9/11/2019

Linear Dynamic Systems

(MT-654)

Lecture 1
Dr. Zeashan H. Khan

Concept of Mechatronics

Design/Engineering Manufacturing
Electronics

Mechanical Mechatronics

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Why Study Linear Dynamic System?

 Practically, all engineers need to use control
 Control is an essential element of almost all engineering
systems
 Control can give designers extra degrees of freedom
 Control is not confined to engineering
 We need to know modern control as well as
classical control
 This course is a good way to practice math in a genuine
engineering contest:
– It involves extensive use of linear algebra
– It is an excellent example showing that math is
beautifully used in engineering applications
 Word of caution: It may be boring if you do not like math
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Course Objectives
To understand the linear algebra and apply the
concepts of linear control theory on dynamic
systems.

At the end of course, you should be able to design

linear controllers for practical systems by analyzing
their dynamic response in Matlab/Simulink

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Marks Distribution

Quizzes (5%)
Assignments (10%)
Mid Term (30%)
Project (10%)
Final (45%)

Course Outline
Week Topic
1. Introduction to linear systems
2. Mathematical description of systems and state space representation
3. Linear vector space
4. Functions and linear transformation
5. Normed linear spaces
6. State equation solution and state transition matrix
7. State equation solution and state transition matrix Chapter 1-5
8. Stability
9. Midterm Exam
10. Controllability
11. Canonical Decomposition
12. Observability and state reconstruction
13. Observability and state reconstruction
14. State reconstruction
15. Minimal Realization
16. State Feedback Control and estimation
17. Design by Pole Placement Chapter 6-9
18. Final Term Examination

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Course Book
 Textbook: Chi-Tsong Chen, Linear System Theory
and Design, 4th Edition, Oxford University Press,
Oxford, UK, 2013 (or 3rd Edition, 1999)

 Wilson J. Rugh, Linear System Theory, 2nd Edition,

Prentice Hall, USA, 1996

Course Project (10%)

 Selection of a nonlinear plant
 Linearization about a trim point
 Open loop analysis
 Closed loop design requirements
 Controller/observer design techniques
 Closed loop performance
 Design Report and Matlab Code

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Credit Policy

Partial credit policy for this course is as follows:

100% - correct answer with well documented procedure

90% - arithmetic errors with well documented procedure
70% - correct answer with poorly documented procedure
50% - wrong answer, approach is partially correct and well documented
0% - wrong answer and poor documentation

A brief History of Control Theory

 Classical Control 1940
 Frequency domain based tools; stability via gain and phase margins
 Mainly useful for single input single output (SISO) systems
 Still one of the main tools for the practicing engineer

 Modern Control 1960

 “State space” approach to linear control theory
 Works for SISO and MIMO systems
 Performance and robustness measures are often made explicit

 Post-Modern Control 1980

 Generalizes ideas in classical control to MIMO context
 Uses operator theory at its core, but can be easily interpreted in the
frequency domain
 Nonlinear Control 1990
 Specialized techniques for control of nonlinear systems

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Linear system theory

• It mainly uses state-space method focuses on multivariable linear
systems.

• As space technologies develop and the application range of control

theory expands, the limitation of classical linear control theory is
becoming increasingly evident after 50’s in the 20th century, which
promotes the development from the classical stage to the present stage
after 1960.

• American scholar Rudolf Emil Kalman first applied state-space method to

the research on multivariable linear systems, and proposed two basic
conceptions: controllability and observability .

• After 60 in the 20th century, new theories and new methods on modern
linear system theory appeared, such as geometric theory of linear
systems, algebraic theory of linear systems and multivariable frequency
domain method. With the development of computer technologies,
Computational Method and CAD aimed at linear system have been widely
11 concerned.
http://dept3.buaa.edu.cn/linear/1.html

Modern linear system theory

• Compared with the classical linear control theory, the modern
linear system has several characteristics.

• Most of the research objects are multi-variable linear systems,

while the classical linear theory focus on the SISO system.

• Besides input and output variables, the modern linear system also
describes the variable for the inner status.

• It mainly resorts to the time method to analyze problems while the

classical control theory resorts to the frequency method. And the
modern linear system uses more data tools.

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Closed Loop Systems (Recap)

 Design and control system operation based on specified
parameters using feedback.
 System forcing functions (inputs) augmented by the internal state(s)
and output(s).
r e u y
 The system components. C G S
_
 Plant: the system to be controlled
 Sensors: measure output(s) and internal state(s).
 Difference: compute an error or difference signal between the
desired and actual plant variables
 Compensator/Actuator: uses the error to generate open-loop
plant
 Control inputs.

