EE 432 - CONTROL SYSTEMS

Week # 1 Continuous Time System Description

Introduction
Basic Concepts
Modeling
Examples

Design of Feedback Control Systems 4th (Edition)

R.T. Stefani, C.J. Savant, B. Shahian, G.H. Hostetter
SLIDES COURTESY of COL. DR. KUNWAR FARAZ AHMED
 Code of Conduct
All students must come to class on time
(Attendance will be taken in first 5 to 10 mins)
Students should remain attentive during class
and avoid use of Mobile phone, Laptops or
any gadgets
Obedience to all laws, discipline code, rules
and community norms
Respect peers, faculty and staff through
actions and speech
Student should not be sleeping during class
Bring writing material and books
Class participation is encouraged

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Lecture Sequence

Introduction
- Objective Introduction
Objective
To help the students understand the basic concept of
LTI feedback control systems

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Lecture Sequence

Introduction
- Objective Introduction
- What to Expect?

What to Expect?
We will start with some fundamental ideas and definitions of
control systems. In this we will see how behaviors of systems
are modeled in the form of transfer functions

We will find out what is meant by transient and steady state

response and how to quantify stability

Then we will find out how to analyze control systems both in

the time domain as well as frequency domain

Finally we will take on modern control wherein state space

based methods will be presented

We will heavily rely on MATLAB as a tool for the analysis and

design of control systems

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Lecture Sequence

Introduction
- Objective Introduction
- What to Expect?
- Evaluation
Evaluation

Sessionals
(20 %)

Quizzes/
Projects
Assignment
(10 %)
(10 %)

Labs
(25 %)

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Lecture Sequence

Introduction
Basic Concepts Basic Concepts
Concepts in Chapter 1
The concepts discussed in this portion (Chapter 1)
Define basic terminology
Describe behaviors of various systems (electrical ,
mechanical, electromechanical, etc.,)
Reduce differential equations representing system behavior
into a suitable form (Laplace Transforms)
Generate a relationship between the input and output of
each block (transmittance)
The block diagram can be reduced to just one input-output
relationship, the system overall transfer function
Develop signal flow graphs

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Lecture Sequence

Introduction
Basic Concepts Basic Concepts
- Terminology

Terminology
System

An arrangement or combination of different physical components that

are connected or related together to form an entire unit to achieve a
certain objective. E.g., Kite, Classroom

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Lecture Sequence

Introduction
Basic Concepts Basic Concepts
- Terminology

Terminology
System
Control

To regulate, direct and command a system so that a desired objective is

achieved

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Lecture Sequence

Introduction
Basic Concepts Basic Concepts
- Terminology

Terminology
Fixed
System
Control Plant
or
Plant/process Process

Portion of the system to be controlled. It is fixed as far as the control-

system designer is concerned. The designers job is to ensure that the
plant operates as required

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Lecture Sequence

Introduction
Basic Concepts Basic Concepts
- Terminology

Terminology
Fixed
System
Control Input Plant
or
Plant/process Process
Inputs

The excitation signal applied to a control system to get a specific

output

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Lecture Sequence

Introduction
Basic Concepts Basic Concepts
- Terminology

Terminology
Fixed
System
Control Input Plant Output
or
Plant/process Process
Inputs
Outputs

The actual response obtained from a control system due to the

application of the input

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Lecture Sequence

Introduction
Basic Concepts Basic Concepts
- Terminology

Terminology
System
Control
Plant/process
Inputs
Outputs
Fixed
Controller
Input Plant Output
Controller or
Control Process
Inputs

Internal or external element of the system used to control the plant or

process. The controller generates plant input signals designed to
produce the desired outputs. Some plant inputs are accessible to the
designer and some are not available

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Lecture Sequence

Introduction
Basic Concepts Basic Concepts
- Terminology

Terminology
System
Control
Plant/process
Inputs
Outputs
Disturbance Inputs
Controller
Fixed
Disturbances
Input Plant Output
Controller or
Control Process
Inputs
A disturbance is an uncontrollable input that has an undesired effect on
the desired output of the system. It may be internal (produced within the
system) or external

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Lecture Sequence

Introduction
Basic Concepts Basic Concepts
- Terminology

Terminology
System
Control
Plant/process pump load
throttle shaft
Inputs angle speed
Controller : Plant :
Outputs Carburetor Engine
fuel
Controller rate
Disturbances Disturbance Inputs
Open Loop System Fixed

Input Plant Output

Controller or
Control Process
Inputs
A system in which the control inputs are not influenced by the plant
outputs i.e., there is no feedback around the plant.

