D(s)

U(s)

+
-

Controller

+
+

Plant

Y(s)

MA3005: Control Theory

Topic 1: Introduction
Tegoeh Tjahjowidodo

What is a controller?

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-10

30
3

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-10

30
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Control Theory
Objective: Designing a controller
Definition:
a controller is a device, it can be in the form of a
microprocessor or computer, which monitors and
physically alters the operating conditions of a given
dynamical system

Lecture Arrangement
Part I. (Dynamic) System
Asst. Prof. Tegoeh Tjahjowidodo
Office: N3-02c-68
Tel: 6790 4952
Email: ttegoeh@ntu.edu.sg

Recess Week
Part II. Controller Design
Asst. Prof. Pham Quang Cuong
Office: N3.2-02-37
Tel: 6790 5597
Email: cuong@ntu.edu.sg
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Textbook/ References

Textbook
Modern Control Engineering, Katsuhiko Ogata, 4th ed. or later,
Prentice Hall
Reference Material
System Dynamics, Katsuhiko Ogata, 4th ed. or later, Pearson
Prentice Hall
Control Systems Engineering, Nise, 5th Edition, John Wiley,
2008.
Modeling and Analysis of Dynamic Systems, Close, Charles M.,
3rd edition, John Wiley & Sons, 2002.
Any text on mathematical modelling.

Course Objectives
Provide background to mathematical modelling,
dynamic response analysis of dynamical systems
Explain basic principles of three term controllers and
their applications
Provide basics of controller design techniques,
performance and stability analysis, in time and
frequency domain for linear feedback control
systems

Part 1 Lecture Map

2. Laplace
Transform
3. Modelling
1. Introduction
6. First Order
8. Transient
Response

4. Response and
Stability
5. Routh Stability

7. Second Order

PART II. CONTROLLER DESIGN

Teaching Plan (Before Recess Week)

Week 1

Tue., Jan. 13

Introduction
Laplace Transforms

Week 2

Tue., Jan. 20

Mathematical Modeling of Dynamic

Systems

Week 3

Tue., Jan. 27
System Response

Week 4

Tue., Feb. 17
1st order systems

Week 5

Tue., Feb. 10

2nd order systems

Week 6

Tue., Feb. 17

Transient responses
Basic Control Actions

Week 7

Tue., Feb. 24

Frequency Response: Intro.

QUIZ
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Teaching Plan (After Recess Week)

Recess Week

RECESS

Week 8

Tue., Mar. 10

Introduction to controller
Basic Control and System Type

Week 9

Tue., Mar. 17

Root-Locus: Introduction
Root-Locus: PD controller

Week 10

Tue., Mar. 24

Root-Locus: Lead-Lag controller

Week 11

Tue., Mar. 31

Frequency Response: Intro.

Frequency Response: Property

Week 12

Tue., Apr. 7

Bode Plot Sketching

Week 13

Tue., Apr. 14

Stability Analysis

Frequency Response: Intro.

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QUIZ
QUIZ will be provided on the last week before the
recess week (Tue., Feb. 24)
The quiz comprises all materials before the recess
week
QUIZ contributes 50% of CA grade

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Homework Problems
Put on NTULearn (was: edveNTUre)
Homework to be submitted to the tutors in
respective tutorial sessions in the due week
Contributes to 50% of CA grade
Graded HWs will be returned by tutors
Solution will be provided on NTULearn

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Homework Deadline Schedule

Homework #
1
2
3
4

Assigned Date
20 Jan.
10 Feb.
17 Mar.
31 Mar.

Due Week
Week 4
Week 7
Week 11
Week 13

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Prerequisite
Mathematics I
Mathematics II
Pay more attention on:
o Calculus (differentiation-integration)
o Complex number operations
o Laplace transform

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Part 1 Lecture Map

2. Laplace
Transform
3. Modelling
1. Introduction
6. First Order
8. Transient
Response

4. Response and
Stability
5. Routh Stability

7. Second Order

PART II. CONTROLLER DESIGN

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INTRODUCTION
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System
Can be any physical, biological, economic
model.
Responds to certain inputs by producing output
Input

System

Output

Real world example:

Pressing on gas pedal , makes vehicle move faster
Here vehicle is system, gas pedal is input and velocity of
vehicle is output
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System

u(t)

System

y(t)

In general, can be classified into:

Static System
A system is said to be static if its output y(t) depends only on the
input u(t) at the present time t

Dynamic System
A system is said to be static if its output y(t) will be affected by, not
only by the input u(t) at the present time but also depends on the
past input u(t)
Typically the response will vary in time for a constant
(static) input

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Static Systems
Simplest and intuitive example is a function machine that we learnt in
grade 3 (or 4?)

out
3

in
0

10

20

30

time (s)

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Static Systems
Simplest and intuitive example is a function machine that we learnt in
grade 3 (or 4?)

out
3

in

10

20

30

time (s)

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Dynamic Systems
Characterized mathematically by derivative and/or integrative operators.
Example:

dx
x y
dt
d 2x
dx
5 10 x y
2
dt
dt

X
1

Y 5s 1

(5s 1) X Y

( s 2 5s 10) X Y

X
1
2
Y s 5s 10

Y
y(t)

x(t)
1
5s 1

10

20

30

time (s)

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Dynamic Systems
Characterized mathematically by derivative and/or integrative operators.
Example:

dx
x y
dt
d 2x
dx
5 10 x y
2
dt
dt

X
1

Y 5s 1

(5s 1) X Y

X
1
2
Y s 5s 10

( s 2 5s 10) X Y

Y
x(t)

y(t)

1
5s 1
0

10

20

30

time (s)

Tool for evaluating response: Laplace Transform!

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System Examples
Weighing scale

Is the weighing scale a static or dynamic system?

weight (kg)

- Identify the input

25
24
23
22

y(t)

10

20

30

time (s)

- Identify the output

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System Examples
Weighing scale

Is the weighing scale a static or dynamic system?

weight (kg)

- Identify the input

25
24
23
22

y(t)

10

20

30

time (s)

10

20

30

time (s)

dial position

- Identify the output

25
24
23
22

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System Examples
Light bulb

- Identify the input

y(t)
voltage

220

10

20

30

time (s)

- Identify the output

Light intensity
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System Examples
Light bulb

Is the light bulb a static or dynamic system?

1. Static
2. Dynamics

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All systems in nature are essentially

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Reading Assignment
Modern Control
Engineering, 5th Ed.
Chapter 1
Refresh differential
equation from MA2006

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