Automatic control theory

A Course used for analyzing and

designing a automatic control system

Chapter 1 Introduction
21 century information age, cybernetics(control theory), system
approach and information theory , three science theory mainstay(supports)
in 21 century.

1.1 Automatic control

A machine(or system) work by machine-self, not by manual operation.

1.2 Automatic control systems

1.2.1 examples
1) A water-level control system
* Operating principle

val ve

Gear
assembl y

fl oat

motor

Water pool

* Feedback control

ampl i fi er

Figure 1.1

Chapter 1 Introduction
Another example of the water-level
control is shown in figure 1.2.
* Operating
principle
* Feedback
control

fl oat
l ever

2) A temperature Control system

w
ater
entrance

(shown in Fig.1.3)

W
ater exi t
Fi gure 1. 2

contai ner

therm
o
m
eter

uf

ur
e

ua=k(ur- uf )
M

am
pl i fi er

* Operating principle
* Feedback control(error)

Gear
assem
bl y
Fi gure 1. 3

Chapter 1 Introduction
3) A DC-Motor control system

Uk=k(ur- uf )

ur

ua

DC
m
ot or
M

regul ator

l oad
tri gger

Uf (Feedback)

recti fi er
M

* Principle

Fi g. 1. 4

* Feedback control(error)

techom
eter

Chapter 1 Introduction
4) A servo (following) control system
servopotenti om
eter
output
Tc

Fig. 1.5

* principle
* feedback(error)

servom
odul ator

l oad

servom
echani sm
M

I nput
Tr

servo m
otor

Chapter 1 Introduction
5) A feedback control system model of the family planning
(similar to the social, economic, and political realm(sphere or field))
excess
procreate
Desi re
popul ati on

government
(Famil y pl anni ng committee)

popul ati on
soci ety

Pol i cy or
statutes

census

* principle
* feedback(error)

Fig. 1.6

Chapter 1 Introduction
1.2.2 block diagram of control systems
The block diagram description for a control system : Convenience

x
x3
x1 + + e
x2
Example:

Si gnal
(vari abl e)

xxx

Adders (compari son)

e=x1+x3-x2
Fig. 1.7

Components
(devi ces)

Chapter 1 Introduction
val ve

Gear
assembl y

For the Fig.1.1, The

water level control
system:

fl oat

motor

Water pool

ampl i fi er

resistance comparator
Desired
water level
Input

amplifier
Error

Actuator
Motor

Gearing

Actual
water level

Valve

Water
container
Process

controller
Feedback
signal

Figure 1.1

Float
measurement
Fig. 1.8 (Sensor)

Output

Chapter 1 Introduction
For the Fig. 1.4, The DC-Motor control system
comparator
Desi red
rotate speed n

Reference
i nput ur

Error

Actuator
Regul ator

uk

Tri gger

Recti fi er

ua

Process

control l er

Feedback si gnal

DC
motor

Techometer

uf

measurement (Sensor)
Fi g. 1.9

Actual
rotate speed n
Output n

Chapter 1 Introduction
1.2.3 Fundamental structure of control systems
1) Open loop control systems
Di sturbance
(Noi se)
I nput r(t)
Reference
desi red output

Control l er

uk
Control
si gnal

Actuator

uact
Actuati ng
si gnal

Process

Output c(t)
(actual output)

Fi g. 1. 10

Features: Only there is a forward action from the input to the

output.

Chapter 1 Introduction
2) Closed loop (feedback) control systems
Di sturbance
(Noi se)
I nput r(t)
Reference
desi red output

e(t)=
r(t)-b(t)

(+)

Control l er

Feedback si gnal b(t)

uk
Control
si gnal

Actuator

uact
Actuati ng
si gnal

Process

Output c(t)
(actual output)

measurement
Fi g. 1. 11

Features:
not only there is a forward action , also a backward action
between the output and the input (measuring the output and
comparing it with the input).
1) measuring the output (controlled variable) . 2) Feedback.

