April 3, 2014

TKM425 Teknik Pengaturan

Feedback Control Systems

Joga Dharma Setiawan, Ph.D.

Homework # 2, due 10 April2014
 Phillips-Harbor’s book
 Problems: 2.1, 2.2, 2.3, 2.15, 2.17, 2.24

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Control Problem, Criteria,
and Performance Spec (Review)
 Stability Stable
 Speed of response
 time constant, settling time, phase lag, bandwidth Fast
 Transient characteristics Small.
 Percentage overshoot, number of oscillation, damping Low #
0.7
 Steady state characteristics Low e
 Gain, steady state error, disturbance rejection
 Robustness Low s
 Sensitivity to parameter changes

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Course Roadmap (Review)

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Control Design Procedure (Review)
1. Define performance specifications
2. Identify constraints
3. Model the plant
4. Analyze the plant
5. Design a controller
6. Simulate using simple and complex model
7. Evaluate performance and robustness
8. Implement on actual system
9. Evaluate performance and robustness

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Control Design Procedure (Review)

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Mathematical Model
 Representation of the input-output (signal)
relation of a physical system

 A model is used for the analysis and design

of control systems.

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Important remarks on models
 Modeling is the most important and difficult task in
control system design.
 No mathematical model exactly represents a
physical system.

 Do not confuse models with physical systems!

 In this course, we may use the term “system” to
mean a mathematical model.
 “Do not fall in love with your model”

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Block Diagram
 Communication tool for Engineering Systems
 Example:

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Block Diagram
 Blocks Connect to form systems
 Outputs of one block becomes input to another

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Block Diagram Transformations
Table 2.6
textbook
p. 73

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Transfer Function
 A transfer function is defined by

 A system is assumed to be at rest. (Zero initial

condition)

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Impulse Response

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Elementary TF block diagrams

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Elementary TF block diagrams

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Elementary TF block diagrams

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Feedback connection

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Feedback loop formula,TFR→Y

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Feedback loop formula,TFR→E

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Time-Invariant vs. Time Varying
 A system is called time-invariant (time-varying) if
system parameters do not (do) change in time.

 For time invariant system

 This course deals with time-invariant systems.

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Model of Mechanical Elements

Initial conditions ?
Laplace representation?
Transfer function of a mechanical system?

How about rotational mechanical system?

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Modeling of Mechanical System
 Example: Mass-Spring-damper system

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Rotational Mechanical System
 Example: Torsional pendulum system

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Modeling of Mechanical Systems
 Use Free Body Diagram and Newton 2nd law

 Example P2.2

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QUIZ (5 minutes)
 Problem 1 of 2

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QUIZ (5 minutes)
 Problem 2 of 2

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Quiz Solution

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Model of Electrical Elements

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Impedance

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Kirchhoff’s Voltage Law (KVL) &
Kirchhoff’s Current Law (KCL)
 KVL: The algebraic
sum of voltage drops
around any loop is =0.

 KCL: The algebraic

sum of currents into
any junction is zero.

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Impedance Computation

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Impedance Computation

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Modeling Example

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Modeling Example: Op-Amp

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Modeling Example: Op-Amp

Other example/results of Op-Amp in table 2.5, p.68

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Reading Assigment
 Model Linearization
 Simulation in Matlab: 2.9 Dorf
 Simulink

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