Control Systems

Module 1:

Introduction to Feedback and Control System

 Why Use Feedback Control?
 "Why do you need a control system at all?"

What good is an airplane if you are a pilot and you can't make it go where you
want it to go?
What good is a chemical products production line if you can't control
temperature, pressure and pH in the process and you end up making tons of
garbage?
What good is an oven if you can't control the temperature?
What good is a pump if you can't control the flow rate it produces?
Control
 is usually taken to mean regulate, direct, or
command.
Two types of control:
1. Manual
2. Automatic

For example, driving a car implies controlling the

vehicle to follow the desired path to arrive safely
at a planned destination.
i. If you are driving the car yourself, you are
performing manual control of the car.
ii. If you use design machine, or use a
computer to do it, then you have built
an automatic control system
Control System
 is an interconnection of
components forming a system
configuration that will provide a
desired system response
 the input – output relationship
represents the cause and effect
relationship of the process, which
in turn represents a processing of
the input signal to provide an
output signal variable
Components of Control Systems

Input Transducer
 which converts the form of the input to that used by the controller
 sometimes called the reference

Controller
 drives a process or a plant
Configurations of Control System
1. Open – loop control system
2. Closed – loop control system

Feedback Path
 the return of part of the output
of an electronic circuit, device, or
mechanical system to its input, so
modifying its characteristics.
 which enables the system to
adjust its performance to meet a
desired output response.
Open – Loop Control System
 an open – loop control
system utilizes an actuating
device to control the
process directly without
using feedback
 it cannot compensate for
any disturbances and are
simply commanded by the
input
Closed – Loop Control System
 a closed – loop control system
uses a measurement of the
output and feedback of this signal
to compare it with the desired
input.
 compensates for disturbances by
measuring the output response,
feeding that measurement back
through a feedback path, and
comparing that response to the
input at the summing junction.
Control System:
• Example, consider an elevator.
When the fourth-floor button is
pressed on the first floor, the
elevator rises to the fourth floor
with a speed and floor-levelling
accuracy designed for passenger
comfort. The push of the fourth-
floor button is an input that
represents our desired output,
Two major measures of performance:
(1) the transient response and
(2) the steady-state error

The usual objective of a control

theory is to calculate solutions for
the proper corrective action from
the controller that result in system
stability, that is, the system will
hold the set point and not
oscillate around it.
Two major measures of performance:
Transient Response
 changing
 the part of the response that
varies with time

Steady State
 part that remain fixed
 occurs after the system become
settled and at the steady system
starts working normally
Example:
Passenger comfort and passenger
patience are dependent upon the
transient response. If this response is too
fast, passenger comfort is sacrificed; if too
slow, passenger patience is sacrificed.
The steady – state error is another
important performance specifications
since passenger safety and convenience
would be sacrificed if the elevator did not
properly level.
Advantages of Control Systems
 Power amplification
 Remote control
 Convenience of input form
 Compensation for disturbances
 Analysis and Design Objectives:
Design
The process of conceiving or inventing the
forms, parts and details of a system to achieve
a specified purpose
is the process by which a system’s
performance is created or change
 if a system’s transient response and steady –
state error are analysed and found out not to
meet the specifications, then we change
parameters or add additional components to
meet the specifications
Analysis
 is the process by which systems performance
is determined
 evaluating its transient response and steady –
state error to determine if they meet the
desired specifications
Stability

𝑇𝑜𝑡𝑎𝑙 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 = 𝑁𝑎𝑡𝑢𝑟𝑎𝑙 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 + 𝐹𝑜𝑟𝑐𝑒𝑑 𝑅𝑒𝑠𝑝𝑜𝑛𝑠𝑒

Design Process:
1. Determine a physical system and specifications from the
requirements.
2. Draw a functional Block diagram.
3. Transform a physical system into a schematic.
4. Develop a mathematical model.
5. Reduce the block diagram.
6. The system to meet specified requirements and specifications that
includes stability, transient response and steady state performance.
Test waveforms
used in control
systems
Module 2:

Modelling in the Frequency Domain

Modelling in the Frequency Domain

𝑟 𝑡 − 𝑖𝑛𝑝𝑢𝑡

𝑐 𝑡 − 𝑜𝑢𝑡𝑝𝑢𝑡
Laplace transform:
∞
ℒ𝑓 𝑡 = 𝐹 𝑠 = න 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡
0
Example:
Find the Laplace transform of 𝑓 𝑡 = 𝐴𝑒 −𝑎𝑡 𝑢(𝑡)
Example:
Find the Laplace transform of 𝑓 𝑡 = 𝐴𝑒 −𝑎𝑡 𝑢(𝑡)
 𝒇(𝒕) 𝑭(𝒔)

Unit Impulse - 𝛿(𝑡) 1

Unit step - 𝑢(𝑡) 1

𝑠

Unit ramp - 𝑡 1
𝑠2

𝑡 𝑛 (𝑛 > 1) 𝑛!
Table of Laplace 𝑠 𝑛+1

𝑒 ∓𝑎𝑡 1
Transform 𝑠±𝑎

𝑠𝑖𝑛𝜔𝑡 𝜔
𝑠2 + 𝜔2

𝑐𝑜𝑠𝜔𝑡 𝑠
𝑠2 + 𝜔2
𝑒 ∓𝑎𝑡 𝑠𝑖𝑛𝜔𝑡 𝜔
(𝑠 ± 𝑎)2 +𝜔 2
𝑒 ∓𝑎𝑡 𝑐𝑜𝑠𝜔𝑡 𝑠±𝑎
(𝑠 ± 𝑎)2 +𝜔 2
𝑠𝑖𝑛ℎ𝜔𝑡 𝜔
𝑠2 − 𝜔2
𝑐𝑜𝑠ℎ𝜔𝑡 𝑠
𝑠2 − 𝜔2
𝑡𝑠𝑖𝑛𝜔𝑡 2𝜔𝑠
(𝑠 2 +𝜔 2 )2
𝑡𝑐𝑜𝑠𝜔𝑡 𝑠 2 − 𝜔2
(𝑠 2 +𝜔 2 )2
Example:
Find the Laplace transform of 𝑓 𝑡 = 𝑡𝑒 −5𝑡
 𝑭(𝒔) 𝒇 𝒕 = ℒ −𝟏 𝑭(𝒔)

Table of Inverse 1 𝑡 𝑛−1

Laplace 1
𝑠𝑛 𝑛−1 !

𝑒 𝑎𝑡

Transform: 𝑠−𝑎

1 𝑡 𝑛−1
𝑒 𝑎𝑡
(𝑠 − 𝑎)𝑛 𝑛−1 !

1 1
𝑠𝑖𝑛𝜔𝑡
𝑠2 + 𝜔2 𝜔

𝑠 𝑐𝑜𝑠𝜔𝑡
𝑠2 + 𝜔2

1 1
𝑠𝑖𝑛ℎ𝜔𝑡
𝑠2 − 𝜔2 𝜔

𝑠 𝑐𝑜𝑠ℎ𝜔𝑡
𝑠2 − 𝜔2

1 1 𝑎𝑡
𝑒 𝑠𝑖𝑛𝜔𝑡
(𝑠 − 𝑎)2 +𝜔 2 𝜔

(𝑠 − 𝑎) 𝑒 𝑎𝑡 𝑐𝑜𝑠𝜔𝑡
(𝑠 − 𝑎)2 +𝜔 2
Example:
Find the inverse Laplace transform of:
1
𝐹 𝑠 =
(𝑠 + 3)2
Partial Fraction Expansion:
Case I: Roots of the denominator of 𝐹(𝑠) are real and distinct

Example:
2
Find the inverse Laplace transform of: 𝐹 𝑠 =
𝑠2 +3𝑠+2
Partial Fraction Expansion:
Case II: Roots of the denominator of 𝐹(𝑠) are real and repeated