Chapter 1 Introduction
Notes: 1) Positive feedback; 2) Negative feedback
Feedback.
1.3 types of control systems
1) linear systems versus Nonlinear systems.
2) Time-invariant systems vs. Time-varying systems.
3) Continuous systems vs. Discrete (data) systems.
4) Constant input modulation vs. Servo control systems.

1.4 Basic performance requirements of control systems

1) Stability.
2) Accuracy (steady state performance).
3) Rapidness (instantaneous characteristic).

Chapter 1 Introduction
1.5 An outline of this text
1) Three parts: mathematical modeling; performance analysis ;
compensation (design).
2) Three types of systems:
linear continuous; nonlinear continuous; linear discrete.
3) three performances: stability, accuracy, rapidness.
in all: to discuss the theoretical approaches of the control
system analysis and design.
1.6 Control system design process
shown in Fig.1.12

Chapter 1 Introduction
1. Establish control goals

6. Describe a controller and select

key parameters to be adjusted

2. Identify the variables to control

3. Write the specifications
for the variables

7. Optimize the parameters and

analyze the performance
Performance
meet the
specifications

Performance does not

4. Establish the system configuration Meet the specifications
Identify the actuator
Finalize the design
5. Obtain a model of the process,
the actuator and the sensor
Fig.1.12

Chapter 1 Introduction
1.7 Sequential design example: disk drive read system
A disk drive read system Shown in Fig.1.13
Rotation
of arm

Spindle
Disk

Track a
Track b

Actuator
motor

Configuration
Principle

Arm
Head slider

Fig.1.13 A disk drive read system

Chapter 1 Introduction
Sequential design:
here we are concerned with the design steps 1,2,3, and 4 of Fig.1.12.

(1) Identify the control goal:

Position the reader head to read the date stored on a track on the disk.

(2) Identify the variables to control: the position of the read head.
(3) Write the initial specification for the variables:
The disk rotates at a speed of between 1800 and 7200 rpm and the read head
flies above the disk at a distance of less than 100 nm.
The initial specification for the position accuracy to be controlled:
1 m (leas than 1 m ) and to be able to move the head from track a to track b
within 50 ms, if possible.

Chapter 1 Introduction
(4) Establish an initial system configuration:
It is obvious : we should propose a closed loop system , not
a open loop system.
An initial system configuration can be shown as in Fig.1.13.
Desired
head
position

error

Control
device

Actuator
motor

Read
arm

Actual
head
position

sensor
Fig.1.13 system configuration for disk drive

We will consider the design of the disk drive further in the aftermentioned chapters.

Chapter 1 Introduction
Exercise:

E1.6, P1.3, P1.13

Chapter 2 mathematical models of systems

2.1 Introduction
2.1.1 Why
1) Easy to discuss the full possible types of the control systemsin terms of
the systems mathematical characteristics.
2) The basis analyzing or designing the control systems.
For example, we design a temperature Control system :
Disturbance

e(t)=
uk
uac
Output T(t)
Input r(t) + r(t)Controller
Actuator
Process
b(t)
actual
desired output
Control
Actuating
( - )
output
signal
signal
temperature
temperature
Feedback signal
b(t)

temperature
measureme
ntFig. 2.1

The key designing the controller how produce uk.

Chapter 2 mathematical models of systems

Different characteristic of the process different uk:
T(t)

T
T
2 1

uk

uk11 uk12
uk21

uk 11
For T1
uk 12
uk 21

For T1

uk 22

2.1.2 What is
Mathematical models of the control systems the mathematical
relationships between the systems variables.
2.1.3 How get
1) theoretical approaches 2) experimental approaches
3) discrimination learning

Chapter 2 mathematical models of systems

2.1.4 types
1) Differential equations
2) Transfer function
3) Block diagram signal flow graph
4) State variables(modern control theory)
2.2 Input-output description of the physical systems differential
equations
The input-output descriptiondescription of the mathematical
relationship between the output variable and the input variable of the
physical systems.
2.2.1 Examples

