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Classical Control Revision

The document provides an overview of classical control techniques including modeling, transfer functions, and analysis methods like direct, frequency response, and root locus. It then introduces modern control theory and digital control theory as extensions. Signal flow diagrams are presented as an alternative way to represent systems graphically compared to block diagrams. Mason's rules for solving signal flow diagrams are defined.

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wolverinep
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89 views7 pages

Classical Control Revision

The document provides an overview of classical control techniques including modeling, transfer functions, and analysis methods like direct, frequency response, and root locus. It then introduces modern control theory and digital control theory as extensions. Signal flow diagrams are presented as an alternative way to represent systems graphically compared to block diagrams. Mason's rules for solving signal flow diagrams are defined.

Uploaded by

wolverinep
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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1.

Classical Control Revision


Classical control which was studied for relatively simple systems, consisted of these techniques:
Modelling Process

Representation by Transfer
Function

Analysis and Design by:
(i) Direct Methods
(i) Frequency Response
(i) Root Locus
You have already considered relatively simple systems, which could be described by linear differential
equations. In this course we will briefly revise and enlarge the material of the Part 3 Course, and include two
new topics:
Modern Control Theory
Digital Control Theory
Modern control theory does not replace Classical control. Rather, each technique has its use, A control
engineer must be familiar with a range of techniques to solve a wide range of problems that will be encountered.
Only with experience does a control engineer become accustomed to which tool should be use for which task.
Digital control theory, as the name suggests, is concerned with applying control theory (both Classical and
Modern) into a digital environment. Due to the massive computerisation of all industries this area of control is
becoming very important.
Both these forms of control theory are highly mathematical. Thus it is advisable that you not only revise the
material from the Part 3 course, but you also do some Mathematics revision, especially Matrix Theory.
1.1 Manipulations of Block Diagrams
Manipulation follows standard common-sense rules. Note that we assume one block does not load another - the
output of a block is unaffected by what it feeds into.
For example:

( )
v
v
s
sT
T R C
o
i
( ) =
+
=
1
1
1
1 1 1
where



( ) ( )
v
v
s
sT sT
o
i
( ) =
+ +
1
1
1
1
1 2




( ) ( )
v
v
s
sT sT
o
i
( ) =
+ +
1
1
1
1
1 2






Thus when considering block diagrams, it is assumed that the physical circuits will be similar to the buffered
type. Care must therefore be taken when designing control circuits, to ensure minimal loading, i.e. input/output
impedance matching. This is not a concern when considering digital circuits.



v
i
v
o
R
1
C
1

v
i v
o
R
1
C
1
R
2
C
2

v
i
v
o
R
1
C
1
R
2
C
2
+1
Buffer

1.1.1 Basic Block Diagram Rules
Note: For this discussion, we will abbreviate KG(s) G(s) (Forward Path)
H(s) (FeedBack Path)


G
1
G
2
G
1
G
2
I Product
G
1
G
2
G
1
G
2
II Sum
G
H
G
GH 1
III FeedBack
G
2
H
IV Move Input
Point

G
1
1
1
G
H

G
2
G
1
G
2
H
V Move Output
Point

G
1
G
G
H
2
1

G
2
G
1

Problem 1-1
G
2
H
1
Show that:
_
G
1
H
G
G
H
1
3
1
2
+
G
2
G
1
Reduces to:
R
H
2
G
2
_
C
G
2
_
R
C

Problem 1-2
G
2
H
1
Show that:
+
G G
G G H G H G G H
1 2
2 3 2 4 2 1 2 1
1
G
1
Reduces to:
R
H
2
G
3
+
C
G
G
G
3
4
2
+
_
R
C
+ +
G
4
+
G G G G G
G G H G H G G H G G G G G
1 2 3 1 4
2 3 2 4 2 1 2 1 1 2 3 1 4
1
+
+ +
Which Simplifies to:


This method of block reduction, especially for multi-loop systems, can become very tedious. There are other
methods of tackling the problem: graph methods and Signal-flow Diagrams.
1.2 Signal-Flow Diagrams
Signal-flow diagrams are an alternative way of representing systems graphically, i.e. instead of using block
diagrams.
For example a typical block diagram would be:
Equivalent signal-flow diagram (or signal-flow graph):
Advantages:
1) Although the information is the same (it represents equations in graphical form), it is
sometimes easier to draw. Loading effects can sometimes be accommodated for.
1) Solutions, e.g.
C
R
G G =
1 2
from above, are directly available by Masons Rules.
G
1
G
2
R C X
1

C X
1
R
G
1
G
2
Nodes
Branches

1.2.1 Basic Rules


X
1
G
1
Note: Input to Nodes always added
X
G
GH
X
2 1
1
=
+
-H
X
2
X
1
Moving Feedback Links
H
G
1
X
2
G
2
X
3
X
1
G
1
X
2
G
2
X
3
X
1
G
1
X
2
G
2
X
3
Thus
G
1
H
G
1
G
2
H
C X
1
R
G
1
G
2
Multiplication
C X
1
G
1
G
2
X
1
G
1
G
2
Addition
X G X G X G X
4 1 1 2 2 3 3
= + +
G
3
X
3
X
2
X
4
X
1
G
1
FeedBack
X
G
GH
X
2 1
1
=

H
X
2
X
G G
G G H
X
3
1 2
1 2
1
1
=


Masons Rules
Example
1.2.2 Definitions
- Loop and Loop Gain: A loop is a path which starts and ends at the same node, not passing through any node
more than once. e.g. there are four loops in the example:
(i) -G
2
H
1
Loop
1

(i) -G
4
G
5
H
2
Loop
2

(i) -G
1
G
2
G
3
G
4
G
5
H
3
Loop
3

(i) - G
1
G
2
G
6
G
5
H
3
Loop
4

- Forward Path Gain: A forward path gain goes from input to output. In the above example there are two
forward paths :
(i) G
1
G
2
G
3
G
4
G
5
Path
1

(i) G
1
G
2
G
6
G
5
Path
2

- Non-Touching Loops: Loops which have no nodes in common. In the example above there are two such
loops: Loop
1
and Loop
2
.
- Non-Touching Loop Gain: Product of loop gains from non-touching loops taken two, three,.. at a time. In
the example above Loop
1
and and Loop2.
4. Mason;s Rule:
C
R
P
k k
k
=

A
A

Where:
P
k
is the k
th
forward path
A (network determinant) is defined as:
A = + + + + + + + + 1
1 2 3 1 2 1 3 2 3 1 2 3 1 2 3 4
L L L L L L L L L L L L L L L L
Product of all non-touching loops taken two at a time +
Product of all non-touching loops taken three at a time +
Product of all non-touching loops taken four at a time +
A
k
is co-factor of path k and is defined as:
A A
k
=

loop gains touching k forward path


th

i.e. eliminate those gains which touch k
th
forward path









C
-H
1
R
1 G
1
G
2
G
3
G
4
G
5
-H
2
-H
3
G
6

In the example above:
( )
( )
( )
P G G G G G
P G G G G
P G G G G G G G G G G G G G G G
L L L L L L
C
R
G G G G G G
G H G G H G G G H G G G G G G
k k
k
1 1 2 3 4 5 1
2 1 2 6 5 2
1 2 3 4 5 1 2 6 5 1 2 5 3 4 6
1 2 3 4 1 2
1 2 5 3 4 6
2 1 4 5 2 1 2 5 3 3 4 6 2 4 5
1
1
1
1
= =
= =
= + = +
= +
=
+
+ + + + +



A
A
A
A
H H
1 2


Problem 1-3
For Problem 1-2, construct a Signal Flow graph and validate the answer you got.

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