1

Review of Closed Loop Control

1.1

Simple Feedback - Block diagram shows major components

generic system disturbance

reference sensor

actuator

plant

output sensor

Example: room-temperature control - in the house e.g. disturbance = open door thermostat compares desired and actual temp. where to site? electrical signal from thermostat actuates furnace usually on/off heat from furnace is greater than heat loss Example: cruise control
road condition

desired speed

engine

car

speedometer

For more examples see Tutorial sheet 1 the problem of going from physical system to equations not generally considered Control 1

Laplace Transform
2.1 Properties of linear constant systems = linear time invariant (LTI)

2.1.1 Superposition If input can be expressed as sum of signals then the response can be expressed as the sum of respective individual responses

u 1 y1 , u 2 y 2

u1 + 2u 2 = 1 y1 + 2 y 2

2.1.2 Convolution Response of a linear constant system is the convolution of the input with the unit impulse response of the system 2.1.3 Impulse response

f (t ) =

f ( ) ( t ) d

assuming f(t) is continuous at t =

thus function is represented as sum of impulses if h(t,) is is the response at t to an impulse applied at response to unit impulse

y(t ) =

u ( ) h ( t ) d

since response depends on time difference t - or

y(t ) =

h ( ) u ( t ) d

(convolution integral y = u * h)

Control 2

2.2

Transfer functions

Consider an exponential input u = est

y(t ) =

h ( ) e s ( t ) d

= H(s) est

assume a solution of this form exists and substitute without computing the integral

e.g.

y + ky = e st

where

& = dy / dt y
st

differentiating

y(t ) = H(s)e

y = sH(s)e

st

H(s) = 1
2.3

s+k

st e y=

s+k

Definition Laplace transform

one-sided transform: for physical systems f(t) = 0 for t < 0

F (s) =

f ( t ) e st dt

(decaying exponential provides convergence factor)

Example: Step a gives F(s) = a/s

Control 3

Control 4

2.4

Properties of Laplace Transform (proved in Franklin)

Superposition L {f1(t) + f2(t)} = F1(s) + F2(s) Time Delay function f(t) delayed by units of time F1(s) = e-s F(s) Time scaling by factor a f(at) f(t-)

F1 ( s ) = Frequency shift f(t)e-at

1 F( s ) a a

F1(s) = F(s+a)

Differentiation L{fm(t)} = smF(s) - sm-1f(0-) - sm-2f1(0-) - ... - fm-1(0-) zero i.c. Integration s2F(s) for second order m=2

1 F1 ( s ) = F ( s ) s Convolution
L {f1(t)*f2(t)} = F1(s)F2(s)

Note: 1) multiplying LT much easier than convolution 2) in this course Int. and Diff. properties most important

Control 5

2.5

Partial fraction expansion

F ( s) =

b1 s m + b2 s m 1 + s n + a 1 s n 1 +

K+ b K+ a

m +1

= K

m i =1 ( s z i ) n i =1 ( s p i )

zi are the zeros and pi the poles if poles are distinct

F ( s) =

C1 C2 + + s p1 s p2

L+ s C p
n

C i = (s pi )F (s)

s = pi

corresponding time function for a unit step 1(t) is

f (t) =

i=1

C ie

pit

1(t )

if poles p1 and p2 are distinct and complex p1 = p2* and C1 = C2* ie complex conjugate

(if roots are repeated k times - see tutorial example)

F ( s) =

C3 C1 C2 + + + s p1 ( s p1 ) 2 ( s p1 ) 3
1 di = i [( s p1 ) k F ( s )] i! ds s= p

C ki

Control 6

2.6

Final Value Theorem

if all poles are in the LHP

lim y( t ) = lim sY ( s )
t s 0

1 DC gain = lim sG ( s ) = lim G ( s ) for unit step input s 0 s s 0

2.7

Initial Value theorem

sF ( s ) = f ( 0 + ) lim s

2.8

LT and differential equations

& &( t ) y

example

+ y(t ) = 0

& (0 ) = where y (0) = and y

s 2Y ( s ) s + Y ( s ) = 0 Y ( s ) =

s
s +1
2

s +1
2

and y(t) found from inverse tables

Control 7

Example: FVT and IVT

Control 8

Example: f(t) is decaying exponential

Control 9

Pole Locatioons

H ( s) =

1 s +

h( t ) = e t 1( t ) where 1(t) = impulse response

if >0 response is stable with time constant = 1/ when response is 1/e times initial value
Fig. 3.7 First order system response 1 0.9 0.8 0.7 0.6 h(t) 0.5 0.4 0.3 0.2 0.1 0 0 0.5 1 1.5 2 2.5 time t (sec) 3 3.5 4

