EED3016Control Systems

Asst.Prof.Dr.HaticeDoan 20122013Spring

Resources

T tb k Textbooks:
Ogata,ModernControl Eng.,Pearson. Goodwin d et.al. l Control l Syst.Design,Prentice Hall ll Kuo Automatic Control Systems,Prentice Hall. Dorf andBishop,Modern ControlSystems,Wiley.

Used Slide Presentations:

EE2010E:SystemsandControl,Lecture Slides,BenM.Chen. MCEN467:Control Systems,OttoFriedrich.

Lectures
Attendanceisessential!!! Askanyquestionatanytimeduringthe lecture.

Engineering
Engineering isconcerned with understanding g the materials and forces of and controlling nature for the benefit ofhumankind. Control system engineers are concerned with understanding and controlling segments of their environment,often called systems, to provide useful economic products for society.

What issystem?
Asystem isacombination ofcomponents that g and p perform acertain objective. j act together E Examples l include i l d financial fi i lsystemssuch has stockmarket,socialsystemssuchas government, weather,thehumanbody, electricalsystemssuchaselectriccircuits, mechanicalsystems,etc

Block diagram representation ofa system

Linear Systems

Linear Systems
So asystem iscalled linear if the principle of p p applies. pp superposition Th The principle i i l of fsuperposition i i states that h the h response produced by the simultaneous application oftwo different forcing functions isthe sum ofthe two individual responses.

Example for nonlinear system

Timeinvariant system

Example for timeinvariant system

Example for timevariant system

Systemswithmemoryandwithout memory

What isacontrol system?

Acontrolsystemisaninterconnectionof p forming gasystem y configuration g components thatwillprovideadesiredsystemresponse.

Control system

CruiseControl System

Voltoge control system

Control ofafighter aircraft

HistoricalPerspective
250BC, BC Hierapolis Hi li sawmill: ill Roman R water t powered d stonesawmill combining acrank with aconnecting rod

Similar stone
saw mill found also inEphesus

11361206ElCezire,ArtuksTrkmenDenisty,DiyarbakrCizre
ChiefEngineerofPallace Water mill

Water clock

CrankshaftCshaft.gif

HistoricalPerspective
1600DrebbelTemperatureregulator 1681Pressureregulator
forsteamboilers

1765Polzunovwater
levelfloatregulator=
(Forpumpingupwateroutofmine;

Archimedesscrew,Syracuse,287212BC)

Flyball governorusedona steamengine inacotton factorynearManchester whichwasat thecentreofthe industrialrevolution.

Theabove flyballgovernorinthesame cottonfactory wasusedtoregulatethe speedof awaterwheeldrivenbythe flowof theriver. Invented!byJ.Watt1788torejectthe loaddisturbancesalso

SteamEngine J W J. Watt tt17361819

 1769JamesWattsSteamEngineandGovernor 1868 J.ClerkMaxwellformulatesamathematicalmodelfor

governorcontrolofasteamengine

1927 HaroldBlackdiscoversand

patentsthefeedbackamplifier

1927 HendrikBodeanalyzesfeedbackamplifiers 1932 Nyquistdevelopsmethodsforanalyzingfeedbackamplifier

stability

 1940sNorbertWienerleadsgunpositioningeffort;

becomesanengineeringdiscipline 1950sIncreaseduseofLaplace p transform, , splane,rootlocus (by Evans for stability analysis) 1960sSputnik,highlyaccuratecontrol systems y for space p vehicles, missiles and robotics 1980sRoutineuseofdigital computersascontrol elements 1990sFeedbackcontrolinautomobiles,automation, planetary exploration

Basic Terminology
ControlledVariableandControl Signal or ManipulatedVariableThecontrolled variableis thequantityorconditionthatismeasuredandcontrolled.Thecontrol signal or manipulatedvariable isthequantityorconditionthatisvariedbythe controllersoastoaffectthevalueof thecontrolledvariable.Normally,the controlled t ll dvariable i bl is i the th output t tof fthe th system. t Controlmeansmeasuringthevalueofthecontrolledvariableofthesystemand applying themanipulatedvariabletothesystemtocorrectorlimitdeviationofthe measured valuefromadesiredvalue. Plants: Aplantmaybeapieceofequipment,perhapsjustasetofmachineparts functioningtogether,thepurposeofwhichistoperformaparticularoperation. Plant isaphysicalobjecttobecontrolled(suchasamechanicaldevice,a heating furnace,achemicalreactor,oraspacecraft) Processes: Any operationtobecontrolleda process.Examples arechemical, economic,andbiologicalprocesses.