Chapter 2 mathematical models of systems

Example 2.1 : A passive circuit

ur

define: input ur output uc

we have

uc

di
du
uc ur i C c
dt
dt

d 2uc
duc
LC 2 RC
uc ur
dt
dt

Ri L

L
d 2uc
duc
make : RC T 1
T 2 T1T2 2 T1
uc ur
R
dt
dt

Chapter 2 mathematical models of systems

Example 2.2 : A mechanism
Define: input F output y. We have:
F

dy
d2y
F ky f
m 2
dt
d t

d2y
dy
m 2 f
ky F
dt
dt

m
y
f

If we make :
we have :

f
T1,
k

m
T2
f

d2y

dy
1
T1T2
T1
y F
2
dt
k
dt

Compare with example 2.1: ucy; urF analogous systems

Chapter 2 mathematical models of systems

Example 2.3 : An operational amplifier (Op-amp) circuit
R2
C

i2
ur

R1 i 1
R1

R3
R4

(2)(3); (2)(1);
(3)(1)

make : R4C T ;
we have : T

i3

Input ur

output uc

1
(i3 i2 )dt R4 (i3 i2 )......(1)

C
u
i2 i1 r ...........................................( 2)
R1
uc
1
i3
(uc R2i2 ).....................................(3)
R3
uc R3i3

duc
dur
R2 R3 R2 R3
R4C
uc R (
R4 )C
ur
R

R
1
dt
dt
2 3

R2 R3
k;
R1

R2 R3
(
R4 )C
R2 R3

duc
dur
uc k (
ur )
dt
dt

Chapter 2 mathematical models of systems

Example 2.4 : A DC motor
La

Ra

ua

(J 1, f 1)

w1

ia

(J 2, f 2)

w2

(J 3, f 3)

w3

Input ua

output 1

dia
La
Raia Ea ua ....(1)
dt
M Cmia .........................( 2)
Ea Ce1.........................(3)
d1
M M J
f 1.....( 4)
dt

M
f

i1
i2

(4)(2)(1) and
(3)(1):

La J
La f
Ra J
R f
1 (

) 1 ( a 1)1
CeCm
CeCm CeCm
CeCm

1
L
R
ua a M a M
Ce
CeCm
CeCm

Chapter 2 mathematical models of systems

J
J
J J1 22 2 32 ......equivalent moment of inertia
i1 i1 i2
f
f
here : f f1 22 2 32 ......equivalent friction coefficient
i1 i1 i2
Mf
M
..........................equivalent torque
i1i2
( can be derived from : 1 i1 2 i1i23 )
L
Make: Te a ............electric - magnetic time - constant
Ra
Ra J
Tm
.......mechanical - electric time - constant
CeCm
Tf

Ra f
....... friction - electric time - constant
CeCm

Chapter 2 mathematical models of systems

The differential equation description of the DC motor is:

TeTm 1 (TeT f

Tm ) 1 (T f

1)1

1
1

ua (TeTm M Tm M )
Ce
J
Assume the motor idle: Mf = 0, and neglect the friction: f = 0,
we have:

d 2

d
1
TeTm
Tm

ua
2
dt
Ce
dt

Chapter 2 mathematical models of systems

Example 2.5 :

A DC-Motor control system

R2

+
ur R1

R3
R3

DC
mot or

ua

uk

R1
Uf

tri gger

w l oad

recti fi er
M

techom
eter

Input ur Output ; neglect the friction:

R2
uk
(ur u f ) k1 (ur u f )........................................(1)
R1
u f .....................(2)
d 2

ua k2uk ......................(3)

d
1
1
TeTm
Tm

ua (TeTm M Tm M )......(4)
2
dt
Ce
J
dt

Chapter 2 mathematical models of systems

2 1 3 4 we have

d 2

d
1
Tm
1
TeTm 2 Tm
(1 k1k2 C ) k1k2
ur
(Te M M )
e
dt
Ce
J
dt
2.2.2 steps to obtain the input-output description (differential
equation) of control systems
1) Determine the output and input variables of the control
systems.
2) Write the differential equations of each systems components in
terms of the physical laws of the components.
* necessary assumption and neglect.
* proper approximation.

