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Lecture 2

The document provides an overview of key concepts in control systems, including: 1) It discusses dynamical systems and their properties of memory and behavior depending on past inputs. Two midterm exams for the course are also announced. 2) Important system properties - linearity, time-invariance, causality - are defined and examples are provided to illustrate each property. 3) Common test signals used in analysis - unit step, impulse, and ramp functions - are described along with their Laplace transforms. 4) The transfer function is defined as the ratio of the Laplace transforms of the output and input. Block diagrams and their elements are also introduced.

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22 views

Lecture 2

The document provides an overview of key concepts in control systems, including: 1) It discusses dynamical systems and their properties of memory and behavior depending on past inputs. Two midterm exams for the course are also announced. 2) Important system properties - linearity, time-invariance, causality - are defined and examples are provided to illustrate each property. 3) Common test signals used in analysis - unit step, impulse, and ramp functions - are described along with their Laplace transforms. 4) The transfer function is defined as the ratio of the Laplace transforms of the output and input. Block diagrams and their elements are also introduced.

Uploaded by

faruktokuslu16
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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KON 317E

CONTROL SYSTEMS

LECTURE 2
26/10/2020
Announcement

• 1st Midterm Exam: December 7th, Monday, 2020

• 2nd Midterm Exam: January 4th, Monday, 2021


A Brief Review of Basic Contepts from
Signals and Systems
• Physical systems are dynamical systems.
• Dynamical System: It is a system whose behaviour (output) at
time t, depends on the input applied to the system at time t
and some of the inputs applied before t (<t)
• Dynamical systems have memory.
• In these systems, energy, moment, material etc…. changes in
time.
• Static systems: The behaviour of the system at time t,
depends on the input applied at t, it does not depend on input
applied before t.
• These systems don’t have memory.
• Dynamical systems (mechanical, electrical, thermal,
hydraulic, economical, biological,….) are expressed with
differential equations.
• In order to find the response of the system to a particular
input, these differential equations are solved.
• The differential equations are derived using modelling
techniques and physical laws. (Newton’s law, Kirchoff’s
laws,….)
• The first step in the analysis of a dynamical system is to
derive the mathematical model.
• Now, we are going to analyze three important
properties of systems:

1) Linearity
2) Time Invariance
3) Causality
• Linear System:

system

system

• The system is linear if the following two conditions hold:


1) Additivity property:
The response of the system to is

system
2) Homogeneity property
The response of the system to is

system

These two properties can be combined as:

system
Example:
Is the system described by linear or not?

Linear √√
Example
Is the system described by linear or
not?

Not Linear
• Hint: In linear systems if input is 0, output should be 0, as
well, it should pass from the origin.

• In this example, this is not satisfied.


Principle of Superposition

• Let be applied to the linear system


simultaneously, the system output y is the sum of all outputs
generated by each input.
x1 y1
x2 y2
x3 y3
………………….

This is a very important principle that is used in control


Systems analysis.
• The principle of superposition states that the response
produced by the simultaneous application of two different
forcing functions is the sum of the two individual responses.

• Hence, for the linear system, the response to several inputs


can be calculated by treating one input at a time and adding
the results.

• It is this principle that allows one to build up complicated


solutions to the linear differential equation from simple
solutions.
Time Invariance
• In a time-invariant system, the relation between the input
and output does not change with time. A time shift in the
input of the system causes a time shift of the same amount in
the output. Otherwise the system is called time varying.

system

system
Example
Is the system described by time-invariant or
time-varying?

Time-invariant system
Example
Is the system described by time-invariant or
time-varying?

Time-varying system
Causality
• A system is causal if its output at time t depends only on
inputs applied at t and before time t, it does not depend on
future values of the input.
• Causal system cannot anticipate future values of the input.

Examples

Causal
Causal
Not Causal
Test Signals
• Unit Step Function (Heaviside Function)

 You have to know Laplace Transform


Example
Example
Impulse Function
• In some applications it is necessary to deal with phenomena of an
impulsive nature—for example, voltages or forces of large
magnitude that act over very short time interval.Such problems
often lead to differential equations of the form:

where is large during a short interval


for some and is otherwise zero.
Define integral by:

Since outside of the interval ,


we write

• In a mechanical system, where is a force, is


the total impulse of the force over the time
interval
• Similarly, if is the current in an electric circuit and
is the time derivative of the voltage, then
represents the total voltage impressed on the
circuit during the interval
• Suppose is zero and is a small positive constant:

• As long as ,
• Idealized unit impulse function which has
magnitude of one at , but is zero for all values of
other than zero.
• Unit ramp function
 Laplace transform is a prerequisite for this course.
Transfer Function
The transfer function of a linear, time-invariant,
differential equation system is defined as the ratio of
the Laplace transform of the output (response
function) to the Laplace transform of the input (driving
function) under the assumption that all initial
conditions are zero.
Convolution property
• Consider a linear time-invariant, causal system described by
the following differential equation:

• Take the Laplace transform of both sides of the equation.


• Remember the following property:

• Now:
Impulse Response

 By applying impulse input, we can obtain all the


information about the dynamical properties of a system
Comments on Transfer Function (TF)
• The TF is a property of a system itself, independent of the
magnitude and nature of the input or driving function.
• The TF does not provide any information concerning the
physical structure of the system – only gives the relationship
between the input and the output (dynamical properties)
• The TF of many physically different systems can be identical.
• If the TF of a system is known, the output (or response) can
be studied for various forms of inputs with a view towards
understanding the nature of the system.
• If the TF of a system is unknown, it may be established
experimentally by introducing known inputs and studying the
output of the system (system identification)
Block Diagrams
 A block diagram of a system is a pictorial representation
of the functions performed by each component and of
the flow of signals. It depicts the interrelationships that
exist among the various components.
 They consist of 4 types of elements:
1) Blocks
2) Summing points
3) Branch points
4) Arrows
Summing Point
A circle with a cross is the symbol that indicates a summing
operation. The plus or minus sign at each arrowhead indicates
whether that signal is to be added or subtracted. It is important that
the quantities being added or subtracted have the same dimensions
and the same units.

Branch Point
A branch point is a point from
which the signal from a block goes
concurrently to other blocks or
summing points.
Rules
1) Blocks connected in series can be combined by
multiplication

2) Product of transfer functions is commutative.


Cascaded system

Parallel system

Feedback system
Example Simplify

=?
Example Simplify

=?
Closed-Loop System

• R(s): reference input signal


• C(s): output signal
• B(s): feedback signal
• E(s): actuating error signal
• G(s): TF of the system
• H(s): TF of the feedback element
Closed-Loop Transfer Function

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