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Control System Assignment Steps Final

Control system

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13 views3 pages

Control System Assignment Steps Final

Control system

Uploaded by

fortuneenuma101
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Detailed Steps for Control System Assignment

Step 1: Define a 2nd Order System

A standard form of a second-order system in the S-domain (Laplace domain) is:

G(s) = wn^2 / (s^2 + 2*z*wn*s + wn^2)

where wn is the natural frequency and z is the damping ratio.

For this exercise, let's assume wn = 1 rad/s (common for simplicity), z = 0.5.

This gives us G(s) = 1 / (s^2 + s + 1).

Step 2: Convert the System from the S-domain to the Z-domain

To convert from the S-domain to the Z-domain, use the bilinear transformation:

s = 2(z - 1) / (T(z + 1)), where T is the sampling period.

Substitute s in G(s) = 1 / (s^2 + s + 1) and simplify.

Step 3: Compare with Target Form on Slide 6

The target form is similar to G(z) = 0.5*z_i / (1 - 0.4*z_i). After simplifying G(z), see if it aligns with

this form.

Step 4: Install the Control Library in Python

Ensure you have control installed by running:

pip install control

Step 5: Simulate the Open-Loop System in Python

Define your G(z) transfer function and use Python to plot the response. Example:

import control as ctrl


import matplotlib.pyplot as plt

# Define G(z) transfer function

num = [0.5]; den = [1, -0.4]

Gz = ctrl.TransferFunction(num, den, True)

# Plot open-loop step response

t, y = ctrl.step_response(Gz)

plt.plot(t, y)

Step 6: Convert to Closed Loop with a PID Controller in the Z-Domain

Using Black's formula, the closed-loop transfer function is:

G_closed(s) = KH / (1 + KH)

where H is open-loop G(z) and K is the PID controller in Z.

Example for PID:

Kp, Ki, Kd = 1.0, 0.5, 0.1

T = 1.0

H_open_loop = Gz * Kp # modify based on PID

G_closed = ctrl.feedback(H_open_loop, 1)

Step 7: Simulate the Closed-Loop System in the Z-domain

Repeat the process for step response, but with the PID controller added to simulate the closed-loop.

Step 8: Convert G(s) to a Linear Difference Equation (LDE)

Take the inverse Z-transform of closed-loop G(z) and write as a difference equation:
y[n] = a1*y[n-1] + a2*y[n-2] + b0*u[n] + b1*u[n-1] ... Implement as discrete time simulation.

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