Chapter 2 mathematical models of systems

3) dispel the intermediate(across) variables to get the input-output
description which only contains the output and input variables.
4) Formalize the input-output equation to be the standard form:
Input variable on the right of the input-output equation .
Output variable on the left of the input-output equation.
Writing polynomial according to the falling-power order.
2.2.3 General form of the input-output equation of the linear
control systemsA nth-order differential equation:
Suppose:

input r output y

y ( n ) a1 y ( n 1) a2 y ( n 2) an 1 y (1) an y
b0r ( m ) b1r ( m 1) b2 r ( m 2) bm 1r (1) bm r.........n m

Chapter 2 mathematical models of systems

2.3 Linearization of the nonlinear components
2.3.1 what is nonlinearity
The output is not linearly vary with the linear variation of the
systems (or components) input nonlinear systems (or
components).
2.3.2 How do the linearization
Suppose: y = f(r)
The Taylor series expansion about the operating point r0 is:
f ( r ) f ( r0 ) f

(1)

f ( 2) ( r0 )
f ( 3) ( r0 )
2
( r0 )( r r0 )
( r r0 )
( r r0 )3
2!
3!

f ( r0 ) f (1) ( r0 )( r r0 )

make : y f ( r ) f ( r0 ) and : r r r0

wehave : y f ' ( r0 ) r ............linearization equation

Chapter 2 mathematical models of systems

Examples:
Example 2.6 :

Elasticity equation

suppose : k 12.65; 1.1;

F ( x ) kx

operating point x0 0.25

F ' ( x ) kx 1 F ' ( x0 ) 12.65 1.1 0.250.1 12.11

we have :
that is :

F ( x ) F ( x0 ) 12.11( x x0 )
F 12.11x..............linearization equation

Example 2.7 : Fluxograph equation

Q( p) k p
Q Flux;

p pressure difference

Chapter 2 mathematical models of systems

because : Q ' ( p )
thus : Q

k
2 p

k
p...........linearization equation
2 p0

2.4 Transfer function

Another form of the input-output(external) description of control
systems, different from the differential equations.
2.4.1 definition
Transfer function: The ratio of the Laplace transform of the
output variable to the Laplace transform of the input variable,with
all initial condition assumed to be zero and for the linear systems,
that is:

Chapter 2 mathematical models of systems

C ( s)
G( s)
R( s )
C(s) Laplace transform of the output variable
R(s) Laplace transform of the input variable
G(s) transfer function
Notes:
* Only for the linear and stationary(constant parameter) systems.
* Zero initial conditions.
* Dependent on the configuration and the coefficients of the
systems, independent on the input and output variables.
2.4.2 How to obtain the transfer function of a system
1) If the impulse response g(t) is known

Chapter 2 mathematical models of systems

G ( s ) L g (t )

We have:
Because:
G( s)

Then:

C ( s)
, if r (t ) (t ) R( s ) 1
R( s)

G ( s ) C ( s ) L g (t )

Example 2.8 :

g (t ) 5 3e

2t

5
3
2( s 5)
G( s)

s s 2 s ( s 2)

2) If the output response c(t) and the input r(t) are known
We have:

L c(t )
G( s)
L r (t )

Chapter 2 mathematical models of systems

Example 2.9:

Then:

1
r (t ) 1(t ) R(s) ........Unit step function
s
1
1
3
c(t ) 1 e 3t C ( s )

s s 3 s( s 3)
.........Unit step response

C ( s ) 3 s( s 3)
3
G( s)

R( s )
1s
s3

3) If the input-output differential equation is known

Assume: zero initial conditions;
Make: Laplace transform of the differential equation;
Deduce: G(s)=C(s)/R(s).

