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ME451: Control Systems Course Roadmap

This document provides an overview of the ME451 Control Systems course taught by Dr. Jongeun Choi at Michigan State University. It covers the following topics in three lectures: 1. Modeling systems using Laplace transforms, transfer functions, and block diagrams. 2. Analyzing system behavior through time and frequency response, stability analysis using Routh-Hurwitz and Nyquist criteria. 3. Designing controllers through root locus, Bode plots, and PID techniques with examples. The document emphasizes the importance of stability for control systems and provides mathematical definitions of stability concepts. Laboratory exercises reinforce the modeling and analysis techniques.

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Vu Nghia
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0% found this document useful (0 votes)
51 views6 pages

ME451: Control Systems Course Roadmap

This document provides an overview of the ME451 Control Systems course taught by Dr. Jongeun Choi at Michigan State University. It covers the following topics in three lectures: 1. Modeling systems using Laplace transforms, transfer functions, and block diagrams. 2. Analyzing system behavior through time and frequency response, stability analysis using Routh-Hurwitz and Nyquist criteria. 3. Designing controllers through root locus, Bode plots, and PID techniques with examples. The document emphasizes the importance of stability for control systems and provides mathematical definitions of stability concepts. Laboratory exercises reinforce the modeling and analysis techniques.

Uploaded by

Vu Nghia
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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Course roadmap

ME451: Control Systems Modeling Analysis Design

Laplace transform Time response


Design specs
• Transient
Lecture 9 Transfer function • Steady state
Root locus
Stability
Models for systems Frequency response
Frequency domain
• electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Dr. Jongeun Choi Block diagrams • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • (Nyquist)
Nyquist)
Michigan State University

(Matlab simulations &) laboratories


1 2

Simple mechanical examples Stability


ƒ We want mass to stay at x=0, but wind gave some ƒ Utmost important specification in control design!
initial speed (F(t)=0). What will happen? ƒ Unstable systems have to be stabilized by
f(t)
f(t) K f(t)
f(t) feedback.
M M ƒ Unstable closed-loop systems are useless.
ƒ What happens if a system is unstable?
x(t)
x(t) x(t)
x(t)
K • may hit mechanical/electrical “stops”
stops” (saturation)
B
f(t)
f(t) f(t)
f(t) • may break down or burn out
M M
B
x(t)
x(t) x(t)
x(t)

ƒ How to characterize different behaviors with TF?


3 4
What happens if a system is unstable? Mathematical definitions of stability
Tacoma Narrows Bridge (July 1-Nov.7, 1940) ƒ BIBO (Bounded-Input-Bounded-Output) stability :
Any bounded input generates a bounded output.
ICs=0 y(t)
y(t)
u(t)
u(t)
BIBO stable
system

ƒ Asymptotic stability :
Wind-
Wind-induced vibration Collapsed!
Any ICs generates y(t)
y(t) converging to zero.
2008… ICs y(t)
y(t)
Asymp.
Asymp. stable
u(t)=0
u(t)=0 system

5 6

Stability condition in s-domain


Some terminologies (Proof omitted, and not required)
Ex. For a system represented by a transfer
function G(s),
ƒ Zero : roots of n(s) system is BIBO stable

ƒ Pole : roots of d(s) All the poles of G(s) are in the open left
half of the complex plane.
ƒ Characteristic polynomial : d(s)

system is asymptotically stable


ƒ Characteristic equation : d(s)=0
7 8
Second order impulse response-
“Idea” of stability condition Underdamped and Undamped
Example

… Overdamped
… Critically damped
Asym.
Asym. Stability:
… Underdamped
(U(s)=0)
U(s)=0)
… Undamped
BIBO Stability:
(y(0)=0)

Re(α)>
Bounded if Re(α)>0
0
9 10

Second order impulse response – Second order impulse response –


Underdamped and Undamped Underdamped and Undamped
Changing / Fixed Changing / Fixed

Impulse Response Impulse Response


5 5

4 4

3 3

2 2
Amplitude

Amplitude
1 1

0 0

-1 -1

-2 -2

-3 -3

-4 -4
0 2 4 6 8 10 12 0 2 4 6 8 10 12
6 6
Time (sec) Time (sec)
4 4
2 2

0 0
-2 -2
-4 -4

-6 11 -6 12
-5 0 5 -5 0 5
Second order impulse response –
Underdamped and Undamped
Remarks on stability
Changing / Fixed
ƒ For a general system (nonlinear etc.), BIBO
5
Impulse Response stability condition and asymptotic stability
4 condition are different.
ƒ For linear time-invariant (LTI) systems (to which
3

we can use Laplace transform and we can


Amplitude

-1
obtain a transfer function), the conditions
-2 happen to be the same.
-3

-4
0 2 4 6 8 10 12
ƒ In this course, we are interested in only LTI
6
Time (sec)
4 systems, we use simply “stable” to mean both
2

0
BIBO and asymptotic stability.
-2
-4

-6 13 14
-5 0 5

Remarks on stability (cont’d) Examples


ƒ Marginally stable if ƒ Repeated poles
ƒ G(s)
G(s) has no pole in the open RHP (Right Half Plane), &
ƒ G(s)
G(s) has at least one simple pole on -axis, &
ƒ G(s)
G(s) has no multiple poles on -axis.

ƒ Does marginal stability imply BIBO stability?

Marginally stable NOT marginally stable


ƒ TF:

ƒ Unstable if a system is neither stable nor


ƒ Pick
marginally stable.
ƒ Output

15 16
Feedback Technique Positive Feedback

K will depends on the distance between the guitar and the amplifier.

17 18

Stability summary Mechanical examples: revisited


Let si be poles of G. K
f(t)
f(t) f(t)
f(t)
Then, G is … M M

ƒ (BIBO, asymptotically) stable if x(t)


x(t) x(t)
x(t)
Poles= Poles=
Re(si)<0 for all i. stable? stable?
ƒ marginally stable if
K
ƒ Re(si)<=0 for all i, and B
f(t)
f(t) f(t)
f(t)
ƒ simple root for Re(si)=0 M M
ƒ unstable if
B
it is neither stable nor x(t)
x(t) Poles= x(t)
x(t) Poles=
marginally stable. stable? stable?

19 20
Examples Summary and Exercises
Stable/marginally stable
/unstable ƒ Stability for LTI systems
ƒ (BIBO and asymptotically) stable, marginally stable,
? unstable
ƒ Stability for G(s)
G(s) is determined by poles of G.
?
ƒ Next
?
ƒ Routh-
Routh-Hurwitz stability criterion to determine stability
without explicitly computing the poles of a system.
?
ƒ Exercises
? ƒ Solve examples in the previous slide.

???

21 22

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