

Amp

Motor

Cutter

Feedback

E5J1F

EAnalog to Digital ConverterF

EDigital to Analog ConverterF

K
K

WE6-1F

K

- -

WE7-1F
K
E6-1F

Eblast furnaceF
F

KE

12
Iron ore 3
4
Coke
Limestone

Top gas

Blast
furnace

Hot air
Steam
Oxygen
Oil

Slag
Pig iron

Command

Computer

Command

Reference input

E6J1F

KE
K

K
- -

K
K

KK

WE8-1F

E7-1F

PulsesK
J U a

EFK

Ua

E7J1F

- -

WEFlow GraphFEBlock DiagramF K J

W

KK

K
Block Diagram
K J J
elements

KBlock diagramK

blocks

signaloutputsignalinput

Ktransfer function

E8-1FK

X (s)

G (s)

Y(s)

E8J1F

- -

J
W

Y(s) = G(s)X(s)
G(s) =

Y(s)
X(s)

Summing Element J

KE9-1FEF

- -

X1(s)

X2(s)

+ +
X3(s)

Y(s)

+
Xn(s)

E9J1F

W
Y(s) = X1 (s) + X 2 (s) X 3 (s) + ................ + X n (s)

Error Detector J

elementcomparing Ksignalfeedback

KE10-1F

- -

R(s)

E(s)

C(s)

E10J1F

E(s) = R(s) C(s)

(1 - 1)

Branch point J
C(s)

KE11-1F
K

- -

C(s)

C(s)

C(s)

E11J1F

Construction of Block Diagram K J J
K

K J

J
K

K J

J
K

J
K

Block Diagram Transformation K J J

Theorems

E1-3FK

- -

H,X,Y,ZPK
KS

Transformation

Equation

Combining Blocks
in Cascade

Y = (P1P2)X

Combining Blocks
In parallel; or
Eliminating a
Forward Loop

Y = P1 X P2 X

Removing a block
From a Forward
Path

Eliminating a
Feedback loop

Removing a Block
From a Feedback
Loop

Equivalent Block
Diagram

Block Diagram

P1

P2

P1

Y = P1(X

Y = P1(X

P2

P2Y) X

P2Y)

P1

P2

E J F

- -

P1 P2

X
Y = P1 X P2 X

P1 P2

P1 +

P2

P2

P1

1 P1 P2

X 1 +
P2

P1P2

Transformation

Equation

6a

Rearranging
Summing Points

Equivalent Block
Diagram

Block Diagram

Z=WXY

6b

Rearranging
Summing Points

Z=WXY

10

11

Moving a Summing
Point Beyond of a
Block

Moving a Takeoff
Point Ahead of a
Block

Moving a Takeoff
Point Beyond a
Block

Moving a Takeoff
Point Ahead of a
Summing point

Z = PX Y

Z = P(X Y)

Y = PX

Y = PX

P
P

P
1
P

Z=XY

Y
Y
Z

Moving a Takeoff
Point Beyond a
Summing point

1
P

12

Moving a Summing
Point Ahead of a
Block

Z=XY
Y

- -

X
Y
X

Signal Flow Graph K J J

Fundamental of Signal Flow Graph J

KE12-1FK

Input nodes
X4 (Source)

Mixed nodes

d

Input nodes
(Source)

X2

X3

X1

Output nodes
(Sink)
X3

E12J1F

K K
- -

Masons rule

Basics of Signal Flow Graph J

KE13-1F

- -

(a)

X2

X1
b

(b)

X2

X1

ab

X1

X3

a
(c)

a+b
=

X2

X1

X1

X2

b
a

X1

(d)

X4
b

X2

X2

X1

X3

ab

X3

X1

X4
bc

X2

(e)

ac

X1

ab
1-bc
=

X1

X3

bc

E13J1F

WE13-1F

X 2 = aX1 Ea-F X 2 J

KEb-F

Ec-F

Ed-F J

WEe-F J
- -

x 3 = bx 2 , x 2 = ax 1 + cx 3

x 3 = abx 1 + bcx 3

x 3 = [ ab /(1 bc ] x1

KE14-1F
R(s)

G(s)

C(s)

G(s)

R(s)

E(s)

R(s)

G(s)

R(s)

C(s)

G(s)

1
E(s)

R(s)

C(s)
-H(s)

H(s)
N(s)
N(s)
R(s)

E(s)
G1(s)

G2(s)

C(s)
R(s)

G1(s)
E(s)

G2(s)

C(s)

-H(s)
H(s)

KE14J1F

Mason's Rule For Signal Flow Graphs K J J

EF

K
P =

1
Pk k
k

W
(2 - 1)

- -

Pk = path gain of kth forward path

= determinant of graph

= JEFHEF
JEFHKKKKKK
1 La + Lb Lc Ld Le L f + ..........
a

b ,c

d ,e , f

La Z
a

Lb Lc Z
b ,c

Ld Le L f Z
d ,e , f

k k

WE9-1F
K
K C ( s)
R( s)

H2

R(s)

G1

C(s)

G2

G3

- -

H1

-H2

R(s)

G1

G2

G3

C(s)

C(s)

H1

-1

W
P1 = G 1G 2 G 3
L1 = G 1G 2 H 1

L 2 = G 2 G 3 H 2
L 3 = G 1G 2 G 3

= 1 (L1 + L 2 + L 3 )

= 1 - G 1G 2 H 1 + G 2 G 3 H 2 + G 1G 2 G 3

1 P1
W
1 =1

W C ( s)
R( s)

- -

P
C (s)
=P= 1 1

R( s)
=

G 1G 2 G 3
1 - G 1G 2 H 1 + G 2 G 3 H 2 + G 1G 2 G 3

WE10-1F
K

G7

G6

R(s)

G1

G2

G3

G4

G5
C(s)

-H1
-H2

W
W
P1 = G 1G 2 G 3 G 4 G 5

P2 = G 1G 6 G 4 G 5
P3 = G 1G 2 G 7

- -

W
L 1 = G 4 H 1

L 2 = G 2 G 7 H 2
L 3 = G 6 G 4 G 5 H 2
L 4 = G 2 G 3 G 4 G 5 H 2

W L 2 L1

= 1 (L1 + L 2 + L 3 + L 4 ) + L1 L 2
W P1 1

Classification of Control Systems K J

open loop

Kclosed loop control system

Open Loop Control Systems K J J

- -

Actuating signal

Input signal
(command)

System
components

Output signal
(controlled variable)

E15J1F

KE15-1F

Closed-loop Control
K J J
K

- -

Actuating signal

Controller

Input signal
(command)

k
M

forward-path
System
components

feedback-path
System
components

Output signal
(controlled variable)

E16-1)

block diagramE16-1F

controller K
E
plant

EFK

operational amplifier
K

KplantEF
K

- -

K J

J

K
K

K
K

K J
Block Diagram of a Closed-loop Control System
E17-1F

E
F C(s)
W

- -

Branch point

Summing point

R(s)

E(s)
+

G(s)

C(s)

Output

C(s)

E17J1F

E F

H(s)
C(s) KE18-1F

W B(s)

B(s) = H(s)C(s)

- -

(3 - 1)

R(s)

E(s)

C(s)

G(s)

B(s)
H(s)

E18J1F

WE18-1F

Direct or forward transfer function J

G(s) =

C(s)
E(s)

