Higher National Diploma in Engineering

Assessment Brief
Student Name/ID Nguyen Van Long Bao / 20ED10113
Number

Unit Number and Title U54: Further Control Unit code: Y/615/1522
Systems Engineering

Academic Year 2022 - 2023

Unit Assessor Vu Van Phong

Assignment Title Design and Evaluation for the Automatic Control System

Issue Date

Submission Date

Formative Date: Summative Date:

IV Name & Date

Formative Feedback

Assessor Signature: Date:

Summative Feedback

GRADE (Please tick ) Referral Pass Merit Distinction

First Attempt

Rework

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IV’s comment:
IV’s signature and Date:

Student Declaration
I certify that the assignment submission is entirely my own work and I fully understand the
consequences of plagiarism. I understand that making a false declaration is a form of
malpractice.

Student signature: Date:

Submission Format

The submission is in the form of an individual written report. This should be written in a
concise, formal business style, using single spacing and font size 12. You are required to
make use of headings, paragraphs, and subsections, as appropriate, and all work must be
supported with research and referenced using the Harvard or IEEC referencing system.
The recommended word limit is 2000–2500 words. You will not be penalised for exceeding
the total word limit.

Unit Learning Outcomes

LO1 Examine the basic concepts of control systems and their contemporary applications

LO2 Explore the elements of a typical, high-level control system and its model
development

LO3 Analyse the structure and behaviour of typical control systems

LO4 Explain the application of control parameters to produce optimum performance of a

control system

Assignment Brief and Guidance

Scenario: Suppose that you are employed to work as an automation engineer in a company.
Your team, recently, is assigned a project that requires to design an automatic control
system. In order to deploy this project, firstly, you have to understand the knowledge of the
automatic control system and the procedure to synthesize an automatic control system. It is
assumed that the system of the project will use the DC motor to change the position. After
that, the leader asked to apply this knowledge to design a controller to control the position
of the DC motor that is a part of the project.

In your report, please answer all the questions in the following four tasks.

Task 1: Basic Concepts of the Automatic Control System

1.1. Before studying the automatic control system, there are several concepts
of control filed that need to understand clearly. The requirements for this
task are that students have to answer the following questions:
  Please provide the definition of control and automatic control, and give a real
specific example of automatic control.
 Please describe the structure of a typical automatic control system. Please list the
typical components and their function?
 What is the difference between a closed-loop and an open-loop system? Please
provide practical examples for closed-loop and open-loop systems.
 Consider a liquid-level control system in Fig.1, please list the components and
make a block diagram of this system. Is it an open-loop or closed-loop system?

Fig. 1 Temperature control of the fish tank

Task 2: Mathematical Models of the Control System
2.1 Find Mathematical Models of the Mechanical and Electrical System
1. For a given a Spring-Mass-Dashpot system in Fig. 2.

Fig.2 Spring-Mass-Dashpot system

M1 and M2 are the mass; K1, K2, and K3 are the spring constants, and f v3 is the
viscous friction coeffection of the dashpot. X 1(t) and x2(t) are the displacement of
mass M1 and M2 respectively and are output. x2(t) is output and f(t) is the input.
 Find the transfer function of the above system.
 Simulate this system by Matlab with f=1; M1=1kg; M2=1.5kg; K1=0.1; K2=0.2;
K3=0.1; fv3=0.15;

2. For the circuit as follows in Fig 3.

Fig. 3 Electrical system

 Determine the transfer function of the above system in which v i ( t ) is the input
voltage and v o ( t ) is the output voltage.
 Simulate this system by Matlab/Simulink using sine wave v i ( t ) .
2.2 Block diagram
The block diagram of the position-control system of an electronic word processor is shown

Fig. 4. Position-control system of an electronic word processor

θ r (s)
Please find the transfer function G ( s )= of the above system.
θo (s)
2.3. Using Matlab to find the closed-loop transfer function
Consider a closed-loop system as follows in Fig.5

+
G(s)
-

H(s)

Fig. 5 A closed-loop control system

where
1 1
G ( s )= , H ( s )=
2
s +s +5 s+2
 Determine the closed-loop transfer function of the above system manually.
 Using Matlab software, determine the transfer function of the closed-loop systems.
2.4 State-space equation
Consider a system illustrated in Fig. 6. e(t) is the voltage input; and i 2 (t) is the output.
 Please determine the mathematical model under the state-space equation
with x 1 ( t )=i 1 (t ) , x2 ( t )=i 2 ( t ) , x 3 ( t )=ec ( t ) ,.
 Please simulate the system using Matlab/Simulink
with inputs are step signal R1 = 1, R2 = 1, L1 = 1, L2 = 1, C = 1.
Task 3: Transient Response and Stability Analysis
3.1. Analyse the behaviour and response of the first-order system as follow:

G(s)
Fig 7. A transfer function block
1
where G ( s )= , a is the last number of your student ID ( if your last number of the
4 s+ a
student ID is zero, please select a=2).
 Determine the settling time with 5% criterion.
 Simulate the system in Matlab with a unity step signal.

3.2 Consider the Hubbe Space Telescope is modeled in Fig.8. Analyze the behavior and
response of this system.

Fig. 8: The block diagram of the system

 Ignore the effect of the disturbance, please determine the transfer function between
Y(s) and R(s).
 Find K and K1 such that the overshoot is 15%, settling time with 5% criterion is 4s.
 With obtained K and K1, please find the steady state error with the unity step signal.
 Simulating the system in Matlab with input is a unity step signal.

3.3 Take into account the following system as shown in Fig.9

-
 Fig.10: Block diagram of the system
 Find the poles and zeros of the closed-loop system in Fig.9
 Plot the poles and zeros on the complex plane using Matlab.
 Based on the position of poles on the complex plane, please check the stability of the
system.
 Simulate the system with unity step input by Matlab/Simulink. Analyze the obtained
results.