Chapter 2 mathematical models of systems

Example 2.10:

2 c ( t ) 3 c ( t ) 4 c ( t ) 5 r ( t ) 6r ( t )

2 s 2C ( s ) 3sC ( s ) 4C ( s ) 5sR ( s ) 6 R( s )

C(s)
5s 6
G(s)
2
R(s) 2 s 3s 4

4) For a circuit
* Transform a circuit into a operator circuit.
* Deduce the C(s)/R(s) in terms of the circuits theory.

Chapter 2 mathematical models of systems

Example 2.11:
R1
ur

For a electric circuit:

R2
C1

R1
ur(s)

uc

C2

R2

1/ C1s

1/ C2s

1
1
1
// ( R2
)
sC1
sC2
sC2
U c ( s)
U r ( s)
1
1
1
R1
// ( R2
)
R2
sC1
sC2
sC2

1
2

U r ( s)

T1T2 s (T1 T2 T12 ) s 1

U ( s)
1
G( s) c

U r ( s ) T1T2 s 2 (T1 T2 T12 ) s 1

here : T1 R1C1;

T2 R2C2;

T12 R1C2

uc(s)

Chapter 2 mathematical models of systems

Example 2.12: For a op-amp circuit
R2

ur R1
R1

R2

uc

ur R1
R1

1/ Cs

uc

1
R2
U c ( s)
sC R2Cs 1
G( s)

U r ( s)
R1
R1Cs
1
k (1 )..................PI-Controller
s
R
here : k 2 ; R2C...... Integral time constant
R1

Chapter 2 mathematical models of systems

5) For a control system
Write the differential equations of the control system, and Assume
zero initial conditions;
Make Laplace transformation, transform the differential equations
into the relevant algebraic equations;
Deduce: G(s)=C(s)/R(s).
Example 2.13 the DC-Motor control system in Example 2.5
R2

+
ur R1

R3
R3

ua
uk

R1
Uf

tri gger

DC
mot or
M

w l oad

recti fi er
M

techom
eter

Chapter 2 mathematical models of systems

In Example 2.5, we have written down the differential equations
as:
R2
uk
(ur u f ) k1(ur u f )..................................(1)
R1
u f ....................(2)
ua k2uk ...................(3)
d 2

d
1
T
TeTm 2 Tm

ua m (Te M M )......(4)
dt
Ce
J
dt
Make Laplace transformation, we have:
U k ( s ) k1[U r ( s ) U f ( s )]...................................................(1)
U f ( s ) ( s )...............(2)

U a ( s ) k2U k ( s )..............(3)

1
TeTm s Tm
(TeTm s Tm s 1)( s )
U a ( s)
M ( s )......(4)
Ce
J
2

Chapter 2 mathematical models of systems

(2)(1)(3)(4), we have:

1
1
TeTm s Tm
[TeTm s Tm s (1 k1k2 )]( s ) k1k2 U r ( s )
M ( s)
Ce
Ce
J
k1k2 1
( s )
Ce
G( s)

U r ( s ) T T s 2 T s (1 k k 1 )
e m
m
1 2
Ce
2

La
here : Te
...........electric magnetic time - constant
Ra

Ra J
Tm
......mechanical electric time - constant
CeCm

Chapter 2 mathematical models of systems

2.5 Transfer function of the typical elements of linear systems
A linear system can be regarded as the composing of several
typical elements, which are:
2.5.1 Proportioning element
Relationship between the input and output variables:

c(t ) kr (t )

C ( s)
G( s)
k
Transfer function:
R( s)
Block diagram representation and unit step response:
R(s)

r(t)

C(s)
k

1
t

Examples:

C(t)

amplifier, gear train,

tachometer
t

Chapter 2 mathematical models of systems

2.5.2 Integrating element
Relationship between the input and output variables:
t

1
c(t )
r (t )dt..........TI : integral time constant

TI
0

C ( s)
1
G( s)

R ( s ) TI s

Transfer function:

Block diagram representation and unit step response:

R(s)

1
TI s

r(t)

1
t

C(s)

Examples:

C(t)