(4 - 1)

feedback transfer function J

H(s) =

B(s)
C(s)

(5 - 1)

open-loop transfer function J

G(s)H(s) = B(s)

(6 - 1)

E(s)

closed-loop transfer function J

E5-1F H(s) = 1 E18-1F

- -

J
WE6-1F

C(s) = G(s)E(s)
E(s) = R(s) B(s)

(7 - 1)

WE7-1FE2-1F

E(s) = R(s) H(s)C(s)

C(s) = G(s)E(s)
C(s) = G(s)[R(s) - H(s)C(s)

C(s) = G(s)R(s) - G(s)H(s)C(s)

C(s) + G(s)H(s)C(s) = G(s)R(s)

[1 + G(s)H(s)]C(s) = G(s)R(s)

W
C(s) =
R(s)

G(s)
1 + G(s)H(s)

(8 - 1)

W
C ( s) =

G(s)
R(s)
1 + G(s)H(s)

(9 - 1)

K J
Closed-loop Control System Subjected to a disturbance

D(s)

R(s)E19-1F
WD(s)

- -

ZR(s) J

KR(s)

D(s)
R(s)=0 J

KD(s)

Disturbance
N(s)

R(s)

G1(s)

C(s)
G2(s)

H(s)

19 1

C D (s ) KR(s) C R (s)

E11-1FE10-1F K D(sF
W

C n (s)
G2 (s)
=
N ( s ) 1 + G1 ( s ) G 2 ( s ) H ( s )

(10 - 1)

C R (s)
G1 ( s )G 2 ( s )
=
R( s) 1 + G1 ( s )G 2 ( s ) H ( s)

(11 - 1)

- -

R(s)

W D(s)

C (s) = C R (s) + C N (s)

G 2 (s)
[G1 ( s ) R ( s ) + N ( s )]
1 + G1 ( s )G 2 ( s ) H ( s )

(12 - 1)

K J
Reduction of Complicated Block
Diagrams

K E3-1F

E18-1F
KE3-1F

- -

:E11-1F
K

G3

R
G1

G2

G4

H1

H2

G1

G4

G1G4

G3

G2

G2+G3

- -

G1G 4
1 G1G 4 H 1

G1G4

H1

G1G 4
1 G1G 4 H 1

G2+G3

R
=

G1G 4 (G 2 + G3 )
1 G1G 4 H 1

H2

H2

- -

WE12-1F

CR

G2

G1

C
G3

:
G1G2

G3
()

- -

G1G 2
1 G1G 2 H

J
G3

()

G1G 2 G3
1 G1G 2 H

( )

G1G 2 G3
1 G1G 2 H + G1G 2 G3

()

WEFEF

G 1G 2 G 3
C(s) = 1 G 1G 2 H
GG G
R(s)
1+ 1 2 3
1 G 1G 2 H

WE1 G 1G 2 H F

C (s) =
R( s)

G1G2 G3
1 + G1G2 H + G1G2 G3

- -

WE13-1F
KK


WE14-1F
K

Qi(s)

1
3

1
R1

1
C1 s

4
1
C2 s

Qo(s)

1
R2

R2

Qi(s)
1
R1

1
C1 s

1
R2

1
C2 s

Qo(s)

R 2 C1 s

Qi(s)

1
C1 s
2

1
R1
-
-

1
C2 s

1
R2

Qo(s)

Qi(s)

1
R1C1 s + 1

Qo(s)

1
R2 C 2 s 1

R 2 C1 s

Qi(s)

1
R1C1 R2 C 2 s + ( R1C1 + R 2C 2 + R 2C1) s + 1

Qo(s)

WE15-1F
K

D(s)
i

G1

G2

(a)

:
i
G1G2

o`

(b)

- -

D(s)

o``

G2

G1

(c)

WE16-1F

K C
R

H2
(a)

R
G1

G2

H1

G3

- -

H2
G1

(b)

G1

G2

G3

H1

(c)

(e)

G1G 2
1 G1G 2 H 1

(d)

H2
G1

G3

G1G 2 G3
1 G1G 2 H 1 + G 2 G3 H 2

G1G 2 G3
1 G1G 2 H 1 + G 2 G3 H 2 + G1G 2 G3

- -

J
K J

(a)

R(s)

10

C(s)
K0

1
s +1

K1
( s + 2)

K2
s+3

(b)

R(s)

G2(s)

G1(s)

H1

H2

- -

C(s)

H2

(c)
a

R(s)

G1

C(s)

G3

G2

H1

J
K

H3
R(s)
G1

G2

G3

C(s

G4

H1
H2
G5

K C ( s) J
R( s)

H4

H5
R
G1

G2

G3

G4

H3

H2
H1

- -

K C(s) J
R3(s

R2(s
R1(s

G1

G3

G2

C(s

G4

H2

R4(s)

H2

G1

G2

G3

H1

a
G4

- -

Y(s)

Y(s)
,
N(s) R =0

R(s)

N =0

E(s)
R(s)

E(s)
N(s)

,
N =0

R =0

N(s)

G1(s)
E(s)
R(s)

G3(s)

G2(s)

Y(s)

H1(s)

Y5 ,
Y1

YG
4
,4
Y1

G2

G1

Y1

Y2

-H1

Y5
Y2

Y2
,
Y1

Y3

G3
Y4

Y5

Y5

-H2

(a)
-H4
G4

Y1

G2

G1

(b)

Y2

-H1

Y3

Y4
-H3

- -

G3
-H2

Y5

Y5

G4

Y1

G2

G1

(c)

Y2

Y4
-H3

Y3

-H1

G3

Y5

Y5

-H2
G4

(d)
Y1

Y2

G1

G2

-H1

Y3 -H
2

G3
Y4

Y5

Y5

-H3
-H3

G4
G1

(e)
Y1

Y2

G2
Y3 -H
1
-H3

- -

G5
G3
Y4 -H2

Y5

Y5

K J

K J

K J J

K J J

K J J

K J J

K J J

K J J

K J J

K J
K J

K J J

K J J

K J J

K J J

K J J

K J J
K J J

- -

W
W

- -

K J

Kerror signal
EF

K J

K J

K J

K J
K J

K
K

- -

LAPLACE TRANSFORMATION K J
Introduction K J J

Laplace Transform

Exponential FunctionsSinusoidal Function

ES)Complex VariableAlgebraic Functions

KS-plane

Complex S-plane K J J
complex variable
WK

K Real Part J

.jImaginary Part

x-axis

KS-planeE1-2FY-axis

- -

j
s-plane
1

s1

S-plane

1 + j1

1 2

G(s)
W S
G ( s ) = Im G ( s ) + Re G ( s ) E1-2F
WE1-2F

b 0 s m + b1s m 1 + ....... + b m
G(s) =
a 0 s n + a 1s n 1 + ....... + a n

W
(s z1 )(s z 2 )........(s z m )
=
G(s)
K

(s p1 )(s p 2 )........(s p n )

(-)

S-plane

polesEP1, P2, , PmFsEsF

KEOFzeroEZ1, Z2, , ZmFEXF
Kpole

- -

W1-2
GSPoles and Zeros
G(s) =

25( s + 4)( s + 2)
s ( s + 3)( s + 5) 2

WS-plane

W
Poles
2
s(s + 3)(s + 5) = 0

W
S1=0, S2=-3 simple poles and S3,4=-3 second order poles
WZeros
25(s + 4)(s + 2) = 0
s1 = 4 , s 2 = 2 (simple zeros)