3.4 Consider the Disk Drive Read System in Fig.10.

Fig. 10: Disk drive read system

Fig. 11. Block diagram

where
Km
G ( s )=
s ( Js +b ) (Ls + R)
G P ( s )=K p
Table 1: The parameters of a DC motor

 Please determine conditions of parameters of P controller such that the system is

stable according to the Routh-Hurwirtz criterion.
 Select two values of Kp, one satisfies the Routh-Hurwirtz condition and another is not,
then using Matlab to simulate above system with two values of Kp. The input signal is
 unity step input signal. Based on the simulation results, please evaluate the stability
of the system with P controller when the parameter of P controller is determined
based on the Routh-Hurwirtz criterion.

Task 4: PID controller design

4.1 Please explain
 What is the PID controller?
 The roles of the P, I, D of PID control in the control system

4.2 Let us consider the following system

+
GPID(s) G(s)
-

Fig. 12. Block diagram of the system

where
1
G ( s )= 2 and input R(s) is the unity step signal
s +3 s +5
 Let Ki=0, Kd=0, using the Simulink to simulate the system with Kp=1, 5, 10, 200,
based on these simulation results, please give comments on the effects of Kp on the
response of the system.
 Let Kp=10, Kd=0, using the Simulink to simulate the system with Ki=0.1, 1, 20, 50,
based on these simulation results, please comment on the effects of Ki on the
response of the system.
 Let Kp=10, Ki=10, using the Simulink to simulate the system with Kd=0.1, 1, 5, 15,
based on these simulation results, please comment on the effects of Kd to the
response of the system.

4.3 Consider a system in the following figure

+
GPID(s) G(s)
-

Fig. 13. Block diagram of the system

in which
1 1
G PID ( s )=K p (1+ +T D s) is PID controller and G ( s )= is the plant.
TI s s (s+2)(s+6)
 Based on the Ziegler-Nichols method, determine the parameter of the PID controller
(Kp, TI, TD).
 Simulate the system without and with the PID controller and evaluate these simulation
results.
 If with the PID controller, the overshoot of the system is 40% or more, please carry
out the fine-tuning of the parameters of the PID controller to reduce the overshoot is
approximately 25%.

4.4 The DC motor in Fig. 14 is modelled in the following transfer function.

 Fig.14 Model of the DC motor with the inertial load

Fig.15 Structure of DC motor with

where E a(s) is the input voltage, and Θ m (s) is the position (output). The parameters of the DC
motor are
Ra =2 , La =0.5 H , K i=0.15 , Bm =0.015 , K b=0.2 , J =0.02
 Determine the transfer function of the DC motor with voltage input E a(s) and output
angle Θ m (s)
 Develop a block diagram for a closed-loop system to control DC motor with PID
controller.
 Applying the PID auto-tuning of Matlab/Simulink to design a PID controller to control
the position of the DC motor to track the step signal.
 Simulating the system with and without the PID controller by Matlab/Simulink and
compare the simulation results of these two cases.
 Assume that the DC motor is connected to a load with the moment T L. Carry out the
simulation with three cases: Case 1 without disturbance ( T L =0 ¿, Case 2 with T L =0.1,
and Case 3 increase the disturbance ( T L =1). Evaluate the disturbance rejection of
this PID controller.

*Please access HN Global for additional resources support and reading for this unit. For further guidance and
support on report writing please refer to the Study Skills Unit on HN Global www.highernationals.com

Recommended Resources
[1]. DABNEY, J.B. and HARMAN, T.L. (2003) Mastering Simulink. Prentice Hall.
[2]. DORF, R.C. and BISHOP, R.H. (2014) Modern Control Systems. 12th Ed. Pearson.
[3]. NISE, N.S. (2011) Control Systems Engineering. 6th Ed. John Wiley & Sons.
[4]. OGATA, K. (1997) Modern Control Engineering. 3rd Ed. Prentice Hall
 Learning Outcomes and Assessment Criteria

Pass Merit Distinction

LO1 Examine the basic concepts of control systems and their D1 Evaluate the
contemporary applications
performance of a PID
P1 Examine the basic M1 Apply advanced modelling controller to demonstrate
concepts of control techniques using commercially
basic control system
systems using block available control software
diagram representationz techniques
M2 Develop the block diagram of
and simplifications
a closed loop system for the
P2 Model simple open and position control of DC motor
using a PID controller
closed loop control systems
simulation software

LO2 Explore the elements of a typical, high-level control D2 Perform high-level self-
system and its model development tuning control system
techniques using
P3 Explore the main M3 Analyse Electrical, mathematical modelling
building blocks for high- Mechanical and Electro- and computer simulation
level electrical and Mechanical control systems using
mechanical control appropriate mathematical
systems models and computer simulation
P4 Apply Laplace
transforms to basic
mechanical or electrical
control problems

LO3 Analyse the structure and behaviour of typical control D3 Analyse the
systems
performance of an electro-
P5 Analyse the behaviour M3 Evaluate using analytical mechanical control system
and response of first and
techniques how the stability of a when subjected to external
second order systems
dynamic PID control system is disturbances
P6 Analyse the external
effects on the stability of maintained
PID control systems and
the techniques used to
maintain stability in these
systems

LO4 Explain the application of control parameters to produce D4 D4 Analyse the

optimum performance of a control system
behaviour of a control
P7 Examine the role and M5 Analyse dynamic responses system when P, I, D terms
implementation of the PID
of PID controllers in terms of are changed individually
controllers in a simple
electrical and mechanical position control, tracking and and in combination using
control system disturbance rejection modelling and computer
P8 Examine the effects of simulation techniques
the P, I, and D parameters
on the dynamic responses
of the first and second
order systems

