Control Theory Fundamentals – S 2019

Introduction about design of

feedback control systems
TEAM:3

KONSTANTINOS TSELIOS
GADAMDURDY SHIROV
JAVED MUHAMMAD HASSAAN

Advisor: Prof. Marian S. Stachowicz

AGH University Of Science and Technology
Cracow, Poland
March 28 2019
1
 Hello to everybody!!!!

• I am Konstantinos Tselios .
• I am from Greece. I live in Athens
• I do play basketball…ooohhhhhh! (clapping guys).
• I have 3 brothers and 2 sisters.
• I study in the National Technical University of Athens.
• I study mechanical engineering.

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 Moments

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 GADAMDURDY SHIROV

• From TURKMENISTAN.
• Currently, studying in Turkey.
• Mechanical engineering.
• Hobbies: sports (football, volleyball), music.

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JAVED MUHAMMAD HASSAAN
ELECTRICAL ENGINEERING
NICOSIA-CYPRUS
• Studying electrical engineering in
University of Nicosia
• Like to play and watch Cricket
• Part time photographer
• After graduation I will proceed with post
graduate.

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Troodos, Cyprus Old town Warsaw

Limassol bay
Cyprus

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One of the best and
kind Professor for our
university life,

We are proud to have A

professor like Marian S.
Stachowicz.
We will miss you a lot.

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 Design of feedback control
systems
Feedback control system

• A feedback control system has controlled output

by using its measurement as a feedback signal.
• This feedback signal is compared with a
reference signal to generate an error signal which
is filtered by a controller to produce the system's
control input.

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 Design of feedback control systems

• The design of a feedback control system is

concerned with the arrangement, or plan of the
system structure and the selection of suitable
components and parameters.
• A control system having closed loop control may
not be satisfactory with regard to its stability
characteristics, speed of response and steady-
state accuracy,
• So designers use compensator.

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 Compensator
• A compensator is an additional component or
circuit that is inserted into a control system to
compensate for a deficient performance
Types
• (a) Cascade compensation.
• (b) Feedback compensation.
• (c) Output, or load, compensation.
• (d) Input compensation

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 Types of compensator

Cascade Feedback

Output or Load Input

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 Example
Design of a phase-lag compensator
A system that is difficult to design using a phase-
lead network,
Loop transfer function of the uncompensated
unity feedback system is

Velocity constant = 20,

Damping ratio of the dominant roots= 0.707
The gain necessary for a Kv of 20,

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We find that the roots of the characteristic
equation lie on the jω-axis at ±j10 when K –
2000
The roots of the system when the Kv
requirement is satisfied are a long way from
satisfying the damping ratio specification,
it would be difficult to bring the dominant roots
from the jω-axis to the ζ = 0.707 line by using a
phase-lead compensator

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So we will use Phase lag network to satisfiy the
given conditions.
We measured the gain at -2.9 ± j2.9, and found
K=236

Ratio of the zero to the pole of the compensator

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We will choose z = 0.1 and p = 0.1/9 in order to allow
a small margin of safety.

Compensated system
K/ά=236 & ά=9

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 Exercise

Figure

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The step response is shown in Figure

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 Advanced Problem
A system has the form shown in Figure,
A lead compensator is used, with

A lead compensator is used, with

Determine K so that the complex roots have

ζ = 1/√2. The prefilter is

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(a) Determine the overshoot and rise time for
Gp(s) = 1 and for p = 3.
(b) Select an appropriate value for p that will give
an overshoot of 1 % and compare the results.

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a

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 References

• 1. R.C. Dorf and R.H. Bishop, Modern Control Systems,

11th Edition, Prentice Hall, 2008,
• 2. M.S. Stachowicz and L. Beall , Fuzzy Logic Package
for Mathematica, Version 5.2, Wolfram Research, Inc.,
2003
• 3. Kasuo Tanaka, An Introduction to Fuzzy Logic for
Practical Applications, Springer, 1997
• 4. J. Yen and R. Langari, Fuzzy Logic, Prentice Hall,
Inc., 1999

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• 5. K.M. Passino and S. Yurkovich, Fuzzy Control,
Addison Wesley Longman, Inc., 1998
• 6. D. J. Pack, Steven F. Barrett, The 68HC12
Microcontroller: The theory and Applications, Prentice
Hall, 2008
• 7. F. M. Cady, Software and Hardware Engineering,
Oxford University Press, Inc.,2008

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Thank you.
Questions ?

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