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ELM 322, Control Systems Control Systems Spring 2015

This document provides an overview of an introduction to control systems course taught by Dr. Erkan Zergeroğlu. The course covers topics such as open and closed loop control systems, classification of control systems, analysis and design of control systems, Laplace transforms, and examples of solving differential equations using Laplace transforms. The document contains definitions of key terms, examples of mass damper spring and RLC circuits, and motivates the use of Laplace transforms to analyze control systems modeled by differential equations.

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62 views37 pages

ELM 322, Control Systems Control Systems Spring 2015

This document provides an overview of an introduction to control systems course taught by Dr. Erkan Zergeroğlu. The course covers topics such as open and closed loop control systems, classification of control systems, analysis and design of control systems, Laplace transforms, and examples of solving differential equations using Laplace transforms. The document contains definitions of key terms, examples of mass damper spring and RLC circuits, and motivates the use of Laplace transforms to analyze control systems modeled by differential equations.

Uploaded by

kaan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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ELM 322, Control Systems

Control Systems
Spring 2015

Dr. Erkan Zergeroğlu


202 Computer Engineering Department

Email: [email protected]

CLASS TIME: See the Schedule


OFFICE HOURS: To be announced.
Introduction to Control Systems

● A control system is basically an interconnection of


components that provide a desired system response
● It is desirable whenever some quantity in a event, has to
behave in a desirable way, such as;
– Temparature in a room
– Speed of an automobile
– Concentration or pH value of a liquid

● On most cases feedback is used to regulate the system


response
Control System

● A control system consists of subsystems and processes


assembled for the purpose of obtaining a desired output
with a desired performance for a given (specified) input.
How does 'control' work ?

● Subsystems and processes assembles for the purpose of


shaping the outputs of the overall process
● One way is comparing the actual behivour of the system
with the desired behavior, then take corrective actions
based on the difference.
● Examples ?? (Videos)
Definitions

● System : is a set of interacting or interdependent


components forming an integrated whole. Every system is
delineated by its spatial and temporal boundaries,
surrounded and influenced by its environment, described
by its structure and purpose and expressed in its
functioning
● Control System : is a device, or set of devices, that
manages, commands, directs or regulates the behavior of
other devices or systems. Industrial control systems are
used in industrial production for controlling equipment or
machines.
● Process : The device , plant or system under control
Open and Closed loop

● There are two common classes of control systems,

– In open loop control systems output is generated


based on inputs (a).

– In closed loop control systems current output is taken


into consideration and corrections are made based on
feedback (b). A closed loop system is also called a
feedback control system
Open and Closed loop Systems
Classification of Control Systems

● Regulator Systems (Process Control):


– The controlled variable or output is required to be held
as close as posible to a usually constant desired value
or input despite any disturbaces

● Servomechanism (Tracking Control):


– The input varies amd the output is requierd to follow or
track it as closely as possible
Analysis and Design (Synthesis)

● Analysis :
– What is the performance of a given system in response
to the changes on the input or external disturbances
● Design :
– If the performance is unsatisfactory how can it be
improved ? (Best if it can be done without changing the
process, actuator and the power amplification blocks)
Performance
● Improve transient response
● Reduce steady state errors
● Reduce the effects of external disturbace
Example: Mass Damper Spring

Spring :
Damper :
Mass :

The overall system equation is

Result is a second order differential equation of variable x


Example : RLC Circuit

Kirchoff's Voltage Law :

Electric charge

After some mathematical manipulations

Result is a second order differential equation of variable q


Motivation

Both of the systems given in the examples are governed


by similar looking Differential Eqautions.

Control is the “shaping“ of the output of the Differential


Equations by changing the input to the system (mostly by
feedback)
Differential Equations

Definition :
A differential equation is an eqaution which involves
differentials or derivatives.
Like

also known as Newton's law of motion.


Definitions

– In this class, we will be concerned with ordinary


differential equations of the form

(1)

where and are functions of time ,


are constants
Definitions

Time Invariant
The differential equation of the form (1) is said to be time invariant if
the coefficients, denoted by and do not explicitly depend on
time.
Causality
A system is causal if the outputs depends only on the present and
past values of the input.
Linear
Given a system with two different inputs, say X1 and X2 with
corresponding outputs, say Y1 and Y2
For two constants, say C1 and C2 . The corresponing output of
C1*X1+C2*X2 should be equal to C1*Y1+C2*Y2
The “D“ Notation

For the differential equation

define and

which enables us to rewrite the original differential


equation as
Characteristic Equation

More generally

is called the characteristic equation.


● The roots of the characteristic equation is refered as the
“poles“ (or eigen values ) of the system and are very
important in determining the properties of the differential
equation (therefore the system itself !!!) as poles determine
the shape of (the output).
What's Next ?

● Given x(t) it would be adventageous to have a general


procedure for finding the y(t)
● It would also be adventageous to develop analysis
techniques for examing systems without knowing the
inputs

● Using Laplace Transformation Tools might be one way of


achieving these.
Laplace Transform
● What is it used for ?
Laplace Transform is used to convert differential equations to
algebraic equations
● Why ?
Because it is easier to work with algebraic equations compared to
differential equations
● Definition (one sided)

where F is the Laplace Transform of f and s is a complex number


Examples for Laplace Transform

1) Unit Step Function

2) A Ramp function

Note that we hardly use this method, instead we use Laplace


transfrom tables and some algebraic manipulations
Laplace Transform
● Laplace Transform of commonly used functions
Properties of Laplace Transform
Additional Property

Convolution

where, the convolution operator is defined as

That is convolution integral in time domain is avoided by


multiplication in frequency domain
● These properties can be used to manipulate a function into a
form in which transition between time to frequency domains
are eased
Solutions by Laplace Transformation

Method
– Take the Laplace Transformation of both sides of the
differential equation in order to work in frequency
domain
– Solve the algebraic equation for the unknown variable
in frequency domain
– Take the inverse Laplace Transform of the result to find
the time domain expression.
Example ( a warm up )

Find for

Solution : In frequency domain eqaution becomes

then

partial fraction expansion yields

use inverse Laplace trasform to find the result in time domain


Example 1

Find h(t) for

Solution : First ensure that the order of denomunator is


greater than that of the numerator (long division)
Example 1

Therefore

easy
need to work
on this part

Need to find these K's


Example 1

That is

inverse Laplace Transform yields


Example 2

Find h(t) for

repeated roots

Solution :
Example 2

Then

taking the inverse Laplace Transfrom yields


Example (from basic circuit th)
Given
find how the voltage across the
resistor behaves when the input
voltage is

Solution :
Do this as HW#1
(a 1F capacitor might be hard to find)
How about imaginary roots ?

Show the behaviour of the output for the system

when the input is


Solution : Apply Laplace Transformation to obtain

Note that
Example Cont.

no real roots

We can still apply PFE

A is easy to find, for B and C apply whatever you learned


at highschool
Example Cont.

Ok ! Don't know how ?

Try something different

Now we can use the Laplace Transform Tables


Example Cont.

Inverse Laplace Transform yields

Problem : How does this funciton really behave ?


How output Behaves ?

One way

Frequency domain

and another

Time Domain

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