Disturbances: Dist rbances Adi disturbance t b i isasignal i lth that ttends t d t toadversely d l affect ff t thevalueof theoutputofasystem.Ifadisturbanceisgenerated withinthesystem,itiscalledinternal, whileanexternaldisturbance isgeneratedoutsidethesystemandisaninput. input FeedbackControl: Feedbackcontrolreferstoanoperationthat,inthe presence of fdi disturbances, t b tends t d t toreduce d th thediff differenceb between t theoutputofasystemandsome referenceinputanddoessoon thebasisofthisdifference. Hereonlyunpredictabledisturbances aresospecified,since predictableorknowndisturbancescanalwaysbecompensated for withinthesystem.

 I Inspeed dcontrol t lsystem, t theplant (controlled ( t ll dsystem) t )is i th the engine. Thecontrolled variableisthespeedoftheengine. Thedifferencebetweenthedesiredspeed andtheactualspeedis theerrorsignal. Thecontrolsignal(theamountoffuel)tobeapplied totheplant (engine)istheactuatingsignal.

Theexternalinputtodisturbthecontrolled variableisthe disturbance.Anunexpectedchangeintheloadisadisturbance.

If you don dont t measure measure, , you can not control it.

OpenLoop Control Systems

Desired Output Response

Controller

Plant

Output

Thosesystemsinwhichtheoutputhasnoeffect onthecontrolactionarecalled openloopcontrolsystems.Inotherwords,inanopenloopcontrolsystemthe outputisneithermeasurednorfedbackforcomparisonwiththe input. Onepracticalexampleisawashingmachine.Soaking,washing,andrinsinginthe washeroperateonatimebasis.Themachinedoesnotmeasuretheoutputsignal, that is, is thecleanlinessoftheclothes clothes. Inanyopenloopcontrolsystemtheoutputisnotcomparedwiththereference input. p Thus, ,toeachreferenceinput p therecorresponds p afixedoperating p gcondition; ; asaresult, theaccuracyofthesystemdependsoncalibration.Inthepresenceof disturbances,an openloopcontrolsystemwillnotperformthedesiredtask. Openloopcontrolcanbe used,inpractice,onlyiftherelationshipbetweenthe p andoutput p isknownandif thereareneitherinternalnorexternal input disturbances.Clearly,suchsystemsarenotfeedback controlsystems.Notethat anycontrolsystemthatoperatesonatimebasisisopen loop.

ClosedLoop (Feedback)Control Systems

Asystemthatmaintainsaprescribedrelationship betweenthe outputandthereferenceinputbycomparingthemandusingthe difference d e e ce asameans ea sof o control co t o is scalled ca edafeedbac feedbackco control t o syste system. Inaclosedloopcontrolsystemtheactuatingerror signal,whichis thedifferencebetweentheinputsignalandthefeedbacksignal signal,is fedtothecontrollersoastoreducetheerrorandbringtheoutput ofthesystemtoadesiredvalue. Thetermclosedloopcontrol always impliestheuseof feedbackcontrolactioninorderto reducesystemerror.

ClosedLoop versus OpenLoop Control Systems

A Anadvantage d t of fthe th closed l dloop l control t lsystem t i isth thef fact t thattheuseoffeedbackmakesthesystemresponse relatively insensitivetoexternaldisturbancesandinternal variationsinsystemparameters. Forsystemsinwhichtheinputsareknownaheadoftime andinwhichtherearenodisturbancesitisadvisabletouse openloopcontrol. Closedloop controlsystemshaveadvantageswhen unpredictabledisturbancesand/orunpredictable variations insystemcomponentsarepresent.

The major advantages ofopenloop systems

1 Simple 1. Si l construction t ti and deaseof fmaintenance. i t 2 Lessexpensivethanacorrespondingclosedloopsystem. 2. system yproblem. p 3. Thereisnostability 4. Convenientwhenoutputishardtomeasureormeasuring th output the t tprecisely i l is i economically i ll not tfeasible. f ibl (For (F example,inthewashersystem, itwouldbequite expensivetoprovide adevicetomeasurethequalityof thewasher'soutput,cleanlinessoftheclothes.)