- -

poles and zero

E2-2F

j
S-PLANE

G-PLANE

SECOND
ZEROS
ORDER POLE

SIMPLE
POLE

X
O
X
O
X
-5 -4 -3 -2 -1
C
E
B
D

1 2 S-plane 2 2

W2-2

G(s) Poles and Zero

G(s) =

K ( s + 4)
( s + 6)( s 2 + 2s 10)

WS-plane

W
W

G(s) =

K(s + 4)
(s + 6)(s + 1 + j3)(s + 1 j3)
Wpoles
- -

(s + 6)(s + 1 +

j3)(s + 1 j3) = 0
W

s1 = 6, s 2 = 1 j3, s 3 = 1 + j3

poles
E3-2F S-plane

Kand zeros

j
S-PLANE

COMPLEX POLE
B
SIMPLE
POLE

- +3

ZEROS

- +2
A
x

-6

-5

D
o

-4

- +1

-3

-2

-1

- -1
- -2

COMPLEX POLE
C

- +4

- -3
- -4

EJ F S-planeE J F

Laplace Transformation K J J
f(t)

KESFF(s)EtF

S J
WK
f(t) = a function of time t
- -

s = a complex variable
L =

f(t)F(s) =
Wf(t )

st
L[ f (t )] = F ( s ) = e dt[ f (t )] = f (t )e dt
st

E3-2F

3-2
Step Functions

KE4-2F

W
f (t ) = 0
f(t) = K

for t0
for t 0

- -

f(t)

E J F

- -

K st
e
S

L[ f (t )] = F ( s ) =

=
K
S

W
W

L[ f (t )] = K e st dt
F (s) =

K
K
e e 0 =
S
S
if K = 1 then F ( s ) =

1
S

(Unit step function)

W4-2
Ramp Function

EtFE5-2F

WK

f (t ) = 0
f(t) = Kt

for t0
for t 0

KK
f(t)

K
1
t

E J F
- -

W
W
F (s) = K
s

WEk=1F

1
(
)
F
s
=
2

s

(Unit - ramp function)

W5-2
Exponential Function
WE JF

f (t ) = 0

for t0

f(t) = e Kt

for t 0
KK
WW

f(t)

f (t ) = exp(t )

(t)
6-2

- -

L[ f (t )] = e e dt = e ( s + k )t dt
kt st

1
1
1
e ( s + a )t 0 =
e e 0 =
[0 1]

S+K
S+K
S+K
1
L[ f (t )] = F ( s ) =
S+K

F (s) =

W6-2
Sinusoidal Function
WE7-2F

f (t ) = 0

for t0

f(t) = sin t

for t 0

Sin t

t0

E J F

- -

W
W
L[sin t ] = F ( s ) =

s2 + 2

W) t cos(

f (t ) = 0
f(t) = cos t

for t0
for t 0

s
L

t
=
F
s
=
[cos
]
(
)

s2 + 2
EtF

E1-2FEsF

- -

J
W7-2
W

1 f(t) = 15
2 f(t) = 5 + 4e -2t
3 f(t) = t - 2e -t

4 x(t) = 20sin4t
5 y(t) = 2t + cost
6 h(t) = 100 + 14t + 8cost
W
WE1-2F

1 F ( s ) = L[15] =

15
s

2 - F(s) = L[5 + 4e -2t ] = L[5] + L[4e t ] =

5
4
9s + 10
+
=
s s + 2 s(s + 2)

(1 + s - 2s 2 )
1
2
3 F(s) = L[t - 2e ] = L[t ] L[2e ] = ( s 2 ) ( s + 1) = s 2 ( s + 1)
t

-t

4
80
]
=
s2 + 42
s 2 + 16
2
s
5 Y(s) = L[2t + cos3t] = 2 + 2
s
s +9

100 14
8s
6 H(s) = L[100 + 14t + 8cost] =
+ 2+ 2
s
s
s +1
4 X(s) = L[20sin4t] = 20[

- -

f(t)

F(s)

unit impulse (t)

Unit step 1(t)

e-at

te-at

sin t

cos t

tn

tne-at

1
s2
1
s+a
1
(s + a) 2

2
s + 2
s
2
s + 2

(n=1,2,3,)
(t=1,2,3,)

1
(e at e bt )
b -a
1
(be bt ae at )
b -a

10
11
12

1
s

1
1

(be at ae bt )
1+

ab a b

13

e-atsin t

14

e-atcos t

n!
s n+1
n!
(s + a) n+1
1
(s + a)(s + b)
s
(s + a)(s + b)
1
s(s + a)(s + b)

(s + a) 2 + 2
s+ a

15
16

1
(at 1 + e at )
2
a

1 2

e n t sin n 1 2 t

1
1
17

(s + a) 2 + 2

= tan

e n t sin( n

1
2

s (s + a)

2n
s 2 + 2n s + 2n

1 2 t )

s
2

s + 2n s + 2n

1 2

- -

Laplace Transform Theorems K J J

W

Multiplication by a ConstantWEF
Wf(t)F(s) k
L[kf(t)] = kF(s)

(4 - 2)

Sum and DifferenceWEF

W f 2 (t) f1 (t) F2 (s) F1 ( s)

L[f 1 (t) f 2 (t)] = F1 (s) F2 (s) E5-2F

DifferentiationWEF

t=0 f(0) f(t) F (s)

df(t)
L
[
] = sF(s) lim f(t) = sF(s) - f(0)
(6 - 2)

t 0
dt
Kt=0f(t)f(0)
W

d 2 f(t)
L[ 2 ] = sF(s) sf(0) - f (0)
dt

(7 - 2)

IntegrationWEF

Wsf(t)

L[ f ( )d ] =

-1
f (0) = f(t)dt

F(s) f (0)
+
E8-2F
s
s

at t = 0 Wt=0 f -1 (0)

KE2-2F
- -

Inverse Laplace Transformation K J J

F(s)KEtFEsF
WL-1Kf(t)

L-1 [ F (s)] = f (t ) E9-2F

F(s)=Laplace transformation of f(t)

-1
L = Inverse laplace transform ation

W8-2

F(s) =

s + 10
W

W
E1-2F

Wa=10

1
f(t) = L [

1
] = e 10t
s + 10
W9-2

F(s) =

27

s 2 + 81

F(s) = 3

9
W
s 2 + 92

E JF

W = 9
1

f(t) = L

[F(s)] = 3sin(9t)
- -

E1-2F

E2-2FK

( s z1 ) (( s z 2 )..........(s - z m )
=
(
)
G
s
K

( s P1 )(s - P2 )...........( s Pn )

E Z1 , Z 2 ,..... Z m FK

Km n
W

F(s) =

An
A1
A2
+
+ ....... +
E10-2F
s + p n1
s + p1 s + p 2

WE A1 , A 2 ,..... A n F

A = (s + p1 ).F(s)

s = p1

A 2 = (s + p 2 ).F(s)

s = p2

A n = (s + p n ).F(s)

s = pn

KE10-2F A1 , A 2 ,..... A n
W

-1
F(t) = L [F(s)] = A1e

-p1t

+ A 2e

- -

-p2t

+ ........ + A n e -pnt

W10-2
W
( s + 3)
F ( s ) = ( s + 1)( s = 2)
W
W
A1
A2
F(s)
=
+

s +1 s + 2
W A1 , A 2
A 1 = (s + 1)

s+3
(s + 1)(s + 2)