e-1

t/ secs

time functions and the s-plane

LHP

Decreasing Oscillations

Increasing Oscillations

RHP

Decreasing Exponential

Increasing Exponential

Control 10

3.1

Damping ratio & undamped natural frequency

Consider complex poles s = - jd corresponding to factor (s + )2+ d2 which can be written in standard form (assume no finite zeros and 2 complex poles)

n2 H(s) = 2 2 s + 2ns +n
Equating coefficients = n and n2 = d2 + 2

= damping ratio n = undamped natural frequency

d = n(1 - )
2

=sin-1 n

Im

n2 H(s) = 2 (s + n )2 + n (1 2 )
Impulse Response h ( t ) = Tables:

Re

n
1
2

e t (sin d t )1( t ) from tables

b e at sin bt where b = d a = n= 2 2 (s + a) + b

1 Step Response ( ) = s

1 e t (cos d t +

sin d t ) d

a2 + b2 a at 1 e (cos bt + sin bt ) Tables: s (( s + a ) 2 + b 2 ) b

Control 11

1 0.8 0.6 0.4 0.2 y(t) 0 -0.2 -0.4 -0.6 -0.8 -1 0

Fig. 3.12a Impulse response vs. zeta figure Impulse response vs

= 0 1

6 Wn t

10

12

2 1.8 1.6 1.4 1.2 y(t) 1 0.8 0.6 0.4 0.2 0 0 2

Fig. 3.12b Step vs. zeta Step response vsresponse figure

= 0 1

6 Wn t

10

12

rise time Control 12

Fig. 3.14 Second order system response showing exponential envelope. figure 1 0.8 0.6 0.4 0.2 h(t) 0 -0.2 -0.4 -0.6 -0.8 -1 0 5 10 15 time t (sec) 20 25 30 <--- -e^(-sigma t) e-t <--- e^(-sigma t) e-t

settling time

Control 13

Time Domain specs second order system

Consider step response

rise time tr settling time ts overshoot Mp

time to approach final value e.g 10 - 90 % time taken for transients to decay e.g. 1% overshhot divided by final value

peak time tp time to reach max overshoot

tp 0.9

Mp

0.1

tr

ts

From the curves of time responses versus, Assuming 0.5 then

ntr 1.8,

tr

1.8

Control 14

Overshoot can be found from taking LT of H(s)/s and differentiating

1 e t (cos d t +
t

sin d t ) d

2 sin d t) = 0 giving e (d sin d t + d

tp =

Mp =e

=e

1 2

100

Mp versus figure Fig. 3.17 Mp vs. zeta for a 2nd order system. :
n s

t Settling = 0.01 for 1% of steady state value 90time given by e

80 70 60 Mp (%) 50 40 30 20 10 0 0 0.2 0.4

4.6

can use straight line approximation to determine zeta from M p

0.6 zeta

0.8

Settling time ts determined by e-t

e.g. 1% settling time

n ts

= 0.01 t s

4 .6

n
Control 15

4.1.1 Effects of zeros

A zero near a pole tends to cancel effect of the pole e.g. if C 1 = ( s p1 )F ( s ) s = p and F(s) has a zero close to p1 C1 is small
1

Consider H ( s ) =

s / n + 1 ( s / n ) 2 + 2 ( s / n ) + 1
indicates closeness of zero to pole

Step response with =0.5 figure: Fig. 3.20 Step response with zeta = 0.5
1.8 1.6 1.4 Step response of H(s) 1.2 1 0.8 0.6 0.4 0.2 0 0 2 4 6 Wn t (rad/sec) 8 10

Increasing

Small reduces rise time and increases overshoot

Control 16

4.1.2 Additional pole Third order system TF given by

H ( s) =

1 (s / n + 1)[(s / n )2 + 2 (s / n ) + 1]

figure: Step response extra pole extra =0.5 pole, zeta = 0.5 Fig. 3.25 Step response with
1.2

1 alpha=100 5 0.8 y(t) 2 1

0.6

0.4

0.2

4 Wn t

small increases rise time and reduces overshoot

Control 17