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Lecture Sequence

Introduction
Basic Concepts Basic Concepts
- Terminology

Terminology
Closed Loop System
Increased Accuracy
Reduced Sensitivity
Reduced Effects of Disturbances
Increased Speed of Response and B/W
Disturbance Inputs Fixed

Plant Output
Controller or
Input Control Process
Inputs

Measurements
A system in which the control inputs are influenced by the plant
outputs i.e., a path (or loop) is provided from the output back to the
controller.
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Lecture Sequence

Introduction
Basic Concepts Basic Concepts
- Terminology

Terminology
Closed Loop System
Increased Accuracy
Reduced Sensitivity
Reduced Effects of Disturbances
Increased Speed of Response and B/W pump
input voltage Controller load
proportional to shaft
desired speed Voltage error throttle speed
Throttle
Difference voltage angle Carburetor Engine
Actuator
Amplifier

voltage proportional Measurement

to shaft speed Tachometer

A system in which the control inputs are influenced by the plant

outputs i.e., a path (or loop) is provided from the output back to the
controller.

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Lecture Sequence

Introduction
Basic Concepts Modelling
Modelling
- Prerequisites
Modelling Prerequisites
Control Engineers must be able to analyze and design systems of
various kinds. E.g., for the speed control system the control
engineer must know
How vacuum pr affects throttle setting? (pneumatics)
How temp and pr affect the power of the air-gas mixture?
(thermodynamics)
How car will respond to the power generated by the pistons
in the cylinder? (mechanics)
How electrical devices may be used to measure and store
important variables e.g., temp, pr (electrical circuits)

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Lecture Sequence

Introduction
Basic Concepts Modelling
Modelling
- Prerequisites
- Characteristics Modelling - Characteristics
It is necessary to build a mathematical model that behaves
similarly to the actual system within a specific range (e.g.,
spring-mass-damper system may be used to simulate the motion
of the vehicle within a certain range of the applied power)
Linearization may be used to construct a model valid at some
ranges
In order to model the system the properties of the components
must be known
Methods for analyzing the components of various systems are
discussed

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Lecture Sequence

Introduction
Basic Concepts Modelling
Modelling
- Prerequisites
- Characteristics
- Linearization
Electrical Systems
- Electrical Systems
Electrical networks are controlled by
two Kirchhoffs laws:
The algebraic sum of voltages
around a closed loop equals zero

v
j
j 0

The algebraic sum of currents

flowing into a circuit node equals
zero

i j
j 0

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Lecture Sequence

Introduction
Basic Concepts Modelling
Modelling
- Prerequisites
- Characteristics
- Linearization
Electrical Systems
- Electrical Systems
Voltage-Current Relations
resistor inductor capacitor

Time Domain vR (t ) Ri(t ) di 1

t

1 vL (t ) L vC (t ) i(t )dt
i (t ) vR (t ) t dt C
1
R i (t ) vL (t )dt dv
L i(t ) C C
dt
Freq Domain V ( s) RI ( s) VL ( s) sLI (s) 1
R
VC ( s) I ( s)
1 1 sC
I ( s) VR ( s) I ( s) VL (s)
R sL I ( s) sCVC ( s)

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 Modeling Example Electrical Systems
Mesh Analysis
Equating algebraic sum of voltages Where
around each mesh to
t
zero gives Z11 (s)= sum of all impedances around the I1 Mesh
di1 1
2i1 3 4(i1 i2 ) (i1 i2 )dt 8cos 9t
dt 5 Z12 (s)= Z21 (s)=sum of all impedances common toI1 and I2
di2 1
t
Mesh
6 7i2 4(i2 i1 ) (i2 i1 )dt 0
dt 5 Z22 (s)= sum of all impedances around the I2 Mesh
Collecting terms in terms of i1 and i2 E1 (s)= independent voltage source driving mesh I1
gives
di1
t
1
t
1 E2 (s)= independent voltage source driving mesh I2
3 6i1 i1dt 4i2 i2 dt 8 cos 9t
dt 5 5 Solving these equations for I2 using the Cramer's rule we get
t t
1 di 1
4i1 i1dt 6 2 11i2 i2 dt 0
5 dt 5 Z11 E1 8s 1
2 2
4
Laplace transforming and assuming
I 2 ( s)
Z 21 E2

Z11 E2 Z 21 E1
( s 9 ) 5s
zero initial conditions Z11 Z12 Z11 Z 22 Z12 Z 21 1 1 1
2

1 1 8s 3s 6 5s 6s 11 5s 4 5s
3s 6 I1 ( s ) 4 I 2 ( s ) 2 Z11 Z 22
5s 5s s 92
1 1
4 I1 ( s ) 6 s 11 I 2 ( s ) 0
5s 5s 3 6
4
The above equations can be written 2 i1 i2 7
in the standard form as
5
Z11 ( s) I1 ( s) Z12 ( s) I 2 ( s) E1 ( s) +
Z 21 ( s) I1 ( s) Z 22 ( s) I 2 ( s) E2 ( s)
8 cos9t
Lecture Sequence