A 2 = (s + 2)

s+3
(s + 1)(s + 2)

-1 + 3 2
= =2
-1 + 2 1

-2+3 1
=
= 1
- 2 +1 1

s = 1

s = 2

W
2
1

F(s) =
s +1 s + 2

F(t) = L -1 [
f(t) = 2e

-t

2
1
] L -1 [
]
s+1
s+ 2
e

- 2t

W2-11
W

200
X
(
s
)
=

s(s + 10)

- -

J
W
W

A1
A2
X(s)
=
+

s s + 10

W A1 , A 2

A1 = s

200
s(s + 10)

A 2 = ( s + 10)

=
s =0

200
= 20
0 + 10

200
s ( s + 10)

=
s = 10

200
= 20
- 10

20
20
=

X(s)

s s + 10
20
20
]
] L-1 [
s + 10
s
f(t) = 20 - 20e -10t

f(t) = L-1 [X(s)] = L-1 [

- -

J
W12-2
W

12
Y(s)
=

s( s + 1)(s + 4)

W
W

A3
A1 A 2
=
+
+
Y(s)

s
s +1 s + 4

W A1 , A 2 A 3
A1 = s

12
s(s + 1)(s + 4)

=
s =0

12
12
=
=3
(0 + 1)(0 + 4) 4

A 2 = (s + 1)

12
12
12
=
=
4
s(s + 1)(s + 4) s =-1 1(1 + 4) 3

A 3 = (s + 4)

12
s(s + 1)(s + 4)

=
s = 4

12
12
=
=1
- 4(-4 + 1) 12

3
4
1

+
s s +1 s + 4
3
4
1
y (t ) = L-1 [ Y(s)] = L-1 [ ] L-1 [
] + L-1 [
]
s +1
s+4
s
y (t ) = 3 4 e t + e 4 t
Y(s) =

- -

modeling of translational Mechanical K J J

systems
massE8-2F

pistonKspringdashpot
dampingviscous friction
K

Kf

KK
m

Ky
KB

K E(8-2)
J F

K J

K J
K J

- -

F = ma

E11-2F

m=mass

a=acceleration

force

M) MassF J

M=

w
g

W = weight

g = gravity Eg=9.8066F

W f m (t )

d 2 y (t )
dv (t )
f m (t) = Ma(t) = M
=
M
E12-2F
dt
dt 2

KV(t)W
Viscous Friction (B) J

f B (t)

f B (t) = B

- -

dy(t)
E13-2F
dt
W

B = viscous friction

y(t) = displacement

(K) Linear Spring J

W f k (t)

f K (t) = Ky(t) E14-2F

-F

E1-4FEKF

WE4

dy
d2 y
f = B - Ky = m 2
dt
dt
E15-2F

d2 y
dy
f = m 2 + B + Ky
dt
dt
WE15-2F

d2 y
l[m 2 ] = m[s 2 Y(s) - sy(0) - y (0)]
dt
dy
l[B ] = B[sY(s) - y(0)]
dt
l[Ky] = KY(s)
l[f] = F(s)

y(0) = y(0) = 0 W

(ms 2 + Bs + K)Y(s) = F(s) E16-2F

WE7-4F

- -

J
T.F. =

Y(s)
1
=
E17-2F
F(s) ms 2 + Bs + K

W
Ei(s)
Input
ms2

E0(s)
Ouput

1
+Bs + K

K(9-2)
E J F

y Ky

Edy/dtFB(dy/dt)K
K

s 2 Ed/dtF s

KE4-6F (d 2 /dt 2 )

WE13-2F
E10-2F
K

X1
MASS
f(t)

X2
SPRING

M1

K1

B1 FOR MASS M1

MASS
M2

SPRING
K2

B2 FOR MASS M2

K EJ
F

(10-2)

- -

W
x 1
d 2 x1
dx 1
+ K1 (x1 x 2 )
f(t) = M 1 2 + B1
dt
dt

x 2

d2x2
dx
+ B2 2 + K1 (x1 x 2 ) + K 2 x 2
0 = M2
2
dt
dt
W
2+
F(s) = (M1s B1 s + K 1 )X1 (s) K 1 X 2 (s)

X 2 (s)/F(s) X 2 (s) X1 (s)

K J J
Modeling of Rotational Mechanical Systems
E11-2F

angular velocity

damper
B
J T

B1

E
JJ(11-2)
F F
K
E

- -

J
W

J : moment of inertia of the load

f : viscous-friction coefficient

: angular velocity (rad/sec)

T : torque applied to the system

WE F J
T =J

E18-2F

rad/sec 2 =angular acceleration ( F

W

J) InertiaF J
W TJ (t)

d (t)
d 2 (t)
T(t) = J (t) = J
=J
dt
dt 2 E19-2F

(t) W

velocity friction (B) J

W TB (t )
d (t)
TB (t) = B
E20-2F
dt
W

B : viscous friction
: angular displacement
- -

(t)

(K) Torsional Spring J

W

Tk (t) = K (t) E21-2F

spring constantEKF

WE10-4FE8-4F

T B = J

T = J

d
dt

d
E22-2F
+ B
dt

WE22-2F

T(s) = (Js + B) (s) E23-2F

(s)

T(s)

1
Js + B E24-2F

W
Ei(s)
Input

1
Js +B

E0(s)
Ouput

(12-2)
K
E J F
- -

J
WE13-2F

E13-2F

SHAFT

PUMP
T2

J1

T1

1 2

J2
F

MOTOR

K EJ(13-2)
F
W

W 2 1

T1 = (J 1 s 2 + K ) 1 K 2

0 = K 1 + (Js 2 + Fs + K ) 2
K 2 1

K J

RCE14-2FE c(t ) r (t ) e(t )

E l (t ) c(t ) r (t ) e(t ) F
KRLCE15-2F



- -

J
WE14-2F

+ vr(t) +

e(t)

v(t)

RC 14-2

W
vr (t ) + v(t ) = e(t )
W

vr (t ) = Ri(t )
W

i((t ) = Cv' (t )
vr (t ) + v(t ) = e(t )
RCv' (t ) + v(t ) = e(t ) W

E14-2FRC

- -

J
W

RCv' (t ) + v(t ) = e(t )
W

L( RCv' (t ) + v(t )) = L(e(t ))

L(v(t))=V(s)L(e(t))=E(s)

L(v'(t))=sV(s)
L( RCv' (t ) + v(t )) = L(e(t ))
RCsV ( s) + V ( s) = E ( s) W

G( s) = V ( s) =

E ( s)

1
RCs + 1

W
KK

WE15-2F

WLRC

+ vr(t)-

+ vl(t)-

v(t)

e(t)

RLC(15-2F

- -

vr(t ) + vl (t ) + v(t ) = e(t )

W
vr (t ) = Ri(t )
vl (t ) = L di(t ) = Li' (t )
dt

i((t ) = Cv' (t )

vr (t ) + vl (t ) + v(t ) = e(t )
W i(t)vl(t)vr(t)

LCv ' ' ( t ) + RCv ' ( t ) + v ( t ) = e ( t )

KRLC
WRLC

LCv ' ' ( t ) + RCv ' ( t ) + v ( t ) = e ( t )

L(v(t))=V(s)L(e(t))=E(s)

L(v"(t))=s2V(s)L(v'(t))=sV(s)

LCv ' ' ( t ) + RCv ' ( t ) + v ( t ) = e ( t )

- -

J
W

LCs 2V ( s ) + RCsV ( s ) + V ( s ) = E ( s )

[ LCs 2 + RCs + 1]V ( s) = E ( s)

G ( s) = V ( s) =
E ( s)

- -

W
1

LCs + RCs + 1

Types of Industrial Controller K J

Two-position (ON-OFF) Controller J

Proportional Controller (P-Controller) J

Integral Controller (I-Controller) J

Differential Controller (D-Controller) J

PI-Controller J

PD-Controller J

PID-Controller J

Two-position (ON-OFF) Controller K J J

ME16-2F
K EF
K

+
R

Max
Min

B=C

EJ (16-2)
F

- -

M=MaxEFfor E>0E25-2F
M=MinEFfor E>0E26-2F

E
FM

- -

Proportional Controller (P-Controller) K J J

E17-2F

K K P

+
R

Kp

B=C

KEE
J(17-2)
JF

F .

