AV-355

MODERN CONTROL SYSTEM

Lecture 1

Introduction : Modern Control Theory & State

Variables

Dr Muhammad Taimoor (Spring 2024)

Textbook : Modern Control Systems (13th Ed) by Richard C. Dorf and Robert
H. Bishop Section 1.1, 3.1, 3.2 & Reference books extracts

Training Week No. 1

Total Slides = 33
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 Pedagogical Information
• Credit Hours (AV-355)
– 2–1
• Textbook
– Modern Control Systems by Richard C. Dorf & Robert H. Bishop. 13th Ed, Pearson, 2016.
– Control System Engineering by Norman S Nice. 7th Ed, John Wiley & Sons, 2015.
– Feedback Control Systems by Charles Phillips & Royce D. Harbor. 5th Ed, Pearson, 2010.
– Aircraft Control & Simulation by Brian L. Stevens, Frank L. Lewis and Eric N. Johnson,
3rd Edition, John Wiley & Sons, 2015
– Flight Stability and Automatic Control. 2nd Edition by Robert C Nelson,1997
• Reference Books
– “Fundamentals of linear State Space Systems” by John S. Bay
– “Linear system Theory and Design” by Chen
– Course Notes & Slides
• Evaluations
– Quizzes (announced and unannounced), Assignments, OHT, End Term.

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 ASSESSMENT SYSTEM

Quizzes 10% - 15%

Theory/Instru
ction Assignments 5% - 10%
(67%) OHTs 30% - 40%
ESE 40% -50%

Lab Work and

70%-80%
Lab Report
Work/Viva
(33%) Complex Engineering
Lab ESE & Viva 20% - 30% Problem
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(In lieu of Lab ESE)
 Pedagogical Information
(AV-355)
PREREQUISITE:

1. AV-354 : Analysis and Design of Control Systems

2. AV-262 : Signals and Systems

Group
Department Guidance, Semester No
Avionics Engineering Navigation and 06
Controls

Course Title Code Credit Hours

Modern Control Systems AV-355 2–1

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 COURSE DESCRIPTION

• This course builds on the classical control system analysis

and design methods learnt by the students in the previous
semester (AV-354).
• In this course the students are introduced to the modern
control system design using state-space methods.
• Fundamental notions of controllability and observability for
state variables models as well as digital PID controller
design are covered.
• The students are also introduced to advanced topics
including optimal and digital controller design principles.
Optimal control and Kalman Filtering is also covered.
• Applications of Control Engineering for Aircraft Control are
also elaborated.

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 TOPICS COVERED : THEORY
Lecture As CLO Domain
Description Reference Quiz
No sg No Level
1 Introduction to State Variables Text 1, 3.1-3.2
2 State Differential Equations 3.3
Transfer Function from State 1
3 3.6
Equations 1 C3
Time Response and State Transition
4 3.7
Matrix
5 Controllability and Observability 11.1-11.2
Full-State Feedback Controller Design 1
6 11.3
(Pole Placement)
Observer Design (Ackermann’s
7 11.4
Formula) 2
Integrated Full-State Feedback and 2 C6
8 Text 2, 11.5
Observer (Compensator)
9 Reference Inputs 11.6
10-11 Optimal Control Systems - LQR 11.7

12 Introduction to Stochastic Systems 7.1 1 C3

13 OHT-1 Week 1, 2 C3, C6 6
 TOPICS COVERED : THEORY
Lecture As CLO Domain
Description Reference Quiz
No sg No Level
14 Filtering of Random Signals 7.2
White Noise and White Noise
15 7.3
Filters 3 2 1 C3
16-17 The Kalman Filter 7.4
18-19 Optimal LQG Compensators 7.5
Introduction to Discrete Time 1 C3
20 Text 3, 11.1
Systems
Review of z-Transforms,
21 Difference Equations and Inverse 11.2-11.5
z-Transform 4
1 C3
State Variable Solution of
22 11.7
Discrete Systems

23 OHT-2 Week 1 C3

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 TOPICS COVERED : THEORY
Lecture As CLO Domain
Description Reference Quiz
No sg No Level
Open-loop and Closed Loop 12.6-12.7
24
Discrete Time Systems
25 Mapping s-plane into z-plane 13.4
13.11 –
26 Design of Digital PID Controllers
13.14
Text Book 4,
Aircraft Modelling (Introduction,
Sec 2.1-2.3
27 Basic aerodynamics, Forces and
Moments) 5 3

Non-Linear Aircraft Model (6DOF

28 Sec 2.5 2 C6
Eqs of Motion)
Decoupling of Non-Linear Eqs of
29 Motion (3-DOF Longitudinal Sec 2.5
Model)
Linear Models and Steady State
30 Section 2.6
Flight
6 DoF Model Trimming and 8
31 Text Book 4,
 TOPICS COVERED : THEORY
Lecture As CLO Domain
Description Reference Quiz
No sg No Level

6 DoF Model Trimming and

31 Text Book 4,
Simulation for an Aircraft
Sec 3.5
Aircraft Modes (Longitudinal and Text book 5
32
Lateral Dynamics) Ch 4 &5
Text book 4
33 Aircraft Modes for Simulation
Section 3.5
Stability and Control
Text book 5
34 1 C3
Ch 2 6 4
Design of Stability Augmentation Text Book 4,
35
System Sec 4.4
Design of Control Augmentation Text Book 4,
36 2 C6
System Sec 4.5
37 – 40 Course Revision & Problem Solving
END SEMESTER EXAM 1, 2 C3, C6

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 System or plant or process
• System / Plant / Process is an interconnection of elements and
devices
– Can be any real-world system such as Aircraft, Car, Robot etc.
– Can be very complex such as a direct brain-to-computer system to
control a robot

• Output (of interest)

– Physical quantity generated by the system and measured by a sensor
• Input (manipulated signal)
– Physical quantity that has sufficient authority of the Output (of
interest)

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 EXAMPLE OF A SYSTEM / PLANT / PROCESS
Aircraft Mass
m
Output (Acceleration)
Input (Thrust Force) a
F

• Aircraft generates many other outputs (e.g. Altitude, pitch,

roll, yaw)
– But our output (of interest) is Acceleration as we want to control it
– If we want to control the altitude, then output (of interest) will be
altitude
• Many inputs are applied to the aircraft (e.g. Elevator
Deflection, Flaps etc)
– But the input that has a sufficient authority over the output (of
interest) is Thrust
– If we have some other output (of interest), the input will also be
different 11
 Sensors and actuators
• Sensors provide measurements of external
signals
– Example : Acceleration Sensor (Bosch MM 5.10)
– Sensors generate output signals

• Actuators are devices employed by the control

system to adjust the plant
– Example : Aircraft throttle (Power-Flo 76106)
– Actuators generate input to the system/plant/process
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 Open loop control system
• Utilizes an actuating device to control the process directly
without using feedback

• Open loop control works under ideal or near ideal conditions

– Controller transfer function is set as the inverse of Plant/Process
– So, the transfer function from “desired output” to “output” becomes 1
• However, with unwanted disturbances, open loop control
does not work
– Examples of unwanted disturbances for aircraft : wind gust, crosswind,
runway roughness, sensor failure, control surface failure, engine
failure, loss of power etc.
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 Controller
• A mathematical algorithm that manipulates the
signal going to actuator
– Example : Proportional controller, PID Controller

• Controllers are generally implemented using

– Computers
– Microcontrollers

• Rarely implemented using analog / digital

components

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 Closed loop/feedback control
system
• Maintains a prescribed output by comparing “desired
output” with “actual output” and uses the difference
(error) as a means of control
• Using a sensor “measured output” is a good approximation
of “actual output”

• Designing a control system means “designing the controller

algorithm”

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 Closed loop/feedback control
system
• Closed-loop control has many advantages over
open-loop control
– Ability to reject external disturbances
– Improve measurement noise attenuation

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18
Example : Flight Control System

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 Few Basic Concepts

1. Linear Systems
2. Static Vs Dynamic Systems
3. ODE Vs PDE
4. Degree Vs Order of the System
5. SISO / SIMO/MIMO/MISO Systems
6. Time Domain Vs Frequency Domain

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 Linear Systems
• A system is said to be Linear if satisfies two important
principles
– Principle of Homogeneity
Principle of Superposition
– Principle of additivity

• Any given system ‘S’ is linear if, for any two inputs x1(t) and
x2(t) and any two numbers a1 and a2,

𝑆 𝑎1𝑥1 𝑡 + 𝑎2𝑥2(𝑡) = 𝑎1𝑆 𝑥1 𝑡 + 𝑎2𝑆{𝑥2 𝑡 }

A nonlinear system is a system in which the change of the output is not
proportional to the change of the input.
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 Linear System
Principle of Homogeneity
• Scale the input, the output will get scaled by the same
amount
– As we increase the strength of a simple input to a linear system,
say double it, then the output function will also be doubled.
• Consider a system S, for any input x(t) and any number a,
𝑆 𝑎𝑥 𝑡 = 𝑎𝑆{𝑥 𝑡 }

𝑆 𝑎1𝑥1 𝑡 + 𝑎2𝑥2(𝑡) = 𝑎1𝑆 𝑥1 𝑡 + 𝑎2𝑆{𝑥2

22 𝑡 }
 Linear Systems
Principle of Additivity
– the net response caused by two or more stimuli is the sum
of the responses that would have been caused by each
stimulus individually
– for any two inputs x1(t) and x2(t),

x1(t) 𝑆 𝑥1 𝑡

𝑥2 𝑡 𝑆{𝑥2 𝑡 }

𝑥1 𝑡 + 𝑥2 𝑡 𝑆 𝑥1 𝑡 + 𝑆{𝑥2 𝑡 }

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𝑆 𝑥1 𝑡 + 𝑥2 𝑡 = 𝑆 𝑥1 𝑡 + 𝑆, , , , , 𝑏{𝑥2 𝑡 }
 Linear Vs Non-linear
Examples Linear Systems

– 𝑦 𝑡 = 3𝑥 𝑡 + 2
– 𝑦 𝑡 = 𝑥(𝑡)
– 𝑦 𝑡 = 𝑡2𝑥 𝑡

Non Linear Systems

Majority of real life systems are nonlinear in nature. eg a

pendulum, self balancing robot, car, aircrafts models,
magnetic levitation

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 Non Linear System Example
• 𝑦 𝑡 = 3𝑥 𝑡 + 2

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Non Linear System Example
– 𝑦 𝑡 = 𝑥 2 (𝑡)

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 Static Vs Dynamic Systems
• Static systems (Algebraic systems) are memoryless systems
as the output at time t depends only on the input at time t.
– e.g Ideal amplifier: y(t) = K x(t), where K > 0 is the amplifier gain —
memoryless, since the output at time t depends only on the input at
time t

• Dynamic systems are the systems with memory as the output

depends on itself from an earlier point in time.
– Systems with memory most often occur as differential equations
(continuous-time), or as difference equations (discrete-time)
because closed form solutions of such systems require integration
(or summation) of a quantity over past time.
𝑡
– e.g Integrator: 𝑦 𝑡 = ‫׬‬−∞ 𝑥 𝜏 𝑑𝜏 has memory, since the
output at time t depends on the input for all −∞ < τ ≤ t.

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Differential Equation Classification
• Differential Equations. Differential equations are used to
model dynamical systems. These are problems that require
the determination of a function satisfying an equation
containing one or more derivatives of the unknown function.

– Ordinary Differential Equations. The unknown function in the

equation only depends on one independent variable; as a result only
ordinary derivatives appear in the equation. Can be linear or nonlinear.

– Partial Differential Equations. The unknown function depends on

more than one independent variable; as a result partial derivatives
appear in the equation. Can be linear or nonlinear

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 System
Modeling Have memory and
can be casual/
Memory Less / Algebraic system non casual)
Static
𝑦 = 𝑚𝑥 + 𝑐 Dynamic 𝑑𝑦
=𝑥
𝑑𝑡

Difference Eqs State Space

Transfer
Differential Eqs Function
Convolution
𝑦 𝑛 = 𝑦(𝑛 − 1) 𝑑𝑥
= 𝐴𝑥 + 𝐵𝑢 𝑑𝑦
+u(n)+4y(n-1) 𝑑𝑡 = 2𝑥 + 5 𝑦 𝑠 = 𝑔 𝑠 𝑢(𝑠)
𝑑𝑡

ODE
PDE
(linear/Nonlinear)

Linear (LTI and Nonlinear

LTV)
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 Degree Vs Order
• Order of the system is the highest derivative of the
dependent variable of the system

• Degree of the system is the degree of the highest

derivative of dependent variable of the system

3
𝒅2 𝒚 2
𝒅𝒚 Order : 2
+𝒕 = 𝒔𝒊𝒏𝒕4 1
𝒅𝒕2 𝒅𝒕 Degree :

2 3 Order : 3
𝒅3 𝒚 𝒅2 𝒚 𝒅𝒚
+ + 𝒔𝒊𝒏𝒕 = (𝒍𝒐𝒈𝒕)𝟓 Degree : 1
𝒅𝒕3 𝒅𝒕2 𝒅𝒕

2 3
𝒅2 𝒚 𝒅𝒚 Order : 2
+ 𝒔𝒊𝒏𝒕 = 𝒕𝟒
𝒅𝒕2 𝒅𝒕 Degree : 2
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SISO / SIMO / MIMO / MISO Systems

• SISO: Single Input Single Output

– A system with only one input and one output is known as SISO
system e.g Fan speed control, air conditioner temperature
control
• MIMO: Multiple Input Multiple Output
– A system with multiple inputs and multiple outputs is known as
MIMO system. e.g Temperature and Humidity control of a room
(I/Ps are cooling unit and water sprayer, output are temp and
humidity)

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 SISO / SIMO /MIMO / MISO Systems
• SIMO: Single Input Multiple Output
– A system with only one input and multiple outputs is known as
SIMO system
• MISO: Multiple Input Single Output
– A system with multiple inputs and one output is known as MISO
system

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 Time Vs Frequency Domain
• Linear systems are usually mathematically described in
one of two domains (Time domain or frequency domain)
– Time-domain (reference to time). In time-domain analysis
is concerned with how a signal changes over time.
– Frequency-domain (reference to frequency). In frequency-
domain analysis, we are concerned with how the signal lies
within a frequency over a range of frequencies of interest.

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THANKS

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