TI

Integrating circuit, integrating

motor, integrating wheel
t

Chapter 2 mathematical models of systems

2.5.3

Differentiating element

Relationship between the input and output variables:

dr (t )
c(t ) TD
dt

C ( s)
G( s)
TD s
R( s)

Transfer function:

Block diagram representation and unit step response:

R(s)

TDs

r(t)

C(s)

Examples:

C(t)

differentiating amplifier, differential

valve, differential condenser

TD
t

Chapter 2 mathematical models of systems

2.5.4 Inertial element
Relationship between the input and output variables:

dc(t )
T
c(t ) kr (t )
dt

C ( s)
k
G( s)

R ( s ) Ts 1

Transfer function:

Block diagram representation and unit step response:

R(s)

k
Ts 1

r(t)

1
t

C(s)

Examples:

C(t)

inertia wheel, inertial load (such as

temperature system)
t

Chapter 2 mathematical models of systems

2.5.5 Oscillating element
Relationship between the input and output variables:
2
d
c(t )
dc(t )
2
T
2T
c(t ) kr (t )
2
dt
dt

0 1

C ( s)
k
2 2
Transfer function: G ( s )
R ( s ) T s 2Ts 1
Block diagram representation and unit step response:
1

R(s)

C(s)

T 2 s 2 2Ts 1

r(t)

Examples:

C(t)

oscillator, oscillating table,

oscillating circuit

1
t

0 1

Chapter 2 mathematical models of systems

2.5.6 Delay element
Relationship between the input and output variables:

c(t ) kr (t )
C ( s)
G( s)
ke s
R( s)

Transfer function:

Block diagram representation and unit step response:

R(s)

C(s)

ke s

r(t)

1
t

Examples:
gap effect of gear mechanism,
threshold voltage of transistors

C(t)

Chapter 2 mathematical models of systems

2.6

block diagram models (dynamic)

Portray the control systems by the block diagram models more
intuitively than the transfer function or differential equation models.
2.6.1 Block diagram representation of the control systems
Si gnal
(vari abl e)

X(s)

Com
ponent
(devi ce)

G(s)

X3(s)
Adder (com
pari son)
E(s)=x1(s)+x3(s)-x2(s)

Examples:

X1(s)

E(s)

X2(s)

Chapter 2 mathematical models of systems

For the DC motor in Example 2.4
Example 2.14
In Example 2.4, we have written down the differential equations as:
dia
La
Raia Ea ua ....(1) M Cmia .........................( 2)
dt
d
Ea Ce .........................(3) M M J
f .....( 4)
dt
Make Laplace transformation, we have:
U a ( s ) Ea ( s )
La sI a ( s ) Ra I a ( s ) Ea ( s ) U a ( s ) I a ( s )
.............(5)
La s Ra
M ( s ) Cm I a ( s )......................................................................................(6)
Ea ( s ) Ce( s ).......................................................................................(7)
1
M ( s ) M ( s ) J s( s ) f ( s ) ( s )
[ M ( s ) M ( s )]......(8)
Js f

Chapter 2 mathematical models of systems

Draw block diagram in terms of the equations (5) (8):
M (s )
Ua(s)

1
La s Ra

I a(s)

Cm

Ea(s)

M(s)

(s )

1
Js f

Ce
M (s )

Consider the Motor as a whole:

Ua(s)

Ce

TeTm s 2 (Tm TeT f ) s T f 1

1
(TeTm s Tm )
J
TeTm s 2 (Tm TeT f ) s T f 1

(s )

Chapter 2 mathematical models of systems

Example 2.15

The water level control system in Fig 1.8:

1

Ce

k1 TeTm s 2 Tm s 1
Desi red
water l evel
I nput hi
e

ampl i fi er

ua

Motor

Feedback si gnal hf

Tm
(Te s 1)
J

M ( s)
2
TeTm s Tm s 1

k3
T1s 1

k2 e
s

Geari ng

k4
T2 s 1

Actual
water l evel
Q Water Output h
Val ve
contai ner

Fl oat

Chapter 2 mathematical models of systems

The block diagram model is: