CONTROL SYSTEM

Open-loop Control System – system in which the output quantity has no effect upon the input
quantity.

Command Reference Reference Dynamic

(Output)
(Input) Selector Unit

Closed-loop Control System – system in which the output quantity has an effect upon the input
quantity.

Reference Actuating
Input Signal

Command Reference + Forward

(Output)
(Input) Selector - Element

Feedback
Signal
Feedback
Element

System – a combination of components that act together to perform a function not possible
with any of the individual parts. It includes physical, biological, organizational and other entities
and combinations thereof which can be represented through a common mathematical
symbolism.

Command input – the motivating input signal to the system which is independent of the output
of the system and exercises complete control over the system.

Reference selector - the unit that establishes the value of the reference input. The reference
selector is calibrated in terms of the desired value of the system output.

Reference input – the reference signal produced by the reference selector. It is the actual signal
input to the control system.

Disturbance input – a signal to the system that has an unwanted effect on the system output.
Forward element – the unit that reacts to an actuating signal to produce a desired output. This
unit does the work of controlling the output and thus may be a power amplifier.

Output – the quantity that must be maintained at a prescribed value.

Feedback element – the unit that provides the means for feeding back the output quantity or a
function of the output in order to compare it with the reference input.

Actuating signal – the signal that is the difference between the reference input and the
feedback signal. It actuates the control unit in order to cause the output to have the desired
value.

Servomechanism – the term is often use to refer to a mechanical system in which the steady-
state error is zero for a constant input signal. In general, it is used to refer to any feedback
control system.

Regulator – this term is used to refer to systems in which there is a constant steady-state
output for a constant signal. The name is derived from the early speed and voltage controls,
called speed and voltage regulators.

Feedback control system – a control system that operates to achieve prescribed relationships
between selected system variables by comparing functions of these variables and using the
comparison to effect control.

Continuous control – implies that the output is continuously fed back and compared with the
reference input.

Discontinuous control – the input and output quantities are periodically sampled and
compared, thus control action is discontinuous in time.

Block Diagram – represents the flow of information and the functions performed by each
component in the system.

Free response – is the solution of the differential equation when the input u(t) is identically
zero.

Forced response – is the solution of the differential equation when all the initial conditions are
identically zero.
Total response – of a linear constant-coefficient differential equation is the sum of the free
response and the forced response.

Steady-state response – is that part of total response which does not approach zero as time
approaches infinity.

Transient response – is that part of total response which approaches zero as time approaches
infinity.

1 for t > to
Unit step function 1( t – to ) is defined by 1 ( t – to ) =
0 for t ≤ to

Unit ramp function – is the integral of a unit step function.

( ) ( ∆)
Unit impulse function ẟ(t) is defined as: ẟ(t) = lim ∆

∆𝑡 → 0
∆𝑡 > 0
where 1(t) is the unit step-function.

Unit impulse response ( system ) – is the output y(t) of the system when the input u(t) = ẟ(t)
and all initial conditions are zero.

Unit step response – is the output y(t) when the input u(t) = 1(t) and all the initial conditions
are zero.

Unit ramp response – is the output y(t) when the input u(t) = t for t > 0 , u(t) = 0 for t ≤ 0 and
all initial conditions are zero.

Transfer function ( system ) - is the Laplace transform of its impulse response.

Impulse response – is the derivative of a step response.

Continuous-time control system – contain or process only continuous-time signals and

components. It is an analog control system.

Discrete-time control system – have discrete time signals or components at one or more points
in the systems. It is a digital control system.

Sampler – is a device that converts a continuous-time signal into a discrete-time signal.

 Hold/Data hold – a device that converts the discrete-time output of a sampler into a particular
kind of continuous-time or analog signal.

Analog to digital converter – is a device that converts an analog or continuous signal into a
discrete or digital signal.

Digital to analog converter – a device that converts a discrete or digital signal into a continuous
or analog signal.

Computer-controlled system – includes a computer as the primary control element.

Transducer – a device that converts one energy form into another.

Controller – often associated with the elements of the forward path, between the actuating
signal and the control variable.

1) On-Off controller – has only two possible values at its output u1 depending on the input e
to the controller.

2) Proportional (P) controller – has an output u proportional to its input e ; u = kpe

3) Derivative (D) controller – has an output u proportional to the derivative of its input e ;
u = kD de/dt

4) Integral (I) controller – has an output u proportional to the integral of its input e;

u = KI ∫ 𝑒(𝑡)𝑑𝑡

5) PD, PI, DI, and PID controllers – are combinations of proportional, derivative and integral
controllers.