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Closed Loop Systems (Recap)

 What is feedback?
The term feedback is used to refer to a situation
where two (or more) dynamical systems are
connected together such that each system
influences the other and their dynamics are thus
strongly coupled.
The principle of feedback is very simple: It is based
on the correcting actions of the error signal
(difference between desired and actual
performance)

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Example of Feedback Control

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Closed Loop Systems (Recap)

 Advantages of using feedback
• Reduction of steady-state error
• Robustness to uncertainty
• Higher levels of automation
• Design of dynamics (e.g. stabilizing and linearizing)

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Feedback advantages

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Closed Loop Systems (Recap)

 Drawbacks of feedback
• Feedback may introduce instability if not properly
designed
(e.g., the effects of “positive feedback” when the
amplification
on a microphone is turned up too high in a room)
• Feedback inherently couples different parts of a
system
(injecting measurement noise into the system)
• Feedback increases system complexity (embedding
a control system into a product)

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Closed Loop Systems (Recap)

 What is a dynamical system?
– Refer to a system whose behavior changes over
time, often in response to external stimulation or
forcing
– Good control must take into account the dynamic
behavior of the object being controlled in order to do a
good job
– Example: Antilock Brake System (ABS) of an
automotive

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Closed Loop Systems (Recap)

 What is a transfer function?

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Closed Loop Systems (Recap)

 What is time-domain analysis?
– Time responses
• Step response
• Ramp response
• Time response specifications in design (rise time,
overshoot, settling time, and steady state value)
– Steady state accuracy
– Transient response
– Root locus plot

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Closed Loop Systems (Recap)

 What is frequency-domain analysis?
– Why do we study frequency-domain analysis and
design?
– Frequency response function (magnitude change,
phase shift,
and bandwidth)
– Design specifications in terms of frequency
responses (steadystate accuracy, rise time, settling
time, overshoot, etc.)
– Bode plot
– Nyquist diagram

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Closed Loop Systems (Recap)

 What is stability?
– BIBO stability for LTI systems
– Relative stability (gain margin and phase margin)
 What is sensitivity?
– Disturbance rejection
– Sensitivity and stability margin may exert conflicting
requirements in control design
 What are the commonly used controllers?
– Gain compensator (proportional controller)
– Phase-lead compensator
– Phase-lag compensator
– Lag-lead compensator
– PID controller

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State Space Model

 Use state-space description
– The system is modeled as a set of first-order
differential equations (representation of the dynamics
of an nth-order system using n first-order differential
equations)


x(t )  A(t ) x(t )  B(t )u (t )
y (t )  C (t ) x(t )  D(t )u (t )

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Getting the State Space representation

 Example: Newton’s second law

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State Space representation

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SISO representation of MIMO

 Use state-space description
– The system is modeled as a set of first-order
differential equations
– The power of modern control has its roots in the fact
that the state-space model can represent a MIMO
(multi-input multi-output) system as a SISO (single-
input single-output) system due to the use of vectors
and matrices

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Advantages of State Space

 Why use state-space approach?
– State variable form convenient way to work with
complex dynamics; matrix format easy to use on
computers
– Transfer functions only deal with input/output
behavior, while state-space form provides easy
access to the internal features and response of the
system
– State-space approach is great for MIMO (multi-input
multi-output) system, which are very hard to work with
using transfer functions
 State variables can be used for feedback

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Features of this Course

 Concentrate on linear systems
– Linear models describe small perturbations from
nominal operations, and most control design is aimed
at regulating such perturbations
– Linear models are far more tractable than general
nonlinear models, so systematic and detailed control
design approaches can be developed

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Features of this Course

 Apply time-domain techniques
– The frequency-domain approach is at its best when
dealing with SISO systems, for the graphical
techniques were inconvenient to apply with multiple
inputs and outputs
– With the advent of the space age, control design
turned away from the frequency-domain techniques of
classical control theory and back to the differential
equation techniques of the late 1800’s, which were
couched in the time domain

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Features of this Course

 However, modern control that was based on time
domain techniques was lacking in some aspects
• By solving matrix design equations, it is often
possible to design a control system that works in
theory without gaining any engineering intuition about
the problem
 On the other hand, the frequency-domain
techniques of classical control theory impart a great
deal of intuition

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Features of this Course

 A modern control system with any compensator
dynamics can fail to be robust to disturbances, un-
modeled dynamics, and measurement noise; on the
other hand, robustness is built in with a frequency
domain approach using notions like the gain and
phase margin
 Now-a-days, many of the classical frequency-domain
techniques can be incorporated into time-domain
design

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Questions

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