Linear Control Theory

Assoc. Prof. Nguyen Hoai Nam

Department of Automation Engineering, School of Electrical Engineering

Hanoi University of Science and Technology
Email: [email protected]
Website: https://sites.google.com/view/n2c

October 2, 2023

Assoc. Prof. Nguyen Hoai Nam Linear Control Theory October 2, 2023 1 / 15
Chapter 2 Linear system in frequency domain

2.1 Single input single output system

2.2 Equivalent transfer function
2.3 Frequency characteristics
2.4 Typical systems
2.5 Stability and criteria
2.6 Transient and steady-state process
2.7 Performance analysis
2.8 Open loop control
2.9 PID Controller
2.10 PID design
2.11 PID design based on AI

Assoc. Prof. Nguyen Hoai Nam Linear Control Theory October 2, 2023 2 / 15
2.1 Single input single output (SISO) system

d ny d n−1 y dy d mu d m−1 u du
n
+an−1 n−1
+...+a 1 +a 0 y = m
+bm−1 m−1
+...+b1 +b0 u
dt dt dt dt dt dt
(1)
m ≤ n, u : the input, y : output.
Example 0.1
R-C series circuit (low-pass filter)

dy
RC + y = u, (2)
dt
R : Resistance, C : capacitance, u : voltage applied to the circuit, y :
voltage across the capacitor.

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Forced and unforced processes

Unforced system: u = 0 and non-zero initial conditions

Forced system: u ̸= 0 and zero initial conditions

Assoc. Prof. Nguyen Hoai Nam Linear Control Theory October 2, 2023 4 / 15
Laplace Transform

Z ∞
F (s) = f (t)e−st dt, (3)
0

s = α + jβ, j 2 = −1.
Laplace properties:
a) Derivative:
n df o
L = sF (s) − f (0) (4)
dt
b) Initial value:
f (0) = lims→∞ sF (s) (5)
c) Final value:
f (∞) = lims→0 sF (s) (6)

Assoc. Prof. Nguyen Hoai Nam Linear Control Theory October 2, 2023 5 / 15
2.2 Equivalent transfer function

Taking Laplace transform both sides of the Eq. (1) with zero initial
conditions,one gets

Y (s) b0 + b1 s + ... + bm−1 sm−1 + sm

G(s) = = (7)
U(s) a0 + a1 s + ... + an−1 sn−1 + sn

Cascaded system: G(s) = G1 (s)G2 (s)

Parallel system: G(s) = G1 (s) + G2 (s)
G1 (s)
Feedback system (negative/positive): G(s) = 1±G1 (s)G2 (s)

Assoc. Prof. Nguyen Hoai Nam Linear Control Theory October 2, 2023 6 / 15
2.2 Equivalent transfer function

Figure 1: a) Cascaded system, b) Parallel system, c) Negative feedback

system.

Assoc. Prof. Nguyen Hoai Nam Linear Control Theory October 2, 2023 7 / 15
Equivalent Diagram

Branch point: Input and output of the system

Summing point: Input and output of the system

Assoc. Prof. Nguyen Hoai Nam Linear Control Theory October 2, 2023 8 / 15
2.3 Frequency characteristics

Taking Laplace transform both sides of the Eq. (1) with zero initial
conditions,one gets

Y (s) b0 + b1 s + ... + bm−1 sm−1 + sm

G(s) = = (8)
U(s) a0 + a1 s + ... + an−1 sn−1 + sn

Bode diagram (logarithmic plot)

Nyquist plot (polar plot)

Assoc. Prof. Nguyen Hoai Nam Linear Control Theory October 2, 2023 9 / 15
Bode diagram

Logarithmic magnitude

L(ω) = 20log|G(jω)| (dB − decibel) (9)

Phase angle
 Im(G(jω)) 
ϕ(ω) = tan−1 (10)
Re(G(jω))

Assoc. Prof. Nguyen Hoai Nam Linear Control Theory October 2, 2023 10 / 15
G(s) = K , K >0

L(ω) =20log(K )
(11)
ϕ(ω) =0

Figure 2: 20log(K)-Bode diagram of K = 20

Assoc. Prof. Nguyen Hoai Nam Linear Control Theory October 2, 2023 11 / 15
 1
Integral transfer function G(s) = s

L(ω) =20log(1/ω) = −20logω

(12)
ϕ(ω) =tan−1 (−1/(ω0)) = −90o

Figure 3: 20log|1/(jω)|: Bode diagram of 1/(jω)

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Derivative transfer function G(s) = s

L(ω) =20log(ω)
(13)
ϕ(ω) =tan−1 (ω/0) = 90o

Figure 4: 20log|(jω)|: Bode diagram of jω

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Nyquist plot (Polar plot)
Nyquist plot: Plot of the magnitude of G(jω) versus the phase angle of G(jω) on polar coordinates as ω is varied from
zero to infinity (∞).
Each point on the polar plot of G(jω) represents the terminal point of a vector at a particular value of ω.
The projections of G(jω) on the real and imaginary axes are its real and imaginary components.

Figure 5: Example of polar plot.

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 1
G(jω) = jω : the negative imaginary axis.
G(jω) = jω: the positive imaginary axis.
1
G(jω) = 1+jωT : semi-circle.
G(jω) = 1 + jωT : The upper half of the straight line passing
through point (1, 0) in the complex plane and parallel to the
imaginary axis.

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