SOLUTION
Task 1: Basic Concepts of the Automatic Control System
Manual and automated control definitions
Internal control is described as a process used by a company's board of directors, top management, and other personnel
to offer reasonable confidence that the company's objectives will be realized. Controls may be manual or automatic;
most IT systems have a mix of human and automated controls. [1]
Manual Control:
Manual controls are used when judgment and common sense are required. Manual controls may also be used to
monitor automatic controls. Manual controls provide additional hazards since they are more readily overridden, more
sensitive to human mistake, and fundamentally less trustworthy than electronic systems.
Automatic Control:
Automated controls are better suited for cases involving a large number of comparable transactions. When properly
implemented, they provide a number of benefits, including reduced risk of control circumvention, greater role
segregation, and data quality and accessibility. There are possible IT hazards with every IT advantage. These include
reliance on faulty systems, illegal data access, unauthorized data revisions, and the danger of data loss. [1] There is no
unanimous agreement on the optimal method of control. Internal controls originate from the management process and
the operations of the company. Although small enterprises may implement controls differently than larger corporations,
they may nonetheless have an effective internal control system. [1]
An actual particular example of automated control
A thermostat in a heating system is an example of automated control. The thermostat measures the temperature of a
room and compares it to the desired temperature specified by the user. If the room is too cold, the thermostat indicates
the heating system to turn on, and if it is too hot, it signals the system to turn off. This procedure is repeated until the
required temperature is obtained and maintained automatically.
A typical automated control system's structure
A control system is one that can regulate the amount of output. It is basically a device or set of devices capable of
managing, commanding, and regulating the functioning of another device or system that employs control loops. As a
result, one system may be capable of managing and regulating the functioning of another system. A system is
composed of several components and pieces of equipment that work together to complete a task. Connecting
components leads in a system configuration that rules the system, which is then used to form the control system. [3]

Figure 1 Structure of Automatic Control System

The fundamental components of a control system are actuators, sensors, reference input, and the system. The system is
the process or plant that must be controlled, and the actuator turns the control signal to a power signal. The sensor
would measure the output of the system, and the reference input would show the required output.

A control system is required to keep a process running safely and efficiently at the set operating conditions. The control
system might help to keep the product's quality high. We would be able to collect high-value goods while boosting
yield by using a control system. It may help to meet environmental regulations by lowering emissions and assuring
safety. Automated control systems may help you complete repetitive activities in any industrial operation. [3]

List the typical components and their function.

The control components are the parts in a process that conduct the control action. It accepts commands from the
controller and acts on them. In most cases, the controlling element would be the control valve.
• Set point change: Because the control variable has a specified value, if the set point changes, special adjustments must
be performed to achieve the new operating circumstances.
• Sensor: The sensor would measure a system variable and act as a signal source in the automated control system.
• Controller: The Controller will do the system comparison and calculation.
• Control element: The equipment that performs the control action in a process is referred to as the control element. It
accepts commands from the controller and acts on them. In most cases, the controlling element would be the control
valve.
The control system must do the measurement, which compares the measured value to the intended value. The control
system should be able to compute the difference between required and measured values. So, when comparing the
measured valve to the intended value, if the measured value is not near to the desired value, modification is required,
and all of these are crucial control system jobs. [3]
Difference between closed-loop and open-loop system

Open–loop system

Figure 2 The block-diagram structure of open–loop system

Because the control action in this kind of control system is not dependent on the system's output, it is also known as a
non-feedback system. Because there is no feedback in this sort of control system, obtaining the appropriate output is
exceedingly difficult. These systems are unable to account for disruptions. As a consequence, the only way to change
the output is to change the input. [3]
Advantages Disadvantages

Very simple and easy to design. Less bandwidth

Cheaper than other types Inaccurate and unreliable

Easy maintenance Do not facilitate the process of

automation.

Stability Can not correct system automatically

if out affected by some external
disturbances.
Easy, convenient to use, construct.

Table 1The advantages and disadvantages of an open–loop control system

The control system may also be defined as a group of devices that govern or regulate the functioning of other systems.
Production control systems, for example, are used to control manufacturing machinery in heavy industries.
Closed–loop control system
Figure 3 The block diagram structure of closed–loop system

A sensor monitors the output and uses feedback from the measured value to alter the control input variable in this kind
of control system. This kind of control system's output effects the input amount in such a way that the target output
value is maintained. There is no feedback in open-loop control, as there is in closed-loop control. A closed loop control
system may therefore use feedback to adjust the fluctuations in output caused by disturbances. A closed-loop system is
an automated control system due to its feedback characteristic.
In a closed loop controller, a feedback loop guarantees that the controller executes a control action to adjust the process
variable to match the "Reference input" or "set point". As a result, feedback controllers are sometimes known as closed
loop controllers.
A negative feedback control system is shown as a block diagram in which a feedback loop is used to regulate a process
variable by comparing it to a desired value and utilizing the difference as an error signal to create a control output that
reduces or eliminates the mistake. [4]

Advantages Disadvantages

High bandwidth range Costing a lot

Accurate Design is complicated.

This is very accurate even in More maintenance is needed.

the presence of non-linearity.

Stability is increased by Due to the feedback, the gain is

decreasing the sensitivity. reduced.

The system is not affected by Less stable

noise.