Example:
𝑠
Find the inverse laplace transform of: 𝐹 𝑠 =
(𝑠+1)(𝑠+2)2
Partial Fraction Expansion:
Case III: Roots of the denominator of 𝐹(𝑠) are complex or imaginary

3
Example: Find the inverse laplace transform of: 𝐹 𝑠 =
𝑠(𝑠 2 +2𝑠+5)
Example:
Solve for 𝑦(𝑡) if all initial conditions are zero.
𝑑2 𝑦 𝑑𝑦
2
+ 12 + 32𝑦 = 32𝑢(𝑡)
𝑑𝑡 𝑑𝑡
Example:
Find the unit step response of a function represented by:
𝑑𝑐(𝑡)
+ 2𝑐 𝑡 = 𝑟(𝑡)
𝑑𝑡
Example:
Find the ramp response for a system whose transfer function is:
𝑠
𝐺 𝑠 =
(𝑠 + 4)(𝑠 + 8)
Example:
Find the inverse Laplace transform of:
10
𝐹 𝑠 =
𝑠(𝑠 + 2)(𝑠 + 3)2
Module 3:

Electrical Network
Transfer Function
Three Passive Linear Components:
Resistors, Capacitors and Inductors Transfer Function
Example:
Find the transfer function relating the capacitor voltage, 𝑉𝑐 (𝑠), to the
input voltage, 𝑉(𝑠).
Example:
𝑉𝑜 (𝑠)
Find using integro – differential equation.
𝑉𝑖 (𝑠)
Using Impedance of Passive Linear
Components:
𝑆𝑢𝑚 𝑜𝑓 𝐼𝑚𝑝𝑒𝑑𝑎𝑛𝑐𝑒𝑠 𝑥 𝐼 𝑠 = 𝑆𝑢𝑚 𝑜𝑓 𝐴𝑝𝑝𝑙𝑖𝑒𝑑 𝑉𝑜𝑙𝑡𝑎𝑔𝑒𝑠
Operational Amplifier
 is an electronic amplifier used as a basic building block to implement
transfer functions. It has the following characteristics:
1. Differential input, 𝑣2 𝑡 − 𝑣1 𝑡
2. High input impedance, 𝑍𝑖 = ∞(𝑖𝑑𝑒𝑎𝑙)
3. Low output impedance, 𝑍0 = 0 𝑖𝑑𝑒𝑎𝑙
4. high constant gain amplifications, 𝐴 = ∞ ideal
The output is given by:
𝑣𝑜 𝑡 = 𝐴(𝑣2 𝑡 − 𝑣1 𝑡 )
Inverting Operational Amplifier:
• If 𝑣2 𝑡 is grounded, the amplifier is
called an inverting operational
amplifier.
• Transfer function
𝑉𝑜 (𝑠) 𝑍2 (𝑠)
=−
𝑉𝑖 (𝑠) 𝑍1 (𝑠)
Example:
𝑉𝑜 (𝑠)
Find the transfer function for the circuit given:
𝑉𝑖 𝑠
Non – inverting Operational Amplifier
• If 𝑣2 𝑡 is not grounded and
is connected to the input, the
amplifier is called an non –
inverting operational
amplifier.
• Transfer function
𝑉𝑜 (𝑠) 𝑍1 𝑠 + 𝑍2 (𝑠)
=
𝑉𝑖 (𝑠) 𝑍1 (𝑠)
Example:
𝑉𝑜 (𝑠)
Find the transfer function for
𝑉𝑖 𝑠
the circuit given:
Example:
𝑉𝑜 (𝑠)
Find the transfer function for the
𝑉𝑖 𝑠
circuit given:
Module 4:

Translational
Mechanical System
Transfer Functions
Modeling in the Frequency Domain
Transfer Function - Two Degrees of Freedom
Sample Problem:
Rotational Mechanical System
Rotational Mechanical System
Sample Problem: