Automatic Control

4. Transfer function and block diagram

김승균 (Seungkeun Kim)
Office: 226, [email protected]
 Where are we?
Contents
❖ [Ch1] 1. Intro: what is control? & what is feedback?
❖ [Ch2] 2. Mathematical modeling of physical systems
❖ [Ch3] 3. Basics of mathematical tools: ODE, Laplace transform, etc
❖ [Ch3] 4. Transfer function & Block diagram
❖ [Ch3] 5. Effects of Pole locations & Time-domain specifications
❖ [Ch3] 6. Effects of zeros, additional poles, & Stability
❖ 7. Mid-exam

❖ [Ch4] 8. System type

❖ [Ch4] 9. Basic classical control: PID (1) – Definition & PID elements
❖ [Ch4] 10. Basic classical control: PID (2) – Example & Z-N tuning
❖ [Ch5] 11. Root-locus design (1): Intro & how to draw RL
❖ [Ch5] 12. Root-locus design (2): Find a gain from RL & examples
❖ [Ch6] 13. Frequency-response design (1): Intro
❖ [Ch6] 14. Frequency-response design (2): Bode plot
❖ [Ch6] 15. Frequency-response design (3): GM/PM & Final-exam

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 4. Transfer function and block diagram
ODE → TF
𝒀 𝒔
❖ Get a TF 𝐇 𝐬 = from the ODEs
𝑼 𝒔
◼ Ex1. y ''(t ) − y (t ) = u (t ), y ( 0 ) = 0, y ' (0) = 0

◼ Ex2. y ''(t ) + 3 y '(t ) + 2 y (t ) = 2u (t ), y ( 0 ) = 0, y ' (0 ) = 0

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 4. Transfer function and block diagram
ODE → TF
𝒀 𝒔
❖ Get a TF 𝐇 𝐬 = from the ODEs
𝑼 𝒔
◼ Ex1. y ''(t ) − y (t ) = u (t ), y ( 0 ) = 0, y ' (0) = 0

◼ Ex2. y ''(t ) + 3 y '(t ) + 2 y (t ) = 2u (t ), y ( 0 ) = 0, y ' (0 ) = 0

❖ Draw the block diagram of the above systems.

4
 4. Transfer function and block diagram
ODE → TF
𝒀 𝒔
❖ Get a TF 𝐇 𝐬 = from the ODEs
𝑼 𝒔
◼ Ex1. y ''(t ) − y (t ) = u (t ), y ( 0 ) = 0, y ' (0) = 0

◼ Ex2. y ''(t ) + 3 y '(t ) + 2 y (t ) = 2u (t ), y ( 0 ) = 0, y ' (0 ) = 0

❖ Find the final value of y(t) as 𝒕 → ∞ with respect to the step input 𝐮 𝒕 .

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 4. Transfer function and block diagram
TF – poles & zeros
❖ A rational* transfer function In mathematics, a rational
◼ Described as a ratio of two polynomials in s: function is
any function which can be
𝑁 𝑠 𝑏1 𝑠 𝑚 +𝑏2 𝑠 𝑚−1 +⋯+𝑏𝑚+1
◼ 𝐻 𝑠 = = defined by a rational
𝐷 𝑠 𝑠 𝑛 +𝑎1 𝑠 𝑛−1 +⋯+𝑎𝑛
fraction, i.e. an algebraic
◼ N: Numerator fraction such that both the
◼ D: Denominator numerator and the
denominator
◼ or are polynomials.
𝑁 𝑠 ς𝑚 (𝑠−𝑧 )
◼ 𝐻 𝑠 = = K ς𝑛𝑖=1(𝑠−𝑝𝑖 )
𝐷 𝑠 𝑖=1 𝑖 (From Wikipedia)
◼ 𝐾: transfer function gain
◼ 𝑧𝑖 : zeros
◼ 𝑝𝑖 : poles

◼ Ex. y ''(t ) + 3 y '(t ) + 2 y (t ) = u (t ) + 2u '(t ),

where y ( 0 ) = 0, y ' ( 0 ) = 0, u (0) = 0

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 4. Transfer function and block diagram
TF – poles & zeros
❖ Zeros
◼ 𝐻 𝑠 ȁs=zi = 0
◼ Block frequencies coinciding with its zero locations.
◼ Have a significant effect on the transient properties of the system.
◼ (Section 3.5 in the textbook)

❖ Poles
◼ 𝐻 𝑠 ȁs=𝑝i = ∞
◼ Determines the stability of the system (recall the eigenvalues.)
◼ Have a significant effect on the steady-state properties of the system.
◼ (Section 3.6 in the textbook)

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 4. Transfer function and block diagram
TF – poles & zeros
❖ Revisit the prev. example. y ''(t ) + 3 y '(t ) + 2 y(t ) = u(t ) + 2u '(t ),
where y ( 0 ) = 0, y ' ( 0 ) = 0, u(0) = 0

❖ The locations of the poles and zeros

◼ Lies at the heart of feedback control design.
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 4. Transfer function and block diagram
TF – poles & zeros
❖ Impulse response of y ''(t ) + 3 y '(t ) + 2 y(t ) = u(t ) + 2u '(t ),
where y ( 0 ) = 0, y ' ( 0 ) = 0, u(0) = 0
Impulse Response
2

1.5

1
Amplitude

0.5

-0.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (seconds)
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 4. Transfer function and block diagram
Step response using MATLAB
𝒀 𝒔
❖ Use a TF from the ODEs in the prev. slide.
𝑼 𝒔
◼ Ex1. y ''(t ) − y (t ) = u (t ), y ( 0 ) = 0, y ' (0) = 0

◼ clear all; close all; >> w04_1_ex1

◼ num = 1; % numerator sys =
1
◼ den = [1 0 -1]; % denominator
-------
◼ sys = tf(num,den) % transfer function s^2 - 1
◼ [z,p,k] = tf2zp(num,den) % pole, zero, TF gain
◼ t = 0:0.01:5; % time vector Continuous-time transfer function.
◼ step(sys,t); % plot step response
z=
Empty matrix: 0-by-1

p=
-1
1

k=
1
10
 4. Transfer function and block diagram
Step response using MATLAB
𝒀 𝒔
❖ Use a TF from the ODEs in the prev. slide.
𝑼 𝒔
◼ Ex1. y ''(t ) − y (t ) = u (t ), y ( 0 ) = 0, y ' (0) = 0
Step Response
80

70

60

50
Amplitude

40

30

20

10

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (seconds)

❖ Q. Does the result coincide with the final value of y(t) in the prev. slide?

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 4. Transfer function and block diagram
Step response using MATLAB
𝒀 𝒔
❖ Use a TF from the ODEs in the prev. slide.
𝑼 𝒔
◼ Ex2. y ''(t ) + 3 y '(t ) + 2 y (t ) = 2u (t ), y ( 0 ) = 0, y ' (0 ) = 0

◼ clear all; close all; >> w04_1_ex2

◼ num = 2; % numerator sys =
◼ den = [1 3 2]; % denominator 2
◼ sys = tf(num,den) % transfer function -------------
◼ [z,p,k] = tf2zp(num,den) % pole, zero, TF gain
s^2 + 3 s + 2
◼ t = 0:0.01:10; % time vector
Continuous-time transfer function.
◼ step(sys,t); % plot step response

z=
◼ Commands:
Empty matrix: 0-by-1
◼ *tf: produce a transfer function

◼ *tf2zp: transfer-function to zero-pole

p=
◼ *step: draw a step response
-2
-1

k=
2
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 4. Transfer function and block diagram
Step response using MATLAB
𝒀 𝒔
❖ Use a TF from the ODEs in the prev. slide.
𝑼 𝒔
◼ Ex2. y ''(t ) + 3 y '(t ) + 2 y (t ) = 2u (t ), y ( 0 ) = 0, y ' (0 ) = 0
Step Response
1

0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)

❖ Q. Does the result coincide with the final value of y(t) in the prev. slide?
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 4. Transfer function and block diagram
Impulse response using MATLAB
❖ Ex 1 (left) & Ex 2 (right)
◼ impulse(sys,t); % plot impulse response

Impulse Response Impulse Response

80 0.5

0.45
70

0.4
60
0.35

50
0.3
Amplitude

Amplitude
40 0.25

0.2
30

0.15
20
0.1

10
0.05

0 0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 1 2 3 4 5 6 7 8 9 10
Time (seconds) Time (seconds)

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