The major disadvantages ofopenloop systems

1. Disturbancesandchangesincalibration causeerrors,andtheoutputmaybedifferent from whatisdesired desired. 2. Tomaintaintherequiredqualityinthe output recalibrationisnecessaryfromtime output, totime.

OpenLoopEducational d lSystem:
Learning g Objectivesaims

Di t b Disturbances

b a
Educator Director K

y Learner

y=Ka+b

ClosedLoopEducationalSystem
Objectivesaims Reference e e e ce
Disturbances

_
y

Educator Controller K

b Learner ea e

Assesment/ Evaluation

y=K(ay)+b

y=a.K/(K+1)+b.1/(K+1)

For High Control Gains Ks: y=a

Control System Design

Th The goal l of fcontrol t l enginnering i i design d i is i to t obtain bt i the th configuration,specifications and identification ofthe key parameters ofaproposed system to meet anactual need. The design process: 1 Establishment ofgoals and variables to becontrolled and 1. definition ofspecifications (metrics)againist which to measure performance 2. System definition and modelling 3. Control system design and integrated system simulation and analysis y

CruiseControllerDesign
Objective:Designacruisecontrollertoregulatethespeed ofacartoadesiredvalue( (say yv0) DesignProcedure Step p1:Identify ytherelevantcomponents/systems p /y Step2:Specifytheirinterconnectionthroughblock Disturbances diagrams (accelerator pedal (throttle) position, brake pedal position)
Actuator Noise

(air drag, grade,

Actuators
Desired Control I/P Reference Input (desired vehicle speed)

Control I/P

Physical Process

friction etc) Actual output (vehicle speed)

Cruise Cont.

Sensed O/P

Sensors
Sensor Noise (wheel speed sensor)
1.41

CruiseControllerDesign
Step3:Establishamapfromcontrolinputtotheoutput(s)ofinteresti.e., establishamathematicalmodelforthephysicalprocess.Thismapwillbeused todeterminethecontrolalgorithm. Requiredattributesofthemodel: Themodelshouldadequately q yrepresent p reality y Foreaseofcontroldesign,themodelshouldbesimple Usualproceduretoconstructcontrolorientedmodels Invokerelevantphysicstodescribetheprocessunderinvestigation Makeapproximations/assumptionstosimplifymodelstructure

Disturbances Control I/P

Physical Process

Actual Output

1.42

ProcessModel
Disturbances Control I/P

Physical Process

Actual A t l Output O t t

1/Rw

1/M

Process Model:

Controller Design g

Step4:ControllerDesign Thecontrollerisamapfromactualoutput(v)and desiredoutput(v0)tothedesiredcontrolinput Thecontrollershouldaccountforthedynamicsofthe processundercontrol

ExampleControlSystems
MechanicalandElectromechanicalControlSystems Thermal(e.g. g Temperature) p )ControlSystem y PneumaticControlSystem Fluid(Hydraulic)ControlSystems ComplexControlSystems

IndustrialControllers
OnoffControllers ProportionalControllers Integral g Controllers ProportionalplusIntegralControllers ProportionalplusDerivativeControllers ProportionalplusIntegralplusDerivativeControllers

GeneralAnalysisApproach for Control Systems

Definethephysicalproblemproperly D fi the Define h systemand di itscomponents Formulatethemathematicalmodel
Newtonslaws:translationalandrotationalforces Kirchoffs laws:meshandnodeequations

Listthenecessaryassumptions Writethedifferentialequationsforthemodel Puttheequationsinstandardform Solvetheequationsforthedesiredvariables Examinethesolutionforreasonableness

Mechanical M h i lChemical Ch i lElectrical El t i l Control C t l Systems Howtomodelthesystemplant? HowtoAnalyzethemodel? HowtoDesignaController? Howtoredesigntune?

Modeling (Art&Science) Select l amodel d l(model ( d lidentification) d f ) Realistic (enough complexity) Simple (Occam (Occams s razor &generalization) Find modelparameters (parameter identification)

Describe modelerrors Linearize nonlinearmodels

The

first way way: :eitherbytrialerror orbyanalgorithm, model parameters until dynamicbehaviorofmodeland plantmatch sufficientlywell
Analternativeapproachfordealingwithmodeling problemisto usephysical

laws(suchas conservationof mass,energyand momentum)toconstructthe model. Controlrelevantmodelsareoftenquitesimple comparedtothe trueprocess andusually combine physicalreasoningwith experimentaldata.

