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Introduction
Mr. P. Velrajkumar, FET
Dr. Ajay Kumar Singh, Associate Professor, FET
Mr. Lee Gin Chong, Lecturer, FET
Dr. Zakarya Zyada, Specialist 3, FET
Trimester 2,
2016/2017
Chapter 1
Importance
Trimester 2,
2016/2017
Chapter 1
Introduction: 3 hrs
Mathematical modeling and models
manipulation: 7 hrs
Time response analysis: 7 hrs
System accuracy and Stability : 4 hrs
Methods in control: 10 hrs
Towards nonlinear systems: 5 hrs
Trimester 2,
2016/2017
Chapter 1
Textbook:
th
K. Ogata, Modern Control Engineering, 5
edition, Prentice Hall, 2010.
References:
R.C. Dorf and R.H. Bishop, Modern Control
Systems, 12th edition, Prentice Hall, 2010.
Norman S. Nise, Control Systems
Engineering, 6th edition, John Wiley and Sons
Inc., 2011.
Trimester 2,
2016/2017
Chapter 1
Course Objectives
Give students:
A basic understanding of feedback control system
theory.
Ability to perform analysis and design of linear
feedback systems, (in time and frequency
domains).
Trimester 2,
2016/2017
Chapter 1
Evaluation Methods
Lab Experiments: 10 %
Assignments: 15 %
Mid-term Test/Quiz: 15 %
Final exam: 60 %
Trimester 2,
2016/2017
Chapter 1
Course Requirements
Chapter 1
Course Contents - 1
Introduction
Linear Systems
Concept of Transfer function
Transfer function representation of systems mechanical,
electrical, thermal and hydraulic.
Block diagram algebra
Signal flow graphs
Trimester 2,
2016/2017
Chapter 1
Course Contents - 2
Trimester 2,
2016/2017
Chapter 1
Course Contents - 3
Methods in Control
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2016/2017
Chapter 1
10
Let us start 1
Chapter 1: Introduction
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2016/2017
Chapter 1
11
Videos
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2016/2017
Chapter 1
12
Definitions:
System
u(t)
y(t)
Chapter 1
13
Definitions:
Disturbances
Disturbance
n(t)
y(t)
u(t)
Chapter 1
14
Definitions:
Control system
Process to be controlled
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2016/2017
Chapter 1
15
Definitions:
Plant, Process
Chapter 1
16
uk
Cont r ol l er
uact
Act uat or
Cont r ol
si gnal
Pr ocess
Out put c( t )
( act ual out put )
Act uat i ng
si gnal
Fi g. 1. 10
Chapter 1
17
Definitions:
Chapter 1
18
I nput r ( t )
Ref er ence
desi r ed out put
e( t ) =
r ( t ) - b( t )
Cont r ol l er
( +)
uk
uact
Act uat or
Cont r ol
si gnal
Pr ocess
Out put c( t )
( act ual out put )
Act uat i ng
si gnal
Feedback si gnal b( t )
measur ement
Fi g. 1. 11
A closed-loop control system uses
a measurement of the
output and feedback this signal to compare it with the
desired output (reference or command).
In general a system that is designed to control the output of a plant
must contain at least one sensor and controller
Advantage: can remove steady-state error (disturbance rejection)
Disadvantage: higher complexity and so more expensive
Example: a person steering an automobile
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2016/2017
Chapter 1
19
Definitions:
Controller
A controller:
is a device for controlling a source of power in
which the output is required to be some function
of input,
is designed to fulfil some design objectives
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2016/2017
Chapter 1
20
Definitions:
Feedback control
Chapter 1
21
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2016/2017
Chapter 1
22
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2016/2017
Chapter 1
23
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Chapter 1
24
HISTORY OF AUTOMATIC
CONTROL - 1
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2016/2017
Chapter 1
25
HISTORY OF AUTOMATIC
CONTROL - 2
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2016/2017
Chapter 1
26
HISTORY OF AUTOMATIC
CONTROL - 3
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2016/2017
Chapter 1
27
Chapter 1
28
Time-Invariant Systems
When the parameters of a control system are
stationary with respect to time during the
operation of the system, the system is called a
time-invariant system.
Time-Varying Systems
In practice, most physical systems contain
elements that drift or vary with time.
Trimester 2,
2016/2017
Chapter 1
29
Trimester 2,
2016/2017
Chapter 1
30
Trimester 2,
2016/2017
Chapter 1
31
Examples
A manual level-regulating
control system
href (t )
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2016/2017
e (t )
u (t )
Chapter 1
h (t )
32
resistance comparator
Desired
water level
Input
amplifier
Error
Actuator
Motor
Gearing
Valve
Trimester 2,
2016/2017
Output
Process
controller
Feedback signal
Water
tank
Actual
water level
Float
measurement (Sensor)
Chapter 1
33
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2016/2017
Chapter 1
34
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2016/2017
Chapter 1
35
Chapter 1
36
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2016/2017
Chapter 1
37
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Chapter 1
38
Trimester 2,
2016/2017
Chapter 1
39
Process
Controlled
variable
Controller
Actuator
Sensor
Tank system
Level of fluid
Operator
Valve
Visual system
Automobile
Direction of
travel
Driver
Steering
mechanism
Measurement,
visual and tactile
Three-axis
control system
x-y-z position
Computer
Motors
Position sensor
Power plant
Temperature,
pressure, oxygen
generation
Computer
Various valves
Temperature,
pressure, oxygen
concentration
sensors
Furnace
Temperature
Hardware
electronic circuit
Thermocouple
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2016/2017
Chapter 1
40
Chapter 1
41
Chapter 1
42
Chapter 1
43
Design requirements of a
control system
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2016/2017
Chapter 1
44
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2016/2017
Chapter 1
45
MATHEMATICAL FOUNDATION
In this topic we present the
background material that
is needed for the topics
on the control system
discussed in this course.