K P

K P K

EF K P K
W K
m(t) = K P e(t)

M(s)
E(s) = K P

E27-2F

M(s) = K P E(s) E28-2F

E29-2F

K
E18-2F

EaF

Ka K P

- -

e(t)

m(t)

aKp
a

K
E JJ FF

E
(18-2)

I-Controller K J J

KE19-2F
ER=CF

W
E=R-C=0

+
R

KI
S

B=C

(19-2)
EJ E
F
K
JF .

- -

W
m(t) = K I

t e(t)dt

E30-2F

1
M(s) = K I E(s)

s
M(s) K I
=
E(s)
s

E31-2F

E20-2F

Ke(t)=a

e(t)

m(t)

a
0

K
F

E (20-2)
J EFJ
.

WE30-2F

m(t) = K I

t a dt

0
m(t) = K I a t + C

E32-2F

m(t)t

E20-2F

K
- -

K K I

reset rate K I

K I KRC

K K I
K K I

D-Controller K J J

Erate controllerFKE21-2F
K

+
R

KDS

B=C

KE E
J JF

F .

(21-2)

EF

E22-2F

Kunit step function

- -

e(t)

m(t)

m(t)

1
0

JE
(22-2)

E
K
JF
F.

Et=0F

K EFKE

x(t)=0

PI-Controller K J J

K P

K P
E23-2F

K
K I
TI

1
KI

- -

KP,

K I , or TI
KE

1
F
TI s

+
R

KP
+
+

KI
S

B=C

K
F.

E EJJ(23-2)
F

m(t) = K P e(t) + K I e(t)dt E23-2F

M(s) = K P E(s) +

KI
K
E(s) = (K P + I )E(s)
s
s

K
M(s)
= K P + I E24-2F
E(s)
s

KKE24-2F

K K P
K

- -

m(t)

e(t)

2KP
KP

K
E J(2-2)
F

E23-2F

KE25-2F

+
_

+
KP

+
1
TnS

B=C

K E(25-2)
J F

- -

WE

KP
KP

FE34-2F
K K
M(s)
= KP + I P
E(s)
s KP
K
M(s)
= K P (1 + I )
K Ps
E(s)
M(s)
1
= K P (1 +
)
K
E(s)
P
s
KI

M(s)
1
= K P (1 +
) E35-2F
E(s)
Tn s

W
Tn =

KP
= K P TI
KI

K P Tn ,

Tn
K P E25-2F
K

PD-Controller K J J

KE JF K P

- -

+
R

KP
+
+

K DS

B=C

K
E(26-2)
J F

W
d
e(t)
dt
M(s) = K P E(S) + K D SE ( s )
M(s)
= KP + KDS
E(S)
m(t) = K P e(t) + K D

E36-2F

E37-2F

K
Tv KE27-2F

K K P Tv ,

+
_

+
KP

+
1
TVS

B=C

K E (27-2)
J F

- -

E28-2F

E F

Et=0F
K

e(t)

m(t)

KP
1
0

K
E
J F

(2-2)

EF

m(t) = K P t + K D

dt
dt

m(t) = K P t + K D E38-2F

E28-2F

K Tv

PID-Controller K J J

KE29-2F

WE39-2F

- -

J
t

m(t) = K P e(t) + K I e(t)dt +K D

d
e(t)
dt

E39-2F

KEFe(t)E m(t) F
KP

+
R

KI
S

+
+

K DS

B=C

(29-2)
K E
J F
K D K I K P

WE JF

K
M(s)
= K P + I + K DS
s
E(S)

E40-2F

E30-2F

- -

+
_

KP

+ +

1
TnS

1
TVS

B=C

K
E J F(-2)

KP
KP

F
E40-2F
W

K K
K
M(s)
= K P + I P + K DS P
E(S)
s KP
KP
M(s)
1
= K P (1 +
+ Tv S
E(S)
Tn s

E41-2F
W

TI =

K
1
, Tn = TI K P , Tv = D
KI
KP

K P K P Tn , Tv ,

EF
Tv Tn K

E31-2FK

K

- -

e(t)

m(t)

m(t)

1
0

KP
t

E J F

(31-2)
(F

- -

Poles and zeros J

Ws-plane

(a ) G(s) =

10(s + 2)
s ( s + 1)( s + 10)

(c) G(s) =

10(s + 2)
s (s 2 + 2 s + 2)

(b) G(s) =

(d) G(s) =

10s(s + 1)
( s + 2)(s 2 + 3s + 2)

e -2t
10s( s + 1)( s + 2)

W J

(a ) g(t) = 5te 5t u(t)

(b) g(t) = (t sin 2t + e 2t )u(t)

(c) g(t) = 2e 2t sin 2tu(t)

(d) g(t) = sin 2t cos 2tu(t)

W J
(a) G(s) =

(c )

G(s) =

(e) G(s) =

1
s ( s + 2)( s + 3)

(b) G(s) =

10
( s + 1) 2 ( s + 3)

100(s + 2)
s (s 2 + 4)( s + 1)

(d) G(s) =

2( s + 1)
s ( s 2 + S + 2)

1
( s + 1) 3

(f) G(s) =

2( s 2 + s + 1)
s ( s + 1.5)(s 2 + 5s + 5)

W J
r = 10,

L = 0.1H ,

C = 100F

- -

R
+ vr(t)-

J
+

+ vl(t)-

e(t)

v(t)
-

K J
K J

J
K

J
K

K J
K J

K J

- -

K J

K J

K J J

K J J

K J J

K J J

K J J
K J J

W
W

- -

Transfer Function K J

Ktransfer function

Kinitial conditions

a y

( m)

+ a1 y

( m 1)

(m)

( m 1)

+ ... + a n -1 y + an y = bo x + b1 x + ... + bm1 x + bm x (n m) E1-3F

W

y= output of the system

x=input of the system

E1-3F
W

bo s m b1 s m1 + ... + bm 1 s + bm
Y(s)
Transfer Function = G(s) = X(s) = a s n + a s n 1 + .... + a s + a
1
n 1
n
o

E2-3F

WE1-3F
W
y'(t)+y(t)=2x(t)0.1
W

- -

sY(s)+Y(s)=2X(s)0.1
W

Y(s)
Es+1)Y(s)=2X(sF0.1

Y (s)
2
G
(
s
)
=
=

X ( s ) 0.1s + 1

K EFE1-3F

R(s)

