ABSTRACT: This tutorial article discusses some basic issues in the design of control systems.

. The concepts of well posedness and total stability are introduced to deal with noise and disturbance problems. The implementable transfer function is developed and is shown to solve completely pole-and-zero assignment and model matching problems. Two feedback configurations are introduced to realize the implementable transfer functions, and feedback compensation is obtained by solving sets of linear algebraic equations.

When the open-loop plant transfer function has been specified, there are basically two approaches to carry out design. In the first approach, we choose a feedback configuration and compensation with undetermined parameters and then adjust the parameters so that the resulting closed-loop system will meet design specifications. The root-locus and frequency-domain methods are ways to evaluate the adjustments used in this approach. In the second approach, we choose an overall closed-loop system to meet design specifications. We then choose an appropriate feedback configuration and compute the required compensation. The linear quadratic optimal control method and design through pole-zero pattern are examples of the second approach . We call the first approach the outward approach and the second the inward approach.

 In the inward approach, the first step is to choose an overall closed-loop transfer function to meet a set of specifications. Because of physical constraints, this choice is not entirely arbitrary In this paper, we introduce four constraints on the choice of the overall transfer function: namely, properness of compensators, well posedness, total stability, and no plant leakage. An overall transfer function that can be implemented under these four constraints is called an implementable transfer function The implementable transfer functions shown to solve pole-and-zero assignment and model matching problems. Once an implementable overall transfer function is chosen, the next step is to choose a control configuration

However, unity feedback can be used to achieve arbitrary pole assignment. We then introduce two more sophisticated configurations, which can be used to achieve pole assignment and zero assignment simultaneously: namely, the twoparameter and the plant input/output (I/O) feedback configurations. The compensators are obtained by solving sets of linear algebraic equations.

Example and Issues First, we will use an example to illustrate the issues that may arise in the design of control systems. Consider the plant with the open-loop transfer function G(s). G(s) = (s - I)/[s(s - 2)] The problem is to design an overall closed loop system such that the plant output yet will track a reference input r(t). As can be seen, the plant transfer function is unstable and has a non minimumphase zero. This is a difficult problem if the root-locus method or frequency-domain method is used to carry out the design. If the inward approach is used, then the first step is to select an overall closedloop transfer function. It is clear that an overall transfer function of unity is the best possible system we can design. Indeed, if an overall transfer function is unity, then the plant output is identical to any reference input;

the position and velocity errors are zero; and the rise time, settling time, and overshoot are also all zero. Therefore, no other transfer function can perform better than a transfer function of unity. Note that, for a unity transfer function, the power levels at the reference input and plant output are different; otherwise, the control system would be unnecessary Of course, a transfer function of unity usually cannot be implemented in practice because we must use pure differentiators as compensator The actuating control signal may get very large, causing the plant to saturate. Therefore, a more realistic overall transfer function must be chosen. The calculations to obtain a realistic transfer function may be carried out by computer simulation using existing computer aided design packages.

General Control System

Disturbance
Controlle d Signal Manipulate d Variable

Set-point or Reference input + -

Error

Controller

Actuator

+ +

Process

Actual Output

Feedback Signal

Sensor

Control System Design Process

1. Establish control goals

2. Identify the variables to control

3. Write the specifications for the variables

4. Establish the system configuration and identify the actuator

If the performance does not meet specifications, then iterate the configuration and actuator

5. Obtain a model of the process, the actuator and the sensor

6. Describe a controller and select key parameters to be adjusted

7. Optimize the parameters and analyze the performance

If the performance meet the specifications, then finalize design

Examples

(a) Automobile steering control system. (b) The driver uses the difference between the actual and the desired direction of travel to generate a controlled adjustment of the steering wheel. (c) Typical direction-of-travel response

System An interconnection of elements and devices for a desired purpose.

Control System An interconnection of components forming a system configuration that will provide a desired response.

Process The device, plant, or system under control. The input and output relationship represents the cause-andeffect relationship of the process.

 The interaction is defined in terms of variables.

i. System input ii. System output iii. Environmental disturbances

Control System
Control is the process of causing a system variable to conform to some desired value.

Manual control Automatic control (involving machines only). A control system is an interconnection of components forming a system configuration that will provide a desired system response.
Output Signal

Input Signal

Control System
Energy Source

Open-Loop Control Systems utilize a controller or control actuator to obtain the desired response.

Closed-Loop Control Systems utilizes feedback to compare the actual output to the desired output response.

Multivariable Control System

Control System Classification

Missile Launcher System

Open-Loop Control System

Control System Classification

Missile Launcher System

Closed-Loop Feedback Control System

Manual Vs Automatic Control

Control is a process of causing a system variable such as temperature or position to conform to some desired value or trajectory, called reference value or trajectory. 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 a machine, or use a computer to do it, then you have built an automatic control system.

Control System Classification

Desired Output Respons e

Controller

Process

Output Variable s

Measurement

Multi Input Multi Output (MIMO) System

Purpose of Control Systems

i. Power Amplification (Gain)
Positioning of a large radar antenna by low-power rotation of a knob

ii. Remote Control

Robotic arm used to pick up radioactive materials

iii. Convenience of Input Form

Changing room temperature by thermostat position

iv. Compensation for Disturbances

Controlling antenna position in the presence of large wind disturbance torque

Human System

The Vetruvian Man

Human System
i. Pancreas
Regulates blood glucose level

ii. Adrenaline
Automatically generated to increase the heart rate and oxygen in times of flight

iii. Eye
Follow moving object iv. Hand Pick up an object and place it at a predetermined location

v. Temperature
Regulated temperature of 36C to 37C

Control System Components

i. System, plant or process
To be controlled

ii. Actuators
Converts the control signal to a power signal

iii. Sensors
Provides measurement of the system output

iv. Reference input

Represents the desired output

General Control System

Disturbance
Controlle d Signal Manipulate d Variable

Set-point or Reference input + -

Error

Controller

Actuator

+ +

Process

Actual Output

Feedback Signal

Sensor