NOTE:

The INITIAL value f( 0+ ) of the function f( t ) whose laplace transform is F( s ) is:

f( 0+ ) = lim f(t) = lim sF(s) t>0

t→0 s→ ∞

The FINAL value f( ∞ ) of the function f( t ) whose laplace transform is F ( s ) is:

f( ∞ ) = lim f(t) = lim sF(s) t> 0

t→ ∞ s→0
Example 1
A) Find the initial and final value of the following functions:

1) f( t ) = sin2t
Solution:

ꝭ ( sin2t ) =

Initial value = s [ ] = = = = = 0

s → ∞

Final value = = = 0

s → 0

2) f( t ) = e-2tcosht
Solution:

ꝭ ( cosh t ) = ; ꝭ ( e-2tcosht ) =

Initial value = s [ ] = = = = 1

s → ∞

Final value = = = 0

s → 0

3) f( t ) = t ( e3t + 2sinht )
Solution:

ꝭ ( e3t + 2sinht ) = +

d( + ) = - ( )
- ( )

therefore : ꝭ [ t ( e3t + 2sinht ) ] = ( )

+ ( )

Simplify: ( )( )
=
Initial value = s [ ] =

s → ∞ = = 0

Final value = = = 0

s → 0

B) Given a step response of f ( t ) = e4t , find the impulse response and transfer
function.
Solution:
( )
Impulse response = = 4𝒆𝟒𝒕

𝟒
Transfer function = ꝭ ( 4𝑒 ) = 𝒔 𝟒

C) Given an impulse response of cos3t , find the step response and the transfer function.
Solution:
𝒔
Transfer function = ꝭ ( cos3t ) = 𝒔𝟐 𝟗

𝟏
Step response = ∫ 𝑐𝑜𝑠3𝑡𝑑𝑡 = 𝟑
sin3t + C

For example limit is ≤ t ≤ 𝜋

Thus:
𝟏
Step response = [ sin 3 ( 𝜋 ) - sin 3 ( ) ] = [0 + 1 ] = 𝟑

D) Given a transfer function of ; find the impulse and step response.

Solution:

Impulse response = ꝭ-1 ( )

= ( )
= + ( multiply by the denominator )

3s + 2 = As + 4A + Bs
 Equating coefficients:
s ; 3 = A + B (1)
c ; 2 = 4A (2)

Solving simultaneously:

A = and B =

Therefore : ꝭ-1 ( ) = ꝭ-1 ( ) + ꝭ-1 ( ( )

)

= + =

𝟏 𝟓𝒆 𝟒𝒕
Thus: Impulse response = 𝟐

Step response = ∫( 1 + 5𝑒 )𝑑𝑡 = [ t - 𝑒 ] + C

𝟒𝒕 𝟓𝒆 𝟒𝒕
= 𝟖
+ C

E) From the given transfer function below, find the impulse and step response.

1) G( s ) =

Solution:

G( s ) = ( )
= [ ( )
]

𝟏
Impulse response = ꝭ-1 [ ( )
] = 𝟒
[ sin2t ]

𝟏
Step response = ∫ 𝑠𝑖𝑛2𝑡𝑑𝑡 = [ - cos2t ] + C = - 𝟖 cos2t + C
 2) G( s ) =

Solution:

G( s ) = = 4 [ ( )
] = 4 [ ( )
]

( ) ( )
= ( )
- ( )

( ) ( )
Impulse response = ꝭ-1 [ ( )
- ( )
]

= 4𝒆 𝟐𝒕
𝒄𝒐𝒔𝟐𝒕 - 4𝒆 𝟐𝒕
𝒔𝒊𝒏𝟐𝒕 = 4𝒆 𝟐𝒕
( 𝒄𝒐𝒔𝟐𝒕 − 𝒔𝒊𝒏𝟐𝒕 )

Step response = ∫( 4𝑒 𝑐𝑜𝑠2𝑡 - 4𝑒 𝑠𝑖𝑛2𝑡 ) dt

Integration by parts:

4 ∫( 𝑒 𝑐𝑜𝑠2𝑡 )𝑑𝑡 let u = 𝑒 dv = cos2tdt

du = -2𝑒 𝑑𝑡 v = sin2t

= 4 [ 𝑒 𝑠𝑖𝑛2𝑡 + ∫ 𝑒 𝑠𝑖𝑛2𝑡𝑑𝑡 ] = 2𝑒 sin2t + 4 ∫ 𝑒 𝑠𝑖𝑛2𝑡𝑑𝑡

Therefore:

Step response = 2𝑒 sin2t + 4 ∫ 𝑒 𝑠𝑖𝑛2𝑡𝑑𝑡 - 4 ∫ 𝑒 𝑠𝑖𝑛2𝑡𝑑𝑡

= 2𝒆 𝟐𝒕
sin2t + C

3) G( s ) = ( )

Solution:

G( s ) = ( )
let : u = s - 2 therefore s = u + 2

( )
= ( )
= + = + = 3 ( )
+ 6 ( )

Impulse response = ꝭ-1 [ 3 ( )

+ 3 ( )
] = 3𝑡𝑒 + 3𝑡 𝑒

= 3𝒕𝒆𝟐𝒕 ( t + 1 )

Step response = ∫( 3𝑡𝑒 + 3𝑡 𝑒 ) dt

By integration by parts : ∫ 3𝑡 𝑒 dt = 3 ∫ 𝑡 𝑒 𝑑𝑡 u = 𝑡 dv = 𝑒 𝑑𝑡

du = 2tdt v = 𝑒

3∫ 𝑡 𝑒 dt = 3[ 𝑡 𝑒 - ∫ 𝑡𝑒 𝑑𝑡 ] = 𝑡 𝑒 - 3∫ 𝑡𝑒 𝑑𝑡

𝟑 𝟐 𝟐𝒕
Step response = ∫( 3𝑡𝑒 ) dt + 𝑡 𝑒 - 3∫ 𝑡𝑒 𝑑𝑡 + C = 𝟐
𝒕 𝒆 + C

4) G( s ) =

By Synthetic Division:

1 -2 1 -2 (2) s=2 ; s–2 = 0

2 0 2
----------------------------------------
1 0 1 s2 + 1 = 0
Solution:

G( s ) = = ( )( )
= +

5𝑠 − 5𝑠 = A𝑠 + A + B𝑠 - 2Bs + Cs - 2C

Equating coefficients:

s2 ; 5 = A + B (1)
s ; -5 = -2B + C (2)
c ; 0 = A - 2C (3)

Solving simultaneously ;

A = 2 B =3 C =1

ꝭ-1 [ ] = ꝭ-1 [ + ] = 2 ꝭ-1[ ] + 3 ꝭ-1[ ] + ꝭ-1[ ]

 Impulse response = 2𝒆𝟐𝒕 + 3cost + sint

Step response = ∫( 2𝑒 + 3cost + sint ) dt = 𝒆𝟐𝒕 + 3sint - cost + C

5) G( s ) =

Solution:

G( s ) = = ( )( )

= + +

4s4 + 3s3 + 34s2 + 27s + 72 = As4 + 13As2 + 36A + Bs4 + 9Bs2 + Cs3 + 9Cs + Ds4 + 4Ds2 +
Es3 + 4Es
Equating coefficients:

s4 ; 4 = A + B + D (1) s ; 27 = 9C + 4E (4)
s3 ; 3 = C + E (2) c ; 72 = 36A (5)
s2 ; 34 = 13A + 9B + 4D (3)

From equation ( 5 ) A= 2

Solving C and E simultaneously from equation ( 2 ) and ( 4 )

C = 3 E = 0

Solving B and D from equation ( 1 ) and ( 3 )

B + D = 2 and 9B + 4D = 8
B = 0 and D = 2

Therefore : = + +

Impulse response = 2ꝭ-1 ( ) + ꝭ-1( ) + 2 ꝭ-1( )

 𝟑
= 2 + 𝟐
sin2t + 2 cos3t

𝟑 𝟐
Step response = ∫( 2 + sin2t + 2 cos3t ) dt = 2t - 𝟒
cos2t + 𝟑
sin3t + C

6) Find the differential equation of a system whose transfer function is given as :

G( s ) =

Solution:
( )
G(s) = = ( )

( )
= ( )

𝒅𝟑 𝒚 𝒅𝟐 𝒚 𝒅𝒚 𝒅𝟐 𝒖 𝒅𝒖
𝒅𝒕𝟑
- 2 𝒅𝒕𝟐 + 𝒅𝒕
- 2y = 5 𝒅𝒕𝟐
- 5 𝒅𝒕

7) Given a differential equation of a system below, find the transfer function:

4 + 3 - 2 + y = -3 + 2 + 4u

Solution:

( 4s4 + 3s3 - 2s + 1 ) Y ( s ) = ( -3s3 + 2s2 + 4 ) U ( s )

( ) 𝟑𝒔𝟑 𝟐𝒔𝟐 𝟒
G(s) = ( )
= 𝟒𝒔𝟒 𝟑𝒔𝟑 𝟐𝐬 𝟏