E(s)
G(s)

C(s)

R(s)

G( s)
1 + G( s)H ( s)

C(s)

B(s)
H(s)
E F

EF

(1-3)
E JF
EFE1-3F
E(s)=R(s)-B(s)

B(s)=C(s)H(s)

E(s)=R(s)-C(S)H(s)
- -

C(s)=E(s)G(s)

C(s)=[R(s)-C(s)H(s)]G(s)

C(s)[(1+G(s)H(s)]=R(s)G(s)

T ( s)

C ( s)
G( s)
=
R( s) 1 + G ( s) H ( s)

EF10-1

Eunity feedbackF
H(s)=1
W

T ( s) =

G( s)
1 + G( s)

WE JF
E JF
R(s)
+

K1 ( s + 20)
s

1
s

1
s

K2

K 3 (s + K 4 )
s + K5

E2-3FE2-3F

- -

C(s)

W
K
K 1
s

K1 ( s + 20)
s

K
K 1
s

E3-3F K
R(s)
+

K1 ( s + 20) / s 2
K K ( s + 20)
[1 + 1 2
]s
s2

C(s)

K 3 (s + K 4 )
s + K5

E2-3FE3-3F

T(s)E3-3F K
T ( s) =

K1 ( s + 20)( s + k 5 )
C ( s)
=
R( s ) s[( s 2 + K1 K 2 ( s + 20)][ s + K 5 ] + K1 K 3 ( s + 20)( s + K 4 )

Time Domain Analysis of Control Systems K J

steady state responsetransient response

C(t) = C t (t) + C ss ( t)
- -

C t ( t) = transient response
C ss ( t) = steady state response

Reference input K
Ksteady state error

Typical Input Signals K J J

KEF

rampstepK

Kimpulseacceleration

Classification of Control Systems

K J J

Order of System J
KS

Characteristic equation

Ws

K J

K J
Ks J

Ks J
- -

Type of System J

KH(s)G(s) J
KG(s).H(s) J

KSG(s).H(s) J
KS J

WE3-3F
E5-3F

R(s)

+
-

10

C(s)

(S2 + 2S + 2)

K
S

E J EF5-3
F
K

W
W

10s
10s
G(s)
=
=

s(s 2 + 2s + 2) + 10 K s 3 + 2s 2 + 2s + 10 K

- -

K S

W
10K
10K
G(s)H(s)
=
=

s(s 2 + 2s + 2) s(s + 1 + j)(s + 1 - j)

KEF

Steady State Error K J J

WE3-5F

R(s)

E(s)

G(s)

C(s)

H(s)

K
F
K EEJ6-3
F

C(s)
G(s)
R(s) = 1 + G(s)H(s)

W
E(s) = R(s) - C(s)H(s)

E(s) = R(s) - E(s)G(s)H(s)

E(s) + E(s)G(s)H(s) = R(s)

E(s)(1 + G(s)H(s)) = R(s)

WR(s)E(s)
- -

E(s)
1
=
R(s) 1 + G ( s ) H ( s )

WE(s)

1
E
(
s
)
=
R(s)

1 + G (s) H (s)
W

sR(s)
s 0 1 + G(s)H(s)

e ss = lim e(t) = lim E(s) = lim

t

s0

E9-3F

Static Error J

WE9-3F
s
1
1
e
=
lim
=
ss

s 0 1 + G(s)H(s) s
1 + G(0)H(0)

WStatic error K P
G ( s ) H ( s ) = G ( 0) H ( 0)
K P = lim
s0

1
e
=
ss 1 + K
P

- -

Velocity Error J

WE9-3F

s
1
1
=
=
e
lim
lim
ss s 0 1 + G(s)H(s) s 2 s 0 sG(s)H(s)
WSpeed error constant K v

K v = lim sG(s)H (s)

E10-3F

s 0

W
ess =

1
Kv

E11-3F

Steady State Error for J

Acceleration Input
WE9-3F

1
1
s
e
=
lim
=
ss s 0 1 + G(s)H(s) s 3 lim s 2 G ( s ) H ( s )
Wacceleration error constant K a

s 2 G(s) H(s)
K a = lim
s 0

E12-3F

W
ess =

1
Kv

E13-3F

E0,1 and 2FE1-3F

K

- -

r(t) = t

1 / (1 + K)

Type 0

1/K

Type 1

1/K

Type 2

r(t) = t2

r(t) = 1

KK

KK E1-3
J FF

- -

WE4-3F
E K a K v J K p F

ess KE7-3F

s+2

s+4

s(s + 1)

KE7-3F
K EJ F
W
WE12-3FE10-3F

4( s + 2)
=
s 0
s 0 s ( s + 1)( s + 4)
4( s + 2)
Static Velocity error constant
K v = lim sG ( s ) = lim
=2
s 0
s 0 s ( s + 1)( s + 4)

S 4( s + 2)
Static Acceleration error constant K a = lim s 2 G ( s ) = lim
=0
s 0
s 0 s ( s + 1)( s + 4)
Static Position error constant

K p = lim G ( s ) = lim

WE9-3F ess J

e ss = 1 /(1 + K p )
e

ss

= 1 /(1 + ) = 0

- -

E11-3F ess J

ess = 1 / K v

ess = 1 / 2.

WE13-3F ess

e ss = 1 / K a

e = 1/ 0 =
ss

Kp

WE5-3F
W ess

= 1 / 19 Type

0 J

K v = 0.2 Type 1 J
Ka

K p

K v

= 0.5 Type

2 J

W
= 1 / 19 Type 0 ess J
ess = 1 /(1 + K p ) = 1 /[1 + (1 / 19] = 0.95

= 0.2 Type

ess
K a

1 ess J

= 1 / K v = 1 / 0.2 = 0.95

= 0.5 Type

e ss

2 ess J

= 1 / K a = 1 / 0.5 = 2

- -

Transient Response of First Order

K J J
Systems
E8-3F
KS

R(s)
Input

C(s)
Output

Ts + 1

K EJ F
K E8-3F

c(t)
r(t) = 0

t 0

r(t) = 1
R(s) = 1/s

t 0

Wunit step function

E14-3F

E5-5F

1
C(s)
=
R(s)

Ts + 1

E15-3F

WE15-3FE14-3F
1
C(s)
=
E16-3F

s(Ts + 1)
C(t)T
Winverse laplacepartial fraction

A1
A2
1
=
+
s(Ts + 1)
s Ts + 1

W A1 , A 2
- -

A1 = s

1
s(Ts + 1)

s =0

1
= =1
1

1
= T
1
1
s=
T
T
W

A = (Ts + 1)
2

1
s(Ts + 1)

T
1
C(s) = +
s Ts + 1
1
1
=

C(s)

1
s
s+( )
T

W
1
1
C(t) = L1 [C(s)] = L1 [ ] L1 [
]
1
s
s+( )
T

C(t) = 1 - e

-t
T

t0
a = 1
T

C(t) = 1 - e -at

t0

E17-3F

E6-5F

KE17-3F

- -

Input

C(t)
+

+11

0.018
Output
1
a

2
a

3
a

4
a

5
a

ts

E9-3
E JF
F
KK

K J J
Transient Response of Second Order Systems

SE10-3F
K

R(s)

++

E(s)

n2
s(s + 2n )

