Control System

(Laplace Analysis)
Roni Heru T

1
 Proses Lapangan
Chapter 1

2
Control Proses

3
 Control Proses
Chapter 1

4
 Chapter 1

5
 Chapter 1

6
 Chapter 1

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8
9
10
11
12
 Chapter 2

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 Laplace Transforms
1. Standard notation in dynamics and control
Chapter 3

(shorthand notation)

2. Converts mathematics to algebraic operations

3. Advantageous for block diagram analysis

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 Laplace Transform

L(f (t)) =  f (t)e-st dt
0

Example 1:

 a a
Chapter 3

a st 
L(a)=  ae dt   e   0     
-st

0
s 0
 s s
 
1  1
L(e )=  e e dt   e
-bt -bt -st -(b+s)t
dt  -e  ( b  s)t
 
0 0
b+s 0 s+b

 df  df -st
L(f )  L     e dt  sL(f) f(0)
 dt  0 dt
Usually define f(0) = 0 (e.g., the error)

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 Chapter 3

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 Table 3.1 Laplace Transforms for Various Time-Domain Functionsa

f(t) F(s)
Chapter 3

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 Table 3.1 Laplace Transforms for Various Time-Domain Functionsa

f(t) F(s)
Chapter 3

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Table 3.1 Laplace Transforms for Various Time-Domain
Functionsa (continued)

f(t) F(s)

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 Example 3.1
partial differential equations (PDE)
Solve the ODE, ordinary differential equations (ODE)

dy
5  4y  2 y 0  1 (3-26)
dt
First, take L of both sides of (3-26),
Chapter 3

5  sY  s   1  4Y  s  
2
s
Rearrange,
5s  2
Y s  (3-34)
s  5s  4 
Take L-1,
1  5s  2 
y t   L  
 s  5s  4  
From Table 3.1,
y  t   0.5  0.5e0.8t (3-37) 20
Posisi Pole dalam S-plane

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y  t   0.5  0.5e 0.8t (3-37)

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 Block Notation:

Composed of two first order subsystems (G1 and G2)

Chapter 5

K K
G(s) = 2 2 G(s) =
 s  2s  1 1 2s 2 + (1   2 )s + 1
1   2
   1 2 =
2 1 2

roots:
    2 1   1 overdamped
  1 underdamped
 1 critically damped
Chapter 5
Chapter 5
Performance of a second-order
system
Performance of a second-order
system
Chapter 5
Karakteristik second-order
System
Zeta- 0,2
Kestabilan dengan kerucut
Stability in the s- plane
 Example:

d3y d2y dy
3
 6 2  11  6 y  4
dt dt dt
y( 0 )= y( 0 )= y( 0 )= 0
system at rest (s.s.)
Chapter 3

To find transient response for u(t) = unit step at t > 0

1. Take Laplace Transform (L.T.)

2. Factor, use partial fraction decomposition
3. Take inverse L.T.

Step 1 Take L.T. (note zero initial conditions)

4
s Y(s)+ 6s Y(s)+11sY(s)  6Y ( s ) =
3 2
40
s
 Rearranging,

4
Y(s)=
( s 3  6s 2  11s  6) s

Step 2a. Factor denominator of Y(s)

Chapter 3

s(s3+6s 2+11s+6 )=s(s+1 )(s+2 )(s+3 )

Step 2b. Use partial fraction decomposition

4 α α α α
 1 2  3  4
s(s +1 )(s + 2 )(s + 3 ) s s  1 s  2 s  3

Multiply by s, set s = 0
4  α α α 
 α1  s  2  3  4 
(s +1 )(s + 2 )(s + 3 ) s 0  s  1 s  2 s  3  s 0
4 2
 α1 
1 2  3 3 41
 For a2, multiply by (s+1), set s=-1 (same procedure
for a3, a4)
2
α2  2, α3  2, α4  
3
2 2 2 2/3
Step 3. Take inverse of L.T. (Y(s)=  +  )
3s s 1 s  2 s3
Chapter 3

2 2
y(t)=  2e  t  2e 2t  e 3t
3 3
2
t  y(t)  t  0 y (0)  0. (check grafik)
3

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Posisi Pole dalam S-plane

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Example:

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Posisi Pole dan Reaksinya

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 For example:

1
Y(s)= 2
s  3s  2
the denominator can be factored into (s+2)(s+1).
Chapter 3

Using the partial fraction technique

α1 α2
Y(s)= 
s  2 s 1

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 Program Matlab
num=[1]
den=[1 3 2]
[r,p,k]=residue(num,den)
printsys(num,den,'s')
rlocus(num,den)
figure
step(num,den)

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Root Locus & Step Response

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 For example:

1 1
Y(s)= 
s 2  s  2 (s  1 )(s  2 )
Chapter 3

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 Program Matlab
num=[1]
den=[1 -1 -2]
[r,p,k]=residue(num,den)
printsys(num,den,'s')
rlocus(num,den)
figure
step(num,den)

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Root Locus & Step Response

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 Transfer Functions
• Convenient representation of a linear, dynamic model.
• A transfer function (TF) relates one input and one output:
Chapter 4

u (t ) y (t )
 system 
U ( s) Y ( s)

The following terminology is used:

u y
input output
forcing function response
“cause” “effect”
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 Definition of the transfer function:
Let G(s) denote the transfer function between an input, x, and an
output, y. Then, by definition
Y ( s)
G(s) 
U ( s)
Chapter 4

where:

Y ( s )  L y (t ) 
U ( s )  L u (t ) 

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 2nd order process
General 2nd order ODE:
d2y dy
a 2 + b  y = Ku
dt dt

as 
Chapter 4

Laplace Transform: 2
 bs +1  Y (s)  KU (s)

Y (s) K
G( s)   2
U ( s ) as  bs  1
 b  b 2  4a
2 roots s1, 2 
2a
2
b
1 : real roots
4a
b2
1 : imaginary roots
4a 55
 Examples
1. 2 b 2 16
  1.333  1
3s 2  4s  1 4a 12

3s 2  4s  1  (3s  1)( s  1)  3( s  1 )( s  1)
3
t
transforms to e 3
, e  t (real roots )
Chapter 4

(no oscillation)
2. 2 b2 1
 1
s2  s  1 4a 4

3 3
s 2  s  1  ( s  0.5  j )( s  0.5  j)
2 2
(Imaginer roots)

(oscillation)
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Example 1

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Example 2

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2nd order model

K K
G(s) = 2 2 G(s) =
 s  2s  1 1 2s 2 + (1   2 )s + 1

   1 2

1   2
=  1 overdamped
2 1 2
 1 underdamped
    2 1
roots:  1 critically damped


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 Chapter 5

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 Chapter 5

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 Chapter 5

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 Linearization of Nonlinear Models
▪ Required to derive transfer function.
▪ Good approximation near a given operating point.
Chapter 4

▪ Gain, time constants may change with operating point.

▪ Use 1st order

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 Example 1:
Place sensor for temperature downstream from heated
tank (transport lag)

Distance L for plug flow,

Chapter 4

L
Dead time 
V
V = fluid velocity

T(s) K1
Tank: G1 = =
U(s) 1+ 1s
Ts (s) K 2 e -s
Sensor: G 2 = = K 2  1,  2 is very small
T(s) 1 +  2s
(neglect)
Overall transfer function:
Ts Ts T K1 K 2 e s
   G2  G1 
U T U (1   1s)(1   2 s) 64
 Example 2:
q0: control,
qi: disturbance

dh
A  qi  q0 qi  q0 at s.s.
dt
Chapter 4

dh
Use L.T. A  qi  q0
dt
AsH ( s )  qi ( s )  q0 ( s ) (deviation variables)

suppose q0 is constant qi  0

 H(s) 1 pure integrator (ramp) for


AsH ( s)  qi ( s), 
q  ( s) As step change in qi
i

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 q0 is manipulated by a flow control valve,
nonlinear element

q0  C v h
Chapter 4

Linear model

R: line and valve resistance

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 Enhanced Single-Loop Control Strategies
Chapter 16
Chapter 16
Chapter 16
 Cascade Control (multi-loop)
• Distinguishing features:
1. Two FB controllers but only a single control valve (or
other -final control element).
2. Output signal of the "master" controller is the set-
Chapter 16

point for “slave" controller.

3. Two FB control loops are "nested" with the "slave"
(or "secondary") control loop inside the "master" (or
"primary") control loop.

• Terminology

slave vs. master

secondary vs. primary
inner vs. outer
Chapter 16

Y1 G p1Gd 2
 (Eq.16-5)
D2 1  Gc 2 Gv G p 2 Gm 2  Gc1Gc 2 Gv G p1G p 2 Gm1
Chapter 16
Chapter 16
Terima Kasih

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