Table 2 The advantage and disadvantages of closed–loop control system

The output is continually inspected in this system so that it may be compared to the intended input, and if it is not close
to the desired input, an error signal is created. As a consequence of validating the error signal, the system's control
components will conduct the required actions, resulting in the expected output. [3]
Practical examples for closed-loop and open-loop system.
Open-loop system.
Drier for Electrical Clothes A timer, heating elements, and cloths are the three components of an electric dryer system.
The user first sets the timer for drying the garment. Furthermore, the timed control collaborates with the heating
element to heat and dry the clothing.
Table 3 The block diagram structure of open–loop electrical clothes drier system

The clothes dryer is an open loop system since it does not inspect the status of the clothing before stopping. By altering
the timer settings to his or her preference, the user may change the system's operating length. Examine the open loop
control system, electric drier block diagram below.
To check for errors in the output, the open loop control system's output is not compared to the system's input. A non-
feedback signal's output is "faithfully" dependent on its input and is unaffected by any other circumstances or system
elements. [5]

Traffic Control System

The majority of automated traffic management systems are time-based open loop control systems, which implies that
each signal is allocated a certain time slot and operates independent of traffic flow. [5]

Figure 4 Block diagram of traffic control system

Closed loop system

Automatic Electric Iron
As an example of a closed-loop system, consider an automated electric iron. The following graphic depicts a block
diagram with major components:
Figure 5 Closed–loop control system with Automatic Electric Iron

A thermostat acts as the system's controller, while a resistive heating element delivers heat in an automated electric
iron. The fundamental function of an automated electric iron is that when the soleplate temperature reaches a
predetermined level, the heating activity is automatically stopped. When the temperature falls below a certain level, the
heating cycle is restarted. When the system gets an input, the resistive heating element inside the system generates heat.
As a consequence, the iron sole's temperature increases. A feedback device compares the output temperature to the
thermostat's reference input.
The comparison, however, continues, and whenever the temperature falls below, the heating element starts to increase
the temperature of the sole once again. [7]

Temperature Control System

The basic purpose of a temperature control system is to keep water at a constant temperature. These systems are often
used to maintain a consistent temperature (hot) at the output.

Figure 6 Closed–loop control system with Temperature Control System

The flow rate of water from an output in such systems is normally constant. Furthermore, internally produced steam
from a valve is combined with the water to keep the water temperature consistent.
Inside the system, a pressure thermometer serves as feedback. When a reference input is provided to the system, the
valve provides a control signal indicating that the system is producing enough steam.
When steam combines with the exiting water, the pressure thermometer measures the temperature and compares it to
the system's reference input. If the anticipated temperature (reference input) equals the produced temperature, the
control signal is generated and the steam flow is halted.
If the two temperature measurements disagree, the controller provides a control signal indicating the degree of
temperature difference, which is subsequently corrected for during operation.
As a result, the system's continuous process continues, and a constant temperature is maintained. [7]

Consider a Temperature control system in Fig.1, please list the components and make a
block diagram of this system. Is it an open-loop or closed-loop system?
The illustration depicts a temperature control system for a fish tank. The device keeps the temperature in the fish tank
at the right level to guarantee the fish's well-being. This system's components are as follows:
1. Temperature sensor: A gadget that detects the temperature of the fish tank's water.
2. Heater: A piece of equipment that warms the water in the fish tank.
3. Controller: A device that accepts temperature sensor data and regulates the heater to maintain the appropriate
temperature.
4. Power supply: An electrical power source for the heater and the controller.
Because there is a feedback loop in the system, this is a closed-loop control system. In real time, the controller receives
temperature sensor input and compares the measured temperature to the goal temperature. If the measured temperature
varies from the needed temperature, the controller orders the heater to modify the temperature until the target level is
reached.
This system's block diagram is as follows:

Figure 7 Block diagram of temperature control system

The temperature sensor measures the temperature of the water and sends it to the controller. When the measured
temperature differs from the desired temperature, the controller sends instructions to the heater to adjust the
temperature as required. The heater heats the water to increase the temperature, and the process is repeated until the
desired temperature is achieved and maintained.
Task 2: Mathematical Models of the Control System
2.1 Find Mathematical Models of the Mechanical and Electrical System

We may formulate the mathematical equations as follows: first, consider the block M1, and then we obtain.
M 1 ẍ 1=−K 1 x 1−K 2 ( x1−x 2 ) −f v3 ( ẋ 1− ẋ 2 )−f v 1 ¿
With the second block in mind, we may write the equation as,
M 2 ẍ 2=−K 3 x 2−K 2 ( x 2−x 1) −f v 3 ( ẋ 2− ẋ 1 )−f v 2 ¿
These are the governing equations.
Using the Laplace Transform, we obtain
2
M 1 s + s ( f v 3 +f v 1) + K 1+ K 2 ¿ X 1 ( s )=( K 2+ s f v 3 ) X 2 ( s )+ F( s)
2
M 2 s + s ( f v 3 +f v 2) + K 2+ K 3 ¿ X 2 ( s ) =( K 2+ s f v 3 ) X 1 ( s )
We may express the transfer function as by combining the preceding equations.
X 2 (s) 1
⇒ = 2
F(s) 2
(M ¿ ¿ 2 s + s ( f v 3 +f v 2 )+ K 2+ K 3)
(M ¿ ¿ 1 s + s ( f v 3 + f v 1 ) + K 1+ K 2) −(K ¿ ¿ 2+s f v3 )¿ ¿ ¿
K 2+ s f v 3

Figure 8 MATLAB simulate of this system

2.2 Block diagram

There is just one front bath here.