K
EJ F
K
E10-3
F

- -

C(s)

n2
C(s)
=
R(s) s 2 + 2 n s + n2

E18-3F

is the undamped natural frequency

C(t)
E3-7Fdamping ratio
W
is the damping ratio of the system

R(s) n2
C(s) = s 2 + 2 s + 2
n
n

1
s

W R(s) =

n2
C(s) =
s ( s 2 + 2 n s + n2 )

E19-3F

WE18-3F

A1
A2
1
C
(
s
)
=
+
+

s s P1 s P2
W
A 1 ,
P1 ,

A 2 constants
P2 roots

of partial fraction

of the second order equation

- -

C(t) = 1 + A1e P1t + A 2 e P2 t

1

A1 =
2 2 1

P1 = n + n 2 1

A2 = +
2 2 1

P2 = n n 2 1

E20-3F

E A1 , A 2 , P1 , P2 F

WE , n F

0 1 under damped system J

Complex conjugates
E P1 , P2 F

E A1 , A 2 FS

Wunder damped system

P1 , P2 = n j n 1 - 2

W
c(t) = 1

e n t
1
2

sin( d t + )

E21-3F
W

d = n 1

E22-3F

2 1
= tan (

E23-3F

W
1

= damping natural frequency.

- -

1 2

= 1 Critically damped System J

negative real and equal roots
E P1 , P2 F
E A1 , A 2 FS

Wcritical damped system

P1 , P2 = n

c(t) = 1 e n t (1 - o t)

E24-3F

1 Over damped System J

E P1 , P2 F

Over damped system E A1 , A 2 FS

W

P1 , P2 = n n 2 - 1
W

e-a1t e-a 2 t
c(t) = 1 +
(

)
2
a 2 E25-3F
2 1 a1

a1

= n ( + 1 2 )

a 2 = n ( 1 2 )

= 0 Underdamped System J
SE P1 , P2 F
W

P1 , P2 = j n

- -

c(t) = 1 cos(n t)

E26-3F

E F
E11-3F

K
y(t)

s-plane
X

f1

y(t)

s-plane

X
X

0
=1

s-plane

j
y(t)

0 p p1

0
X

j
y(t)
s-plane

=0

0
X

K E J F

K E11-3F

- -

Definition

of

transient

response

K J J
Specifications

C(t)

E12-3F
J J J J
F

KE

c(t)

Mp

Allowable
tolerance

0.05
or
0.02

1
0.9
td
0.5

0.1
0
tr
tp
ts

K
E12-3F
K E J F

Delay TimeE t d F J

Rise TimeE t r F J

K
W

- -

tr =

KE

E27-3F

= 3.14 FEradFS

W d

1 2
d
1
= cos = tan ( ) = tan (
)

d = n 1 2

E28-3F

E29-3F

= n

E30-3F

) t p (Peak Time J

tp =

E31-3F

Maximum OvershootE M p F

EF

M p

=e

1 2

E32-3F

t s ( Settling TimeF J

F EF

WKE

- -

t s = 4T =

t s = 3T =

4
4
=
n

3
3
=
n

at 2% criterion

E33-3F

at 5% criterion

E34-3F

WE6-3F
= 0.6 E7-5F
W
n = 5 rad/sec

E t r F J

E t p F J

E t s F J

E M p F J
W
W

d = n 1 2 = 5 1 0.6 2 = 4 rad/sec
= n = 0.6 5 = 3
1 d
1 4

=
tan
(
)
=
tan
( ) = 53.13

3
= 53.13
tr

3.14
= 0.93 rad
180
rise time

3.14 - 0.93
=
= 0.55 sec
4
d

tp

peak time

settling time

3.14
=
= 0.785 sec
4
d
- -

4 4
= = 1.33 sec
3

3 3
t s = = = 1 sec
3
ts =

for 2% (criterion)
for 5% (criterion)

maximum overshoot
M p = e
Mp

)
d

=e

3
( ) 3.14
4

= 0.095

= 0.095 100 = 9.5%

- -

system type J
unity feedback systems

10e -0.2s
(b) G(s) =
(1 + s)(1 + 10s)(1 + 20s)
100(s 1)
(d) G(s) = 2
s ( s + 5( s + 6) 2
100
(f) G(s) = 3
s ( s + 2) 2

K
(a) G(s) =
(1 + s)(1 + 10s)(1 + 20s)
10(s + 1)
(c) G(s) =

s( s + 5( s + 6)
(e) G(s) =

10(s + 1)
s ( s 2 + 5s + 5)
3

type and order J

K

R(s)

20
s2

24 s
( s + 3)( s + 4)

C(s)

1
50( s + 3)

R(s)
K1

10
s2

1
s

2( s + 4)
( s + 6s + 3)
2

C(s)

20
s+6

J
E J JF K p , K v and K a

unity feedback system

W
- -

(a) G(s) =

1000
(1 + 0.1s)(1 + 10s)

(c) G(s) =

K
s (1 + 0.1s )(1 + 0.5s )

(e) G(s) =

100
s(s + 10 s + 100)
100
(d) G(s) = 2 2
s (s + 10 s + 100)
K(1 + 2s)(1 + 4s)
(f) G(s) =
s 2 ( s 2 + s + 1)

(b) G(s) =

1000
s(s + 10)(s + 100)

K ess J
1
1
(a) - G(s) = 2
H(s) =
s +1
s +s+2
1
( b) - G(s) =
H(s) = 5
s( s + 5)
1
s +1
H(s) =
(c) - G(s) = 2
s+5
s ( s + 10)

(d) - G(s) =

1
s 2 ( s + 12)

H(s) = 5( s + 2)
W

unit step input J

unit ramp input J

n , d , , t r , t p , M p, and t s
J
M ( s) =

K
s 2 + 10s + (7 + K )

Wforward gain K
K=18

K=218
K=618

EF

EF

EF

KK
- -

y ' (t ) + 10 y (t ) = 10 x (t )
y ( 0) = 0

W J

5 t 0
x (t ) =
0 t < 0

J
10 y ' (t ) + y (t ) = x(t )
y (0) = 0
10 t 0
x (t ) =
0 t<0

J
y" ( t ) + 3 y ' ( t ) + 2 y ( t ) = 2 x ( t )

y (0) = y ' (0) = 0,

1 t 0
x (t ) =
0 t < 0

- -

K
K

K
K

y" (t ) + 2 y ' (t ) + y (t ) = 10 x (t )
y(0) = y ' (0) = 0,

1 t 0
x (t ) =
0 t < 0

J
y" (t ) + 4 y ' (t ) + 8(t ) = 16 x (t )
y (0) = y ' (0) = 0,
5 t 0
x (t ) =
0 t < 0

- -

- -

K J

K J
K J

K J

K J

K J

K J

- -

Closed-loop Control J
K

Actuating signal

Controller

Input signal

(com mand)

k
M

Output signal

feedback -path
System
components

forward-path
System
components

(controlled variable)

E4-1)

K
E1-4
F

block diagramE1-4F

controller K
E

plant

EFK
K

operational amplifier
K

- -

Kplant EF
K

K

J

SimulinkK

1-3

b(t)r(t)b(t)r(t)
R(s)

E(s)

C(s)
G(s)

r(t)

e(t)
B(s)

c(t)

H(s)

b(t)