Mathematical Model
To understand and control complex systems,one must obtain quantitative mathematical models ofthese systems.It isnecessary therefore to analyze y the relationships p between the system y variables and to obtain amathematical model. The systems are dynamic innature so the d descriptive i i equations i are usually ll differential diff i l equations.

IdealControlSystemElements
Element Type Inductive storage Physical Element Electrical Inductance Translational spring Rotational spring Fluid inertia C Capacitive iti storage t El t i l capacitance Electrical it Translational mass Rotational mass Fluid capacitance Thermal capacitance Energy dissipators Electrical resistance Translational damper Rotational damper Fluid resistance Thermal resistance Describing Equation Energy (E) or power ()

v = L di/dt dx/dt = (1/k) dF/dt = (1/k) dT/dt P = I dQ/dt i = C dv/dt d /dt F = M d 2x/dt 2 T = J d /dt Q = Cf d P/dt q = Ct d/dt v = iR F = b dx/dt T = b Q = ( 1/ Rf ) P q = ( 1/ Rt )

E = (1/2) L i 2 E = (1/2) F 2 / k E = (1/2) T 2 / k E = (1/2) I Q 2 E = (1/2) C v 2 E = (1/2) M ( dx/dt ) 2 E = (1/2) J 2 E = (1/2) Cf P 2 E = Ct 2 = i 2R = v 2 / R = b ( dx/dt ) 2 = b 2 = ( 1/ Rf ) P 2 = ( 1/ Rf )

Differential Equations ofPhysical S t Systems:

Example 1:Mechanical System

dy (t ) d 2 y (t ) M +b + ky (t ) = r (t ) 2 dt dt

Example2:Electrical System

v(t ) dv(t ) 1 +C + v(t )dt = r (t ) R dt L0

Example:Cruisecontrol System

Linear Differential Equations

I/OREPRESENTATIONSfor LINEAR SYSTEMS

x(t)
A system is linear iff If x1 (t)

Linear System

y(t)

y1 (t) and x2 (t)

y2 (t)

then k1 x1 (t) + k2 x2 (t)

Example: Example :AffineSystem If x1(t)

k1 y1 (t) + k2 y2 (t) for all constants k1 ,k2

y1(t) = kx1(t) + b and x2(t)

y1(t) + y2(t)

y2(t) = kx2(t) + b

Let x3(t) =x1(t) + x2(t)

y3(t) = k x3(t) + b = k[x1(t) + x2(t)] + b

System does not satisfy the superposition property, so it is not linear

Linearization
Realmodelsusually yexhibitnonidealandnonlinear characteristics Analysisofasystemrepresentedbynonlinearpartial differentialequations,withtimevaryingcoefficientsis extremelydifficultandrequiresheavycomputations Thereisnogeneralanalyticmethodavailableforsolving nonlinearsystems

DealingwithNonlinearSystems
Ingeneral,wecantakeoneofthefollowingthreeoptions: a) Replacenonlinearelementswithroughlyequivalent linearelements,whichoftenleadstoinvalidmodels; ) Develop pandsolveanonlinearmodel, ,whichresultsin b) mostaccurateresults,BUTtheanalysisistooexpensive sincethereisnogeneralanalyticmethodsavailablefor solving. c) ) Linearize (=findalinearmodelthatapproximates well,oratleastfairlywell,anonlinearone) inorderto makepossiblemoreefficientanalysisandcontroldesign b donlinear based li models. d l

Whyarelineargood?
Tosummarize: i why h arelinear li models d l useful? f l? Theyareeasytocompute, compute understandand visualize. They h give i predictable di bl outputs,in i time i and d overiterations Theanalysisoflineartheoryiscomplete, p andefficient developed Lineardifferentialequationsareeasytosolve!