Complex-Variable Concept
A complex variable s has two components: a real
component and imaginary component . Graphically,
the real component of s is represented by a -axis in
the horizontal direction, and the imaginary component
is measured along the vertical j-axis.
Trimester 2,
2016/2017
Chapter 1
46
s ( s 4)
Chapter 1
47
Differential Equations:
A wide range of systems in engineering is modeled
mathematically by differential equations. These equations
generally involve derivatives and integrals of the
dependent variables with respect to the independent
variable. For instance, a series electric RLC network can
be represented by the differential equation
di(t) 1
Ri(t) L
i(t)dt e(t)
d(t) C
In general, differential equation of an nth-order is written
d n y(t)
d n 1 y(t)
dy(t)
an 1 n 1 a1
a0 y(t) f(t)
n
dt
dt
dt
which is also known as a linear ordinary differential equation
if the coefficients a0, a1, ,an-1 are not function of y(t).
Trimester 2,
2016/2017
Chapter 1
48
Laplace Transform:
as
F(s) f(t) e- st dt
0
Chapter 1
49
st
u
(
t
)
e
dt
s
1 st
e
s
Trimester 2,
2016/2017
st
(
1
)
e
dt
1
1
0
e
e
s
s
Chapter 1
50
f(t) e
Solution:
F ( s)
t 0
f (t )e st dt
t
st
e
e
dt
( s ) t
1
dt
e ( s ) t
s
1
1
e
e
s
s
Chapter 1
51
f t L F s
1
L k f t kF (s )
Trimester 2,
2016/2017
Chapter 1
52
L f (t ) F ( s)
df(t)
L
sF(s) lim f(t) sF(s) f(0)
t 0
dt
d 2 f (t )
df
2
L
s F ( s) sf (0) (0)
2
dt
dt
Trimester 2,
2016/2017
Chapter 1
53
Theorem 4. Integration
L 0
t1 t 2
L 0
F(s)
f( )d
s
tn
0 f( )ddt1dt2 dtn 1
F(s)
n
s
Chapter 1
54
s 0
Chapter 1
55
5
s(s2 s 2)
Since sF(s) is analytic on the imaginary axis and
in the right-half s-plane, the final theorem
may be applied. Thus
5
5
s 0 s 2
s 0
s2
F(s) 2
s 2
Chapter 1
56
L e f (t ) F (s )
Theorem 9. Real Convolution ( Complex
Multiplication)
Let F1(s) and F2(s) be the Laplace transform of
f1(t) and f2(t), respectively, and f1(t) = 0, f2(t)
= 0 for t < 0; then
F1 (s ) F2 (s ) L f 1 (t ) f 2 (t )
t
t
L f 1 ( ) f 2 (t )d L f 2 ( ) f 1 (t )d
real multiplication.
Trimester 2,
2016/2017
L f 1 (t )f 2 (t ) F1 (s ) F2 (s )
Chapter 1
57
Chapter 1
58
Q (s )
Q (s )
P (s ) (s s 1 )(s s 2 ).......(s s n )
A1
A2
An
.....
s s1 s s 2
s sn
where
Q (s )
A n (s s n )
P (s ) s s
g (t ) A1e -s1t A 2e -s 2t A ne -s n t
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2016/2017
Chapter 1
59
P (s ) s s1 s s 2 ... (s s n r ) s s i
s s 1 s s2
n r terms of
A1
A2
s si
s s i
r terms of
K s ( n -r )
s s n -r
simple poles
Ar
si
repeated poles
Chapter 1
60
A r (s s i ) r G (s )
s s
A r 1
A r 2
d
(s s i ) r G (s )
s s
ds
i
1 d2
(s s i ) r G (s )
2
s s
2! ds
i
1
d r 1
r
A1
(
s
s
)
G (s )
i
r 1
s s
( r 1)! ds
i
Chapter 1
61
5s 3
s 1 s 2 s 3
s 1 s 2 s 3
5( 1) 3
A s 1G (s )
1
s 1
2 1 3 1
5( 2) 3
7
s 2
(1 2)(3 2)
5( 3) 3
C s 3G (s ) s 3
6
(1 3)(2 3)
1
7
6
G (s )
s 1 s 2 s 3
B s 2 G (s )
Thus
1
t
2t
3t
g
(
t
)
L
G
(
s
)
7
e
6
e
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2016/2017
Chapter 1
62
Solution:
G (s )
A
B
C
(s 1) (s 2) (s 2) 2
2
A
2
2
(s 2) s 1
G (s )
Time function is
2
2
2
s 1 s 2 (s 2) 2
g (t ) 2e
Trimester 2,
2016/2017
2
C
2
(
s
1)
s 2
2
d 2
B
2
ds (s 1) s 2 (s 1) 2 s 2
2e
2t
Chapter 1
2t
2te
63
Chapter 1
64
dy
( 0) 0
dt
s Y (s ) sy (0) 4 sY (s ) y (0) 3Y (s ) 2R (s )
2
s 4
2
4s 3
2
s s 2 4s 3
Chapter 1
65
(s 1) (s 3) (s 1) (s 3) s
2
lim y (t )
t
3
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2016/2017
Chapter 1
66
Summary
Chapter 1
67
End of Chapter 1
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2016/2017
Chapter 1
68