Figure 9 Position-control system of an electronic word processor

 1 1 1
P1=K b × K × K 1 × × Ki× × ×N
R a + La S J T S+ BT S
K b× K × K1× K i× N
⇔ P I=
(Ra + La S)(J T S +B T )× S
−K 2 × K 1 − Kb K i
Loop L1= R + L S , Loop L2= ( R + L S)(J S+ B )
a a a a T T

−K + K × K 1 × K i
Loop L3= (R + L S)(J S+ B )
a a T T

Δ=1− ( L1+ L2 + L3 )

⇔ Δ=1−
[ −K 2 K 1
−
Kb K i
−
−K + K × K 1 × K i
Ra + La S ( Ra + La S ) ( J T S + BT ) (R a + La S)(J T S+ BT ) ]
( R a + La S )( J T S +B T ) + K 2 K 1 ( J T S +B T ) + K b K i + K × K 1 × K i
⇔ Δ=
( R a+ La S )( J T S+ BT )
Δ 1 → Δ t isthe remaining value of Δ when path P1 is removed so we have Δ1=1
According to the messman's formula, we have:
θ0 (s) K b K K1 K i N
=
θ e(S) S [ ( R a + La S )( J T S +B T ) + K 2 K 1 ( J T S+ B T ) + K b K i + K × K 1 × K i ]
For closed loop transfer function

Figure 10 Closed loop transfer function

θr (s) Kb K K1 Ki N
=
θ0 (S) S [ ( Ra + La S ) ( J T S + BT ) + K 2 K 1 ( J T S + BT ) + K b K i + K × K 1 × K i (1+ N ) ]

2.3 Using Matlab to find the closed-loop transfer function.

1
2
1 1 s + s+ 5
G( s) 2
s + s+ 5
2
s + s+5 ( s + s+5 ) ( s+2 ) +1
2
s +2
A ( s )= = = = = 2 ( 1)
( )( ) ( ) ( )
1+G ( s ) . H ( s ) 1 1 1 s
2
+ s+ 5 ( s +2 ) s + s +5 ( s +2 ) +1
1+ 2 1+ 2
s +s +5 s+2 ( s +s +5 ) ( s+2 )
The closed-loop transfer function is given by equation (1):
 s+2
A(s)= 3 2
s + 3 s +7 s+ 11
After that, we get the transfer function equation A(s), which we can apply to Matlab to get:

Figure 11

Figure 12 The block diagram and output signal of Transfer Function

Task 3: Transient Response and Stability Analysis
3.1 Analyze the behavior and response of the first order system.
We have unit (a) is the final number of my student ID, and my student ID is 20ED10113, according to the supplied
1
data G ( s )= . As a result, the value of unit (a) will be 3.
4 s+ a

⇒ 𝐺(𝑠) = 4 s+3
1

1
Because the transfer function equation for the first order system is G(s) = , the value of the time constant (T)
Ts+ 1'
from the transfer function will be 4.
Furthermore, we have the settling time is 5% requirement, which implies = 5% = 0.05, thus we get:
1 1
T s=T ln =4 ln
ε 0.05
=¿ ¿ 11.982
Ts = 11.982 is the settlement time of the first order system with a 5% criteria. Based on it, we can simulate the system
using a unity step signal using Matlab's Simulink.

Figure 13 The block diagram and output signal of settlement time of the first order system
3.2 Consider the Hubble Space Telescope is modeled in Fig.8. Analyze the behavior and
response of this system.

According to Figure 8 and the issue, we begin by dealing with the Telescope dynamics by applying the transfer
1
function to the 2 and
K 1 s closed loops.
s
1
2
s 1
G ( s )= = 2
1 s +K1 s
1+ × K1 s
s2
We have the following after simplifying the transfer function system:

Using the closed-loop method and the transfer function, we get:

1 K
G1 ( s )=K × 2
= 2
s + K1 s s +K1 s
On Simulink, we have:

The system's transfer function will be:

K
2
G1 (s) s +K1 s K
G 2 ( s )= = = 2
1+ G1(s) K s +K1 s +K
1+ 2
s +K 1 s
Because we have the transfer function form shown below, we must divide the element and denominator of a G2(s)
fraction with K:
1 1
⇒
1 2 K1
2 2
T s + 2 ξTs+1 1 (1)
s+ s+
K K K
We may deduce the following from equation (1):
1 1
⇒ ω n= = √ K
2
T =
K T
And then we have:
K1 K1 K1 K1
2 ξT = ⇒ ξ= = =
K 2TK K 2√K
2
√ K
After defining all of the components' equations, we will arrive at the overshoot of 15% and the settling time with a 5%
threshold in 4s, as well as the values of K and K1:
We have the following with a 15% overshoot:

[√ ]
−ξπ
−ξπ √1−ξ 2
POT =exp × 100 %=e × 100 %
1−ξ 2
− K1
π
2 √K
(2)
√ ( 2√ K )
2
K1
1−
⇔ 15 %=e
With settling time with 5% criterion is 4s, we have:
3 3 6
t s= ⇔ =4 ⇔ =4 ⇒ K 1=1.5
ξ × ωn K1 K1
× √K
2√K
When we substitute K 1 into (2) with K 1= 1.5, we get:
−K 1 −1.5
π π
2 √K 2√ 1.5

15 %=e √
( 2 √ K ) ⇔ 15 %=e √ 1−( 2 1.5
2

√1.5 )
K1 2
1−
⇒ K=2.105
With K = 2.105 and K 1=1.5 , we may calculate the G 1 (s), K p ,e ss , and G 2 (s) as follows:

K 2.105
G 1 ( s )= 2
= 2
s + K 1 s s +1.5 s
2.105
K p=lim 2
=∞
n→0 s + 1.5 s
1
e ss = =0
1+ K p
K 2.105
G 2 ( s )= 2
= 2
s + K 1 s+ K s +1.5 s +2.105
Finally, we will simulate the closed-loop transfer function G2(s) using Matlab Simulink with a unity step signal as
input:
Figure 14 The block diagram and output signal of Transfer Function

3.3 Take into account the following system as shown in Fig.9

We must first find the transfer function of this system, according to Figure and the issue given:

+ s+5
2
2 s + 4 s+3
-
1
s +1

s+5 s+5
2 2 2
2 s + 4 s +3 2 s + 4 s+3 s + 6 s +5
G ( s )=
s+5 1
= =
( 2 s 2 +4 s+ 3 ) ( s +1 ) +s +5 2 s 3 +6 s2 +8 s+8
(1)
1+ 2 ×
2 s +4 s +3 s+1 ( 2 s 2+ 4 s+3 ) ( s+1 )
The poles of a closed-loop system may be determined using the transfer function equation (1) above: 2 s 3 +6 s 2 +8 s +8

{
s=−2
−1
⇔ s= 2 +1.322 i
−1
s= −1.322 i
2
The zeros of the closed-loop system are: s2 +6 s+5

{
⇔ s=−5
s=−1
The closed-loop system will be simulated using Matlab and Simulink in the next step:
Figure 15 The Command Window in Matlab and the result G(s) data collected from Command Window in Matlab.

Figure 16 The block diagram and output signal of Transfer Function.

3.4 Consider the Disk Drive Read System in Fig.10.

Figure 10 shows the following:
H s =G ( s ) ×G PID ( s )
Based on the above data in Table 1, we have:

{
G PID ( s )=K p
Km 5 5 5Kp
G ( s )= = = 3 ⇒ H s =
s (Js +b)(Ls+ R) s(s+20)(s+ 1) s + 21 s 2+20 s s3 +21 s 2 +20 s
Additionally, we get:
1+ H ( s )=0
5Kp
⇔ 1+ 3 2
=0
s +21 s +20 s
3 2
⇔ s + 21 s +20 s+5 K p =0
To stabilize the system, the settling range of 𝐾𝑝 is: 0 < 𝐾𝑝 < 84.
We will simulate the system indefinitely using Matlab's Simulink:

Figure 17 The block diagram of Transfer Function with PID and output signal of the Transfer Function with Kp=25
Figure 18 The block diagram of Transfer Function with PID and output signal of the Transfer Function with Kp=250

Task 4: PID controller design

4.1 Explain.
What is the PID controller?
The roles of the P, I, D of PID control in the control system
What is the PID controller?
A PID controller manages temperature, flow, pressure, speed, and other process variables in industrial control
applications. PID (proportional integral derivative) processors were exceptionally precise and trustworthy controllers
because they used a control loop feedback mechanism to influence process variables.

Figure 19 The control design process of the PID controller

PID control is a popular method for guiding a system to a certain position or level. It is widely used in temperature
control, as well as a variety of chemical and scientific processes, as well as in automation. PID control employs closed-
loop control feedback to maintain a process's real output as close to the goal or setpoint output as feasible. [9]
The mathematical formula for a PID controller is as follows:
 de
u ( t )=K p e ( t ) + K i∫ e ( t ) dt + K d
dt
With
K Pis as the proportional term's coefficient
K I is the integral term's coefficient.
K Dis the derivative term's coefficient.
Most proportional and PID controllers are now integrated microprocessors or microcontrollers, or as software operating
on a PLC or bigger supervisory control and data collection system. There are, however, a few exceptions. Pneumatic
systems and analog PID controllers are still employed for high bandwidth and low noise applications. [9]
The roles of the P, I, D of PID control in the control system
Proportional control is a kind of continuous control that is more subtle, resilient, and high-quality than the on/off
method. Developing and improving a control loop for a specific application, on the other hand, is not without
difficulty.
Pout = K P e (t)

Figure 20 Response of PV to step change of SP vs time, the three values of 𝐾𝑃

Proportionality is frequently desirable, if not needed, in order to obtain the quickest feasible response time and the
highest possible steady-state accuracy while minimizing the danger of instability. Once established, the loop must work
optimally even when the process circumstances are unknown and changing. [9]
The total of the error term over time is the integral component. As a result, even little faults cause the integral
component to steadily expand. Unless the error is zero, the integral response will continue to rise indefinitely, resulting
in a zero steady-state error. When integral action saturates a controller without the controller pushing the error signal to
zero, this is known as integral windup.
I out =K I ∫ e ( t ) dt
Figure 21 Response of PV to step change of SP vs time, the three values of 𝐾𝐼

While integral action may help to minimize steady-state error, it can also contribute significantly to controller output
overshoot and consequent instability. PI control may be effective for particular activities where system performance is
unimportant. A PID controller with a Derivative component may be employed if instability is a problem. [9]
The derivative components impact the rate of change of the error signal. The derivative factor increases as the mistake
or derivative time varies. This successfully compensates for the P and I overshoot.

Figure 22 Response of PV to step change of SP vs time, the three values of 𝐾𝐷.

When a major defect occurs, the P and I will drive the controller output. This controller response leads errors to change
fast, forcing the derivative to more fiercely oppose the P and I. When used appropriately, a derivative allows for more
aggressive proportional and integral factors. The derivative dampens P and I more significantly as the derivative time
increases. [9]
4.2 Let us consider the following system.

Figure 23 Block diagram of the system

1
G ( s )= 2
s +3 s +5

Use the Simulink commands Kp = 1, 5, 10, 200 (Ki = 0 and Kd = 0) to activate the
system.

Figure 24 The result of Simulink

The blue graph (Kp = 1).

The orange graph (Kp =5).
The yellow graph (Kp =10).
The green graph (Kp =200).
The output signal of the system varies as proportional gain (Kp) grows with constant KI = KD = 0. As the output signal
swings, the steady-state error drops while Kp grows. It depicts the relationship between the output signal and the
reference signal. As Kp increases, however, the settling time and overshooting increase. If Kp is too high, the system
may become unstable.
In Simulink, input the following values to excite the system: Ki = 0.1, 1, 20, 50 (Kp = 10 and
Kd = 0).

Figure 25 The result of Simulink

The blue graph (Ki =0.1).

The orange graph (Ki = 1).
The yellow graph (Ki =20).
The green graph (Ki =50).
As shown in the Figure, the system's output signal fluctuates as the integral drain (Ki) grows with the constants Kp =
10 and Kd = 0. When KI is too high, the settling period and overshoot are prolonged. As a consequence, the system is
in risk of collapsing. This is seen by the output signal with Ki = 50.

In Simulink, use Kd = 0.1, 1, 5, 15 (KP = 10 and KI = 10).

Figure 26 The result of simulink

The blue graph (Kd =0.1).

The orange graph (Kd =1).
The green graph (Kd =15).
The yellow graph (Kd =5).
The graph above shows how the output signal of the system changes when the derivative gain (Kd) increases while Kp
= Ki =10 stays constant. While the steady-state inaccuracy varies significantly, the overshoot decreases as the output
signal changes. When Kd is too high, the system's stability is jeopardized.
4.3 Consider a system in the following figure.

Figure 27 Block diagram of the system

According to the above-mentioned issue, we have:

1 1
G ( s )= = 3
s ( s +2 ) ( s+ 6 ) s + 8 s 2+ 12 s
3 2
As a consequence, the characteristic equation of the closed-loop system is: s +8 s +12 s + K P =0
The value of each level of sn will be represented in the table of techniques Routh Hurwitz below:
Table 4 Table of method Routh Hurwitz

The sustained oscillation will be initiated when k P= 48, and the critical gain is K CT = 48.
With K P=K CT , the characteristic equation will be s3 +8 s2 +12 s +48=0.
When 𝑠 = 𝑗𝜔, the characteristic equation will be provided.
( jω )3 +8 ( jω )2+12 jω+ 48=0⇔ 4 ( 12−ω 2 ) + jω ( 12−ω 2 )=0

The frequency of the sustained oscillation will be:

2
ω =12
⇔ ω=2 √ 3
2π 2π π
⇒ T CT = = =
ω 2 √3 √ 3
Following that, we get the Ziegler Nichols 2 technique table:

Controller KP TI TD

P 0.5 K CT ∞ 0
PI 0.45 K CT 0.38T CT 0
PID 0.6 K CT 0.5T CT 0.125T CT

Table 5 Table of method Ziegler Nichols 2

From table of method Ziegler Nichols 2 above, we have:

K P=0.6 × K cr =0.6 × 48=28.8
π
T I =0.5 ×T cr =0.5 × =0.9069
√3
π
T D =0.125 ×T cr =0.125 × =0.2267
√3
After all of that, the PID's transfer function will be as follows:
1
G PID (s)=K P (1+ +T D s)
T1s

⇔ GPID ( s )=28.8 1+ ( 1
0.9069 s
+ 0.226725 s )
2
6.52968 (s +2.2053)
⇔ G PID ( s )=
s
Using Ziegler Nichols' turning rule, we get:
K P=28.8
KP
K I= =31.756
TI
K D=K P ×T D =6.52968
Using the PID tuner:

Figure 28 The Command Window of transfer function in Matlab

Figure 29 The output signal of transfer function system

Figure 30 The controller parameters

K P=K CT =28.2328 , according to Table 5 above.

We have the table of technique Ziegler Nichols 2 based on the values of K P and K cr above:

Controller KP TI TD

P 0.5 K cr ∞ 0

PI 0.45 K cr 0.38T CT 0
PID 0.6 K cr 0.5T CT 0.125T CT

Table 6 Table of methods Ziegler Nichols 2

From Table 6 above, we have:

K P=0.6 K cr=0.6 ×28.2328=16.94
T I =0.5 T cr =0.5 × 2.9=1.45
T D =0.125 T cr=0.125× 2.9=0.3625

Controller KP KI KD

P 0.5 K cr
PI 0.45 K cr 0.54 K cr
T cr
PID 0.6 K cr 1.2 K cr 0.6 K cr T cr
T cr 8
Table 7 Table of method Ziegler Nichols 2

We may deduce the values of K P and K D from the preceding data:

1.2 K cr 1.2× 28.2328
K I= = =11.68
T cr 2.9
0.6 K cr T cr 0.6 × 28.2328 ×2.9
K D= = =6.14
8 8
On Simulink, we will simulate the transfer function system with and without a PID controller indefinitely:
Figure 31 The block-diagram of the transfer function system without PID controller

Figure 32 Signal of the transfer function simulation in Simulink.

In the absence of a PID controller, the signal line does not overflow. The output signal outperforms the step signal in
terms of value stability.

Figure 33 The block-diagram of the transfer function system with PID controller
Figure 34 The parameters of 𝐾𝑃, 𝐾𝐼, 𝐾𝐷 in the PID controller

Figure 35 Signal of the transfer function simulation

With a system overrun of 1.7, the system overshoots by 70% before being rectified. Approximately 20 seconds pass
during the settling phase.
If the system overshoots by 40% or more while using the PID controller, we must fine-tune the PID controller's
parameters to limit the overshoot to around 25%.
Figure 36 Table Fine turning the PID parameters
Figure 37 The PID parameters of KP, KI, KD in the PID controller after turned
Figure 38 The signal of the transfer function has been fine-tuned simulation

When the PID controller is not tuned, the signal is shown as a stroke, and when it is tuned, it is represented as a dashed
line. We may view the settings before and after altering them using the controller parameters table. The Block overrun
is worth 61% of the settling time column, which is 20.0 seconds. After installing the tuning PID controller, the
overshoot in the Tuned column was decreased to 24.6% and the settling time was lowered to 4.58 seconds.
4.4. The DC motor in Figure is a modelled in the following transfer function

{
i :the current
θ :the rotational angle
Where: θ̇ :the angular rate of the load
v :theinput voltage
y=θ :ouput

Electrical:

Kirchhoff's voltage law is used to calculate the electrical equation:

di
v ( t )=R a i (t ) + La (t ) +e (t)
dt

With:

e ( t )=Kθω ( t )=Bm ω ( t )

di
⟹ v ( t )=Ra i ( t ) + La ( t ) +B m ω ( t ) (a)
dt
Equation (a) : Apply the Laplace Transform:

di
⟹ v ( t )=Ra i ( t ) + La ( t ) +B m ω ( t )
dt

⟺ v ( s ) =R a I ( s ) + La . s . I ( s ) + Bm s .θ ( s )(1)

Rotor:

The torque of a direct current motor is inversely proportional to the magnetic flux-current product. The torque is solely
proportional to the current due to the system's continuous magnetic flux.

M R =Kθ .i ( t ) =K i . i (t ) (b)

Equation (b): Apply the Laplace Transform:

⟹ M R =Kθ. i ( t )=K i . i ( t )

M R (s )
⟺ M R =K i . I ( s )=¿ I ( s )= (2)
Ki

Applying (2) to (1):

⟹ v ( s )=R a I ( s ) + La . s . I ( s ) + Bm s .θ ( s )

⟺ v ( s ) =( Ra + La s ) . I ( s ) +B m s . θ ( s )

M R (s )
⟺ v ( s ) = ( R a + La s ) . + Bm s . θ ( s ) (¿)
Ki

In order to have a rotational torque, we also need a rotational force that is larger than or equal to the frictional force
while spinning with the rotor's gravity.

M R ≥ T + friction

The moment equation of a DC motor is as follows:

dω
⟹ M R =J ( t )+ K b ω ( t ) (c)
dt

Equation (c ): Apply the Laplace Transform

dω
⟹ M R =J ( t )+ K b ω ( t )
dt
2
⟺ M R (s )=J . s . θ ( s )+ K b . s . θ ( s ) (3)

Substitute (3) into (*):

M R(s )
⇒ v ( s ) = ( R a + La s ) . + Bm s .θ ( s )
Ki

[ J . s2 . θ ( s ) + K f . s . θ ( s ) ]
⟹ v ( s )=
Ki
×R ( a + La s ) +B m s . θ ( s )
 ( R a + La s ) 2 ( R a + La s )
⇔ v ( s )= J . s .θ ( s ) + K b . s . θ ( s )+ B m s . θ ( s )
Ki Ki

⇔ v ( s )=θ ( s )
[ ( R a + La s )
Ki
J .s +
2 ( R a + La s )
Ki
K b . s +B m s
]
Calculating the transfer function involves:

θ (s ) 1
G ( s )= =
v ( s ) ( R a + La s ) 2 ( a + La s )
R
J .s + K b . s+ Bm s
Ki Ki

1
⟺ G ( s )= 2
( R a + La s ) J . s + ( Ra + La s ) K b . s+ B m K i s
Ki

Ki
⟺ G ( s )= 2
( R a + La s ) J . s + ( R a + La s ) K b . s + B m K i s
Ki
⟺ G ( s )= 2 3 2
( 4)
Ra J s + La J s + Ra K b s+ La s + Bm K i s

The DC motor parameter is used in the following equations:

Ra =2 , La =0.5 H , K i=0.15 , Bm =0.015 , K b=0.2 , J =0.02

Ki 0.15
G ( s )= 2 3 2
⟹ G ( s )= 3 2
Ra J s + La J s + Ra K b s+ La s + Bm K i s 0.01 s +0.14 s + 0.00225 s

Develop a block diagram for a closed-loop system to control DC motor with PID controller.

Figure 39 The block diagram with PID controller

Figure 40 The graph obtained by Simulink

Figure 39 demonstrates that the orientation of the histogram is growing, and the chart continues to show a mild
increasing trend from the step value (step = 1) forward.
Applying the PID auto-tuning of Matlab/Simulink to design a PID controller to control the position of the DC
motor to track the step signal.

Figure 41 Applying the PID auto-tuning of Matlab/Simulink

Figure 40 indicates that when the PID auto-tuning is disconnected before reaching the overshoot value, the Block side
system initially sees an increase in time value of roughly 5.39 seconds. has an impressive rate of 82.9%. Using PID
auto-tuning, however, the system was able to climb swiftly (0.204 seconds), overshoot sooner (11.1 percent), and
maintain a steady range.
Simulating the system with and without the PID controller by Matlab/Simulink and comparing the simulation
results of these two cases.

Figure 42 The block diagram without PID controller

Figure 43 The graph obtained by Simulink

As seen in Figures 38 and 39, the system coupled to the PID controller stabilizes early and passes the step value
(step=1) quicker. The absence of a PID controller in Figures 41 and 42 leads the system to take a lengthy time to
achieve the step value (step=1), potentially causing system instability.
Assume that the DC motor is connect to a load with moment Mt. Carry out the simulation with three cases: Case
1 without disturbance ( Mt=0 ¿ , Case 2 with Mt=0.1 , and Case 3 increase the disturbance ( Mt=1). Evalulate
the disturbance rejection of this PID controller.

Case 1: Without disturbance (Mt = 0):

Figure 44 The block diagram of without disturbance

Figure 45 The graph obtained from Simulink

Case 2: With Mt = 0.1:

Figure 46 The block diagram with Mt= 0.1

Figure 47 The graph obtained from Simulink

Case 3: Increase the disturbance (Mt = 1):

Figure 48 The block diagram with Mt= 1

Figure 49 The graph obtained from Simulink

Examine this PID controller's noise rejection ability:

We can observe from the three scenarios simulated above that the lower the Mt value, the higher the histogram and the
less overshoot. As demonstrated in Figure 42, when Mt = 0 (no noise), the system graph is constantly high, increasing
the step value and preventing overshoot. For Figure 47, the Mt value has been raised somewhat (Mt = 0.1), and the
histogram is still as high as in Figure 42, but it was able to cause an overshoot despite the fact that it wasn't by much.
3.5. When we raise the value of Mt = 1 as shown in Figure 49, the histogram now displays a significantly bigger
overshoot at approximately 25 than in Figure 47.

As a result, when we modify the Mt value, the waveform of the presented graph changes as well.
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