WhatisaLinearFunction?
Linearfunctionsarethefirsttypeoffunctions onelearnsinmathematics,yetthereisnot onesingledefinitionoflinearity linearity Differentanswersapplytodifferentcontexts, disciplineorpurposes. purposes

PossibleAnswers
Alinearfunctionis: 1. afunctionofthegeneralformy=bx+c 2. afunctionwhosederivativeisaconstant 3. afunctioninwhichtheoutputisproportionaltothe input 4. astraightline?(careful,thisonlyworksin2D representations) Intuitively,linearitymeansproportionalityoftheoutputwith respecttoavariable.Onevariablefunctionaremost familiarbutfunctionscanbelinearinmanyvariables, e.g:

yn = b1 x1 + b2 x2 + K + bn xn

LinearandNonlinearFunctionsin3D

TheRealWorld
Learningaboutlinearbehaviorisgood,buthowusefulisit?Isthe realwordlinearatall?Theanswerisno mostofthetime. Unfortunately,nonlineardynamicsarenotfullyunderstoodand thebestwecandoissimulatetherealworldwithlinearorlow orderapproximations. Tobemoreprecise,linearbehaviorissimulatedlocally,ata pointoralongasmallintervalinspacetime,andthentheresults areextrapolatedaboutthegeneraldomain. Thatmeansthatsomedegreeofpredictionispossible,butyet, wedonotknoweverythingaboutnonlinearity.

S llsignal Small i lLi Linearization i ti

Approximatingthefunctionwhile consideringsmalldisturbances aroundstableequilibriumpoints

Applications&Method
Smallsignallinearizationmethodisthemostwidelyused ItisingeneraldonewiththehelpofTaylorseries.

x TheTaylorexpansionofafunctionf(x) aroundapoint isgivenby:

( ( df x x) d 2 f x x) d n f f ( x ) = f ( x ) + (x x ) ( x ) + ( x ) + ... (x) 2 n dx 2! dx n! dx
2 n

Linearizationaroundapoint
Ifwedefine x = xx
theTaylorexpansionbecomes:

df x2 d 2 f f ( x ) = f ( x )+ x + dx x 2! dx 2

xn d n f + ... n! dx n

Notethatthefunctionsandallthederivativesare point evaluatedatthelinearizationp

x ),thenwemaydropthe If x issmall(i.e.x iscloseto secondandhigherordertermsasfollows:

df x f ( x ) f ( x )+ d dx
x

Functionsofseveralindependentvariables
Forafunctionf ofasinglevariable,x:

df f ( x ) f ( x ) x dx

Forafunctionf oftwoindependentvariables, variables x andy:

f f ( x, y ) f ( x , y ) x x

x ,y

f + y y

x ,y

Aroundwhatpointisitpropertolinearize?

Intuitively,onewouldsayaroundzero Butthegeneralanswerisaroundstable q points p equilibrium

y=sinx andy=x nearbyzeroareveryclose

Laplace Transform
The Laplace Th L l t transform f method th d substitutes b tit t relatively l ti l easily il solved algebraic equations for the more difficult differential equations.The timeresponse solution is obtained by the following f operations: 1 Obtain the linearized differential equations. 1. equations 2. Obtain the Laplace transformation ofthe differential equations. 3. Solve the resulting algebraic equation for the transform of the variable ofinterest.

Laplace Transform

Examples

Laplacetransformproperties

Initial value theorem

FinalValue Problem

Some commonly used Laplace transform pairs

Why Laplace Transform?

Inverse Laplace transform

Summary ofpartialfraction technique

InverseLaplacetransform
Nth order d real l pole l

X(s) = N(s)/(s+a)

= Ai /(s+a)
i=1

where Ai = [1/(N-i)!][d

N-i/ds N-i{(s+a) N X(s)}]

s = -a

example: X(s) = 1/(s+2)(s+1)3 = B/(s+2)+A1 /(s+1)+A2 /(s+1) 2+A3 /(s+1)

B = (s+2) X(s) = -1
s = -2

A3 = (s+1) 3 X(s) = 1 A2 = d/ds {(s+1) A1 = [1/2!] d 2/ds

s = -1 3 X(s)}

s = -1 2{(s+1) 2 X(s)}

= d/ds {1/(s+2)} = -1/(s+2)

s = -1 s = -1

s = -1

= -1

=1

X(s) = -1/(s+2)+1 1/(s+2)+1 /(s+1) -1/(s+1) 1/(s+1) 2+1/(s+1) 3 x(t) = [-e 2t+ e t - te
t +

(t 2/2) e t] u(t)

Solution ofadifferential equation

d 2 y (t ) dy (t ) +4 + 3 y (t ) = 2r (t ) 2 dt dt

2 ) s Y ( s ) sy ( 0 ) y ( 0 ) + 4[sY ( s ) y ( 0 ) ] + 3Y ( s ) = 2 R ( s ), s+4 2 Y (s) = 2 + s + 4s + 3 s s 2 + 4s + 3

Where the initial conditions y(0)=1,dy(0)/dt=0,r(t)=1t>=0.The Laplace transform:

R(s) = 1 / s

3 Y (s) = 2 + s +1 3 t y (t ) = e 2

1 2 1 1 2+ + 3 + 3 s + 3 s +1 s + 3 s 1 3t 1 3t 2 t e + 1e + e + 2 3 3
t

The steadystate response is

lim y ( t ) =

2 . 3

The TransferFunction
The h transfer f function f i of falinear, li time i invariant, i i differential equationsystemisdefinedasthe ratio ti of fthe th Laplace L l transform t f of fthe th output t t (response function)totheLaplacetransformof theinput(drivingfunction)undertheassumption thatallinitialconditionsarezero. TFdescription does notinclude any information concerning the internal structure ofthe system and its behavior.

Springmassdampersystem:
d 2 y (t ) dy (t ) M + b + ky (t ) = r (t ) 2 dt dt

Ms 2Y ( s ) + bY ( s ) + kY ( s ) = R ( s ) M

Transferfunction:

1 Output Y (s) = G (s) = = Input R( s ) Ms 2 + bs + k

Initial conditions are zero!!!!

Cruisecontrol System

The series RLCCircuit

C id the Consider h system represented d by b the h following f ll i differential diff i l equation: i

dny d n 1 y d n 1 x d n2 x + qn 1 n 1 + L + q0 y = pn 1 n 1 + pn 2 n 2 + L + p0 x n dt dt dt dt

Where y(t)isthe response and r(t)isthe input or forcing functions. functions If the initial conditions are all zero,then the TFisthe coefficient ofthe R(s).
pn 1s n 1 + pn 2 s n 2 + L + p0 p(s) Y ( s) = G ( s) R( s) = R( s) = R( s ). ) q(s) s n + qn 1s n 1 + L + q0

Considerthelineartimeinvariantsystemdefinedbythefollowingdifferential equation:

wherey istheoutput ofthesystemandx istheinput.Thetransferfunctionofthis system istheratiooftheLaplacetransformedoutputtotheLaplace transformedinput whenallinitialconditionsarezero,or

Byusing i the h conceptof ftransfer f f function, i i iti ispossible ibl torepresentsystem dynamics byalgebraicequationsins.Ifthehighestpowerofsinthe denominatorofthetransfer functionisequalton,thesystemiscalledannth y ordersystem.

System pole and zeros

Examples

Impulse Response

Convolution Integral
F ali For linear,ti timeinvariant i i tsystem t the th transfer t f function f ti H(s) H( )is i Y(s)=H(s)X(s) whereX(s)istheLaplacetransformoftheinputandY(s)istheLaplace transformof theoutput,whereweassumethatallinitialconditionsinvolved arezero.Multiplication inthecomplexdomainisequivalenttoconvolutionin th ti the time domain d i soth thei inverseL Laplace l t transform f of fY(s) Y( )is i given i b th by the followingconvolutionintegral:

y(t) = x() h(t - ) d

0

= h() x(t - ) d
0

y(t) = x(t) * h(t) = h(t) * x(t)

Where both h(t)and g(t)are 0for t<0.

ImpulseResponseofLTISystem
(t)
LTI System y

h(t)

h(t) completely characterizes the

LTI system in the time domain

y(t)

x(t)
-

LTI System

y(t) (t) = x( () h(t - ) d

= h() x(t (t - ) d
-

y(t) = x(t) * h(t) = h(t) * x(t)

Let x(t) = u(t) and h(t) = e-atu(t), a>0, Find the response (Step response!)

y(t) = h() x(t - ) d = e-a u() u(t- )d

-

y(t) = e-a d = -1/a e-a

0

= -1/a (1 - e-at) u(t)

Example

Example

StepResponse

ModelingandLaplaceTransforms