MCB3013 Control System

Review of Mathematical Foundation

MCB3013/May15
MCB3013/rmz/jan14
 Lec02: Objectives

At the end of the lecture, I should be able to:

Discuss the advantageous and disadvantageous of both
open loop and closed loop systems.
Model dynamic systems by means of differential equation
Find the Laplace transform of time function and the inverse
Laplace transform

MCB3013/May15
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 Advs and Disadvs of Control
System Type
Type of System Advantages Disadvantages
Open-loop 1. Simple construction and ease of 1. The system response is very
maintenance sensitive to external
2. Less expensive that the corresponding disturbance and internal
closed-loop system variations in system
3. There is no stability problem parameters
4. Convenient when the output is hard to 2. Recalibration is necessary
measure or measuring the output precisely from time to time in order to
is not economically feasible maintain the required quality
in the output

Closed-loop 1. Make the system response relatively 1. Risk instability

insensitive to external disturbance and 2. Complexity in analysis and
internal variations in system parameters implementation and
2. Possible to use relatively inaccurate and expensive
inexpensive components to obtain the
accurate control of a given plant
3. Better control of transient and steady-state
response
4. Increase accuracy
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 Control System Design Process

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 Differential equations

Equation that defines a relationship between a function and one or

more derivatives of that function with respect to time.

Ordinary differential - equation that involves the derivatives

of an unknown function of one variable
equation (ODE)
- involves the unknown function and its
Linear
derivatives only to the first power
Homogeneous - separable
Time invariant - coefficient dont change with time
First-order, dx/dt
Second-order, d2x/dt2
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 The Laplace transform

The technique involves a change of variable from time,

t, to a complex variable, s, known as the Laplace
Operator.
As well as being a differential operator, the Laplace
operator s can be interpreted as a complex number -
specifically a complex frequency.
A large part of the remainder of the course concerns the
interpretation of s as a complex number.

MCB3013/May15
MCB3013/rmz/jan14
 The Laplace transform

Time Domain Laplace Domain

Laplace Transform
Input Function u(t) Input Function U(s)

Laplace
Linear Differential Equation Transform Algebraic Equation
(Equation of motion) (Transfer Function G(s))

Output Function c(t) C(s) = U(s) x G(s)

Inverse Laplace Transform

Output Function C(s)

Convolution tedious work! Algebraic manipulation - simple

MCB3013/May15
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 The Laplace transform
Whats the point?
C(s) = U(s) x G(s)

Laplace transform
of the output =
Laplace transform Laplace transform
of input U(s)
x of G(s)
The Laplace transform is conceptually similar to
multiplication via logarithms
log(axb) = log(a) + log(b)
To multiply a by b
Compute logarithms of a and b
Add these logarithms
Inverse logarithm of sum gives product of a and b.
MCB3013/May15
MCB3013/rmz/jan14
 The Laplace transform

Laplace transform is defined as

L y (t ) y (t ) e dt
st
0

Takes time domain function f(t) and transforms

it into a function in the variable s

MCB3013/May15
MCB3013/rmz/jan14