Introduction
Basic Concepts Modelling
Modelling
- Prerequisites
- Characteristics
- Linearization
Mechanical Systems
- Electrical Systems
- Mechanical Systems Analysis of translational mechanical systems
Define positions with directional senses for each mass in the
system
Draw free body diagram for each mass (expressing forces in
terms of mass position and velocity)
Write an equation for each mass equating the algebraic sum
of forces in acting in the same direction to M d 2 x
2
dt
x
dx
spring K dt
Kx
M f M f
Applied dx
B
B dt
damper mass Force

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 Modeling Example Mechanical Systems

Mechanical System Analysis

Equating forces for the first mass gives Where
d 2x d W11 (s)= Inertial force and all forces attached to M1
4 21 7 x1 2( x1 x2 ) 6 ( x1 x2 )
dt dt W12(s)= W21(s)=sum of forces connected to M1 and M2
and similarly for the second mass W22 (s)= Inertial force and all forces attached to M2
d 2 x2 d
5 2 f 3x2 2( x2 x1 ) 6 ( x2 x1 ) F1 (s)= independent driving force on M1
dt dt
Collecting the terms we can write F2 (s)= independent driving force on M2
2
d x dx dx Solving these equations for X1 using the Cramer's rule we get
4 22 6 1 9 x1 6 2 2 x2 0
dt dt dt
2
dx d x dx F1 ( s) W12 1
s 2 1 6s 2
6 1 2 x1 5 22 6 2 5 x2 sin t
dt dt dt F ( s) W22
X 1 (s) 2
Laplace transforming and assuming zero W11 W12
(4s 2 6s 9) (5s 2 6s 5) 6s 2
2

initial conditions W21 W22 x1

4s 2x1 x2
2
6s 9 X 1 ( s) (6s 2) X 2 ( s) 0 7x1

(6s 2) X 1 ( s) 5s 2 6s 5 X 2 ( s)
1
s 1
2
x1 x2 4
2 f = sin t
The above equations can be written 7
4 5 6
d
x1 x2
in the standard form as x2
dt
6 3
W11 X 1 ( s) W12 X 2 ( s) F2 ( s) 2x2 x1 f =sint
W21 X 1 ( s) W22 X 2 ( s) F2 ( s)
5
6 x2 x1
d
dt
3x2
Lecture Sequence

Introduction
Basic Concepts Modelling
Modelling
- Prerequisites
- Characteristics
- Linearization
Rotational Systems
- Electrical Systems Analysis of rotational mechanical
- Mechanical Systems
- Rotational Systems systems
torque replaces force J
angular displacement replaces
translational displacement
the torque due to
mass is replaced by inertia B viscous friction is
Steps d (t )
(t ) B
Draw angular positions with dt
2nd derivative of the
directional senses for each angle of rotation
rotational mass times the moment of
Draw free body diagram for each inertia (t ) J d (t )
2

K dt 2
rotational mass (expressing each very similar to
torque in terms of angular mechanical spring
positions of the masses) (t ) K (t )
Write an equation for each
rotational mass equating the
algebraic sum of torques on it to B
d
2
J
dt 2
K
Free Body Diagram
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 Modeling Example Rotational Systems
Torques on J1 due only Torques on J1 due only
to the motion of J1 to the motion of J2
Final free body
diagram for J1

Torques on J2 due only Torques on J2 due only

to the motion of J2 to the motion of J1
Final free body
diagram for J2

sum of impedences sum of

connected to the ( s ) sum of impedences ( s ) applied

between1 and 2
1 2

motion at 1 torques at 1
sum of impedences sum of
sum of impedences
1 ( s) connected to the 2 ( s ) applied

between1 and 2 motion at 2 torques at 2

EM 412 Control Systems, EME College, NUST 25

Lecture Sequence

Introduction
Basic Concepts Analogies and Examples
Modelling
Analogies and Examples
MATLAB
MATLAB
Accelerating the pace of engineering and Science
The first command To solve the eqn for I2 where
introduced is syms s this
8s 1
4
causes the command ( s 9 ) 5s
2 2

variable s to be used as a I (s) 2

1 1 1
2

3s 6 5s 6s 11 5s 4 5s
symbol

Next is inv(matrix) which % code

takes the inverse of a syms s
matrix t1=8*s/(s^2+81)
t2=4+1/5/s
Finally here we introduce t3=3*s+6+1/5/s
the command simplify t4=6*s+11+1/5/s
which is used to combine t5=t2
symbolic terms and t=t1*t2/(t3*t4-t5^2)
cancel where needed simplify t

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