E2-4F

- -

Kc(t)
e(t ) = r(t ) b(t )
EH(s)=1F

e(t ) = r (t ) c(t ) E1-4F

E ( s )) = R ( s ) C ( s ) E2-4F

T ( s) =

C ( s)
G( s)
=
R ( s ) 1 + G ( s ) E3-4F
W

C ( s) =

G( s)
R ( s ) E4-4F
1 + G( s)

W2-3 C(s)

E ( s) =

1
R ( s ) E5-4F
1 + G( s)

E3-4F

Gp(s)

Gc(s)

- -

R(s)

E(s)

P(s)

Gc(s)
e(t)

r(t)

p(t)

C(s)
Gp(s)
c(t)

E3-4F
Gp(s)FGc(s)

G(s)=Gc(s)Gp(s)

W

G c ( s )G p ( s )
C ( s)
=
R ( s ) 1 + G c ( s )G p ( s ) E6-4F

E ( s) =

1
R ( s ) E7-4F
1 + G c ( s )G p ( s )

J
W
p(t)=Kpe(t)

P(s)= KpE(s)

- -

Gc ( s ) = K p E8-4F

WR0
R0 t 0
r
t
=
(
)

0 t<0

R0
(
)
=
R
s

s
W

G ( s) =
p

1
s + 1

7-3R(s)Gp(s)Gc(s)

R
0
s E9-4F

E (s) =

1
s + 1
9-3
1+ K p

E ( s ) = R0

s + 1

s(s + 1 + K p ) E10-4F

e ss = lim sE ( s ) = lim sR0

s 0

s 0

s + 1

s(s + 1 + K p )

R0
1 + K p E11-4F

E11-4F

KKKp
- -

Simulink

1
r (t ) = 1 G p ( s ) =
W
s +1

Kp =2

Kp =5

K p = 10

K3-3
1

KP=10

KP=5

KP=2

0
0

0.5

1.5

2.5

KE4-4F

- -

J
W
t

p(t ) = K I e( )d
0

Gc ( s) =

KI
s E12-4F

WR0
R0

t0

r (t ) = 0 t < 0

R0
(
)
=
R
s

s
W

1
(
)
G
s
=
p
s + 1

E7-4FR(s)Gp(s)Gc(s)

E ( s) =
1+

KI
1

s s + 1

R
0
s E13-4F

13-4

E ( s) =

- -

s (s + 1)

R
0 E14-4F
(s 2 + s + K I ) s

e ss

R
s(s + 1)
= lim sE ( s ) = lim s 0
= 0 E15-4F
s

s
K
(
+
1
+
)
I
s 0
s 0

E15-4F

Simulink
W r(t ) = 1 G p ( s) =

s +1

K I = 0.1 K I = 0.2 KI = 0.3 K I = 2

E5-4FESimulinkF

K
1.4

KI=2

1.2

KI=0.2

KI=0.3

0.8

KI=0.1

0.6

0.4

0.2

10

15

E5-4F
J

- -

20

J
W
t

p(t ) = K p e(t ) + K I e( )d
0

Gc ( s) =

K ps + KI
s

E16-4F

t0
R0:
t<0
R
R( s ) = 0
s

r(t ) =

R0
0

1
(
)
G
s
=
p

s + 1

7-4R(s)Gp(s)Gc(s)

E ( s) =
1+

1
K ps + KI
s

1
s + 1

R
0
s E17-4F

16-4

E ( s) =

s(s + 1)

R
0 E18-4F
s 2 + s( K p + 1) + K I ) s

- -

R0
s (s + 1)
e
sE
s
s
=
(
)
=

lim s (s 2 + s(1 + K ) + K ) = 0 E19-4F

ss lim
s 0
s 0
p
I

E19-4F

Simulink

r(t ) = 1 G p ( s) =

K I = 2,

K p =1

K I = 1,

K p =1

K I = 2,

s +1

K I = 1,

Kp =2

K p =1

K I = 1,

K I = 1,

0
0

Kp =2

K p =1

5-4

E6-4FESimulinkF

- -

W
t

p(t ) = K p e(t ) + K I e( )d + K D
0

de(t )
dt
W

Gc ( s) =

KDs2 + K ps + K I
s

E20-4F

t0
R0
t<0
R
R( s ) = 0
s

r(t ) =

R0
0

G ( s) =
p

1
s + 1

7-4R(s)Gp(s)Gc(s)

W
R
1
0
E ( s) =
s E21-4F
KD s2 + K ps + K I
1
1+

s
s + 1

- -

20-4

E ( s) =

s(s + 1)

R
0
( + K D ) s 2 + ( K p + 1) s + K I ) s E22-4F

R
s (s + 1)
= 0 E23-4F
e ss = lim sE ( s ) = lim s 0
2
s
(
+
)
+
(
+
1
)
+

K
s
K
s
K
s 0
s 0
D
p
I

E23-4F

SimulinkE7-4F

r(t ) = 1 G p ( s) =

s +1

W
K I = 1,

K I = 1,
K I = 2,

K p = 1 , K D = 2 W
K p = 1 , K D = 1 W

K p = 1 , K D = 0.2 W

- -

KEPIDFE8-4F

Kp

1
Constant

1
Ki

G(s)

Kd

simout

s+1
To Workspace

du/dt

PIDSimulimk7-4
K I = 1,

K p = 1, K D = 2

K I = 2,

K p = 1 , K D = 0.2

K I = 1,

K p = 1, K D = 2

0
0

10

15

E8-4F

- -

J
W

R(s)
r(t)

E(s)

1
s +1

e(t)

C(s)
c(t)

F(s)

f(t)

J
W

R(s)
r(t)

E(s)
e(t)
F(s)
f(t)

10
s+2

2
s+4

- -

C(s)
c(t)

J
J
K J
K

R(s)

E(s)

r(t)

K
s+2

e(t)
B(s)

C(s)

c(t)

2
s+4

b(t)

W J

ess
Kp

C(s)

Constant

s+2
Sum1

Ki

- -

1
s

G(s)

W J

ess

Kp
1
Constant

Ki

C(s)
1

s+1
G(s)

Kd

du/dt

- -

AC Motor
Actuator
Analog
Armature
Automation
Block Diagram
Bode Diagram
Cascade
Characteristic Equation
Characteristics
Chart Recorder
Closed Loop
Compensator
Control system
Control Valve
Controlled Variable
Controller
Critical Damping
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Damping
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Tachometer
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Unity Feedback

1. Modern Control System, R. C. Dorf, Edison Wesley, 1990

2. Control System Design, C. T. Chen, Saunders College Publishing,
1993.
3. Feedback Control System, John Van De Vegta, Prentice Hall, 1990.
4. Automatic Control Systems, B. Kuo, Prentice Hall.
5. Johnson, C. D. Process Control Instrumentation Technology,
Prentice Hall, 2002
6. Bateson, R. N. Introduction to Control Systems Technology, Prentice
Hall, 2002
7. Ogata, K. Modern control Engineering, Prentice Hall, 1997
8. Dorf, R. C. and Bishop, R. H. Modern Control Systems, Addisson
Wesley, 1998
9.

K J

K J
K J
K J

K J J

K J J
K J J
K J J

K J J

K J

K J J

K J J

K J
EF K J J
K J J

K J
K J
K J

K J

J
K J

K J J

K J J

K J J
K J J
K J J
K J J
K J J

K J
K J

K J J

K J J

K J J

K J J

K J J
K J J
K J J

K J

K J

K J J

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