EL-313 Linear Control System

Week 01
Contents
• Course Outline and Course Learning Outcomes
• Course Topics Mapping
– Week 01 Contents
• Lecture 01

© Prepared by Engr. Dr. Babar Khan

 Course Outline

Frequency State-space
Introduction
Domain Methods methods

Simulation and
Time-Response of
Root Locus Controller Design
Linear Systems
Using MATLAB

Use of Laplace Control System

Transforms Characteristics

Reduction of
Multiple Stability
subsystems

© Prepared by Engr. Dr. Babar

Khan
 Course Learning Outcomes (CLOs)

• Mathematical Modeling of Physical Systems and their

Time-Domain-Analysis & Transform-Domain-Analysis.
• Analyze the control system vis-à-vis performance
measure viz. response swiftness, steady-state error
and stability.
• Perform control system design for the required
specification.
• Perform simulation and implementation of feedback
control systems using software (MATLAB/Simulink)
and hardware trainer.
© Prepared by Engr. Dr. Babar
Khan
 Books

• R.C. Dorf and R.H.Bishop, “Modern Control

Systems”, (12th Edition).
• Norman Nise, “Control Systems Engineering”.
• B. C. Kuo, “Automatic Control Systems”.
• K. Ogata, “Modern Control Engineering”.
• R. Steffani, B. Shahian, C. Savant & G. Hostetter,
“Design of Feedback Control Systems”.
• Chi-Tsong Chen, “Analog and Digital Control
System Design”.
© Prepared by Engr. Dr. Babar
Khan
 Assessment Criteria

• Quizzes
• Assignments
– Research Review
– Presentation
– Project
• Seminar
• Industrial Visit
• Mid-Term
• Final Exam © Prepared by Engr. Dr. Babar
Khan
 Course/Semester Project
• Literature Review
– Motivation/Aim
– Problem Statement
– Existing Solutions and their Shortcoming
• Select a Suitable Approach
– Overcome shortcoming in Existing Solution
• Comparison of Proposed Solution with Existing Solutions
• Project Proposal by 4th Week (First Review by 2nd Week)
• Project Simulation and Hardware, Project Demo Video and
Project Report in 14th Week during Lab 14.
• Project Marks to be awarded in Lab 14 as well as Theory
Assignment. © Prepared by Engr. Dr. Babar
Khan
 Week 01 – Contents

• Introduction
• Open and closed-loop systems
• Mathematical modeling of electrical and
mechanical systems.

© Prepared by Engr. Dr. Babar

Khan
 Introduction - Prerequisite

• Knowledge and proficiency in Matlab

• Concept and solution of linear ordinary differential
equations
• Laplace transform and its applications
• Vectors and matrices
• Complex numbers
• Electrical Networks (Nodal Analysis, Mesh Analysis etc)
• Poles, zeros, transfer functions, frequency response,
Bode plots
© Prepared by Engr. Dr. Babar
Khan
 Introduction

• What is a control system?

• Why control systems are important?
• The basic components of a control system.
• Examples of control-system applications.
• Why feedback is incorporated into most
control systems.
• Types of control systems.

© Prepared by Engr. Dr. Babar

Khan
 Basic Components of a Control System

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

1. Objectives of control.
2. Control-system components.
3. Results or outputs.

• The objectives can be identified

with inputs, or actuating signals, Control-
Objectives Results or
u and the results are also called of control
system
outputs.
components
outputs, or controlled variables y.
• In general, the objective of the
control system is to control the
outputs in some prescribed
manner by the inputs through
the elements of the control
system. © Prepared by Engr. Dr. Babar
Khan
 Another Definition of a Control System

* “Control System Engineering” Norman Nise, Chapter 1.

• A control system
consists of subsystems
and processes (or
plants) assembled for
the purpose of
obtaining a desired
output with desired
performance, given a
specified input.

© Prepared by Engr. Dr. Babar

Khan
 Examples of Control System Applications

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

• Intelligent Systems
• Control in Virtual Prototyping and Hardware in the loop.
• Smart Transportation Systems
• Drive-by-wire and Driver Assist Systems
• Integration and Utilization of Advanced Hybrid Powertrains
• High Performance Real-time Control, Health Monitoring
and Diagnosis
– Steering Control of an Automobile
– Idle-Speed Control of an Automobile
– Sun-tracking Control of Solar Collectors
© Prepared by Engr. Dr. Babar
Khan
 Examples of Control System Applications

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

Fig 1-2 Idle-speed Control System Fig 1-3 Solar Collector Field

© Prepared by Engr. Dr. Babar

Khan
 Advantages of a Control System

* “Control System Engineering” Norman Nise, Chapter 1.

• Precision
• Consume less time

• Four primary reasons for control system

– Power amplification
– Remote control
– Convenience of input form
– Compensation for disturbance
© Prepared by Engr. Dr. Babar
Khan
 The Role of Control Engineers

* “Control System Engineering” Norman Nise, Chapter 1.

• The control engineers are found at the top level of large projects,
engaged at the conceptual phase in determining or implementing
overall system requirements.
• Bottom-Up Design versus Top-Down Design.
• The requirements includes:
– Total System performance specifications
– Sub-system functions
– Interconnection of these functions , interface requirements
– Hardware and software design
– Test plans and procedures
• Broad Areas
– Mechanical, electrical, chemical, aerospace engineering, etc.
– Biological, social, political, economical systems, etc
© Prepared by Engr. Dr. Babar
Khan
 Response Characteristics and System
Configurations

* “Control System Engineering” Norman Nise, Chapter 1.

• A control system provides an output or response for a
given input or stimulus.
– Input is what you expect or is the desired response.
– Output is the actual response
• Elevator Example:
– You are at ground floor and want to go to 4th floor, what is
the input command and what is the output?
– Draw curve for elevator location v/s time for input and output
• Output curve is called response.
– Can you change the output instantaneously? (within no
time?)
© Prepared by Engr. Dr. Babar
Khan
 Response Characteristics and System
Configurations

* “Control System Engineering” Norman Nise, Chapter 1.

Response of a general position control system;
Fig 1-5 Elevator Response effect of high and low controller gain on the output.

© Prepared by Engr. Dr. Babar

Khan
 Response Characteristics and System
Configurations

* “Control System Engineering” Norman Nise, Chapter 1.

• A control system is dynamic.
• It responds to an input by undergoing a transient response
before reaching a steady–state response that generally
resembles the input.
• Physical entities (position, velocity etc) can not change their
states instantaneously, but will take some time to reach the
final state ➔ transient response
• The final state is now called steady state response.
• It may be the same as the input (desired output) or may
differ from that.
• This difference is called “Steady-state Error”
© Prepared by Engr. Dr. Babar
Khan
 Transient Response

* “Control System Engineering” Norman Nise, Chapter 1.

• Transient response indicates the dynamic behavior of the
system.
• Examples
– A slow transient response makes passenger impatient (elevator).
– Too fast transient response makes them uncomfortable.
Transient response with oscillation makes them feel sick
(elevator)
– Too fast transient response could cause a physical damage.
• In this course, we
– Analyze the existing transient
– Adjust parameters or design components to yield a desired
transient response.
© Prepared by Engr. Dr. Babar
Khan
 Steady-State Response

* “Control System Engineering” Norman Nise, Chapter 1.

• This response resembles the input and is usually what
remains after the transients have decayed to zero.
• Example:
– Stop at the correct floor (elevator)
– Rotating to the correct angle (radio antenna)
– Move on the track (tracking system)
– No buffer overflow (computing)
• In this course, we
– Analyze a system’s steady-state error
– Design corrective action to reduce the steady-state error.
© Prepared by Engr. Dr. Babar
Khan
 Open-Loop versus Close-Loop Systems

* “Control System Engineering” Norman Nise, Chapter 1.

Open-Loop Close-Loop

© Prepared by Engr. Dr. Babar

Khan
 Open-Loop Systems

* “Control System Engineering” Norman Nise, Chapter 1.

• Sub-systems:
– Input transducer: converts the
form of input to some other form
that is understandable by
controller
– Controller drives the process or
plant
– Process/Plant is to be controlled
• Signals:
– reference ➔Input
– controlled variable ➔Output
– Disturbance ➔ other undesired
signals
• Open loop systems can not
compensate for the
©disturbances
Prepared by Engr. Dr. Babar
Khan
 Open-Loop Systems

* “Control System Engineering” Norman Nise, Chapter 1.

• Disadvantages
– Sensitive to disturbance
– Inability to correct for the
disturbances
• Open loop systems do not
have the capability to get
feedback from the output
• They are unaware of current
output status
• Point out some examples of
open loop systems:
………………… © Prepared by Engr. Dr. Babar
Khan
 Close-Loop Systems

* “Control System Engineering” Norman Nise, Chapter 1.

• Input transducer:
converts the form of
input
• Output
Transducer/Sensor:
measures the output
response and converts
it to the form used by
controller

© Prepared by Engr. Dr. Babar

Khan
 Close-Loop Systems

* “Control System Engineering” Norman Nise, Chapter 1.

• Close loop system measures the
current output, feed it back to the
input, compares it to the desired
output (reference), if there is any
error then it again sends the signal to
the controller to drive the plant.
• Advantages:
– Close-loop systems can compensate
for the disturbances involved in the
system
– Less steady-state error
– Less sensitive to noise
– Output can be easily adjusted
according to the requirements (using
Compensators).
• Disadvantages:
– © Prepared
Complex and expansive. by Engr. Dr. Babar
Khan
 Feedback

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

• What is Feedback
• What are its effects?

© Prepared by Engr. Dr. Babar

Khan
 Feedback

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

• The motivation for using feedback, as illustrated by the
examples earlier, is somewhat oversimplified. In these
examples, feedback is used to reduce the error between the
reference input and the system output.
• However, the significance of the effects of feedback in control
systems is more complex than is demonstrated by these
simple examples.
• The reduction of system error is merely one of the many
important effects that feedback may have upon a system. We
show in the following sections that feedback also has effects
on such system performance characteristics as stability,
bandwidth, overall gain, impedance, and sensitivity.
© Prepared by Engr. Dr. Babar
Khan
 Feedback

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

• To understand the effects of feedback on a control system, it is essential
to examine this phenomenon in a broad sense. When feedback is
deliberately introduced for the purpose of control, its existence is easily
identified. However, there are numerous situations where a physical
system that we recognize as an inherently non-feedback system turns out
to have feedback when it is observed in a certain manner.
• In general, we can state that whenever a closed sequence of cause-and-
effect relationships exists among the variables of a system, feedback is
said to exist. This viewpoint will inevitably admit feedback in a large
number of systems that ordinarily would be identified as non-feedback
systems.
• However, control-system theory allows numerous systems, with or
without physical feedback, to be studied in a systematic way once the
existence of feedback in the sense mentioned previously is established.
© Prepared by Engr. Dr. Babar
Khan
 Types of Feedback Control Systems

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

• Feedback control systems may be classified in a number of ways, depending
upon the purpose of the classification. For instance, according to the method
of analysis and design, control systems are classified as linear or nonlinear,
and time-varying or time-invariant.
• According to the types of signal found in the system, reference is often made
to continuous-data or discrete-data systems, and modulated or un-
modulated systems.
• Control systems are often classified according to the main purpose of the
system. For instance, a position-control system and a velocity-control system
control the output variables just as the names imply.
• In Chapter 9, the type of control system is defined according to the form of
the open-loop transfer function. In general, there are many other ways of
identifying control systems according to some special features of the system. It
is important to know some of the more common ways of classifying control
systems before embarking on the analysis and design of these systems.
© Prepared by Engr. Dr. Babar
Khan
 Linear versus Non-Linear

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

• This classification is made according to the methods of analysis and design. Strictly
speaking, linear systems do not exist in practice, because all physical systems are
nonlinear to some extent.
• Linear feedback control systems are idealized models fabricated by the analyst
purely for the simplicity of analysis and design. When the magnitudes of signals in
a control system are limited to ranges in which system components exhibit linear
characteristics (i.e., the principle of superposition applies), the system is essentially
linear.
• But when the magnitudes of signals are extended beyond the range of the linear
operation, depending on the severity of the nonlinearity, the system should no
longer be considered linear. For instance, amplifiers used in control systems often
exhibit a saturation effect when their input signals become large; the magnetic
field of a motor usually has saturation properties. Other common nonlinear effects
found in control systems are the backlash or dead play between coupled gear
members, nonlinear spring characteristics, nonlinear friction force or torque
between moving members, and so on.
© Prepared by Engr. Dr. Babar
Khan
 Linear versus Non-Linear

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

• Quite often, nonlinear characteristics are intentionally introduced in a control system
to improve its performance or provide more effective control. For instance, to
achieve minimum-time control, an on-off (bang-bang or relay) type controller is used
in many missile or spacecraft control systems.
• Typically in these systems, jets are mounted on the sides of the vehicle to provide
reaction torque for attitude control. These jets are often controlled in a full-on or
full-off fashion, so a fixed amount of air is applied from a given jet for a certain time
period to control the attitude of the space vehicle.
• For linear systems, a wealth of analytical and graphical techniques is available for
design and analysis purposes. A majority of the material in this text is devoted to the
analysis and design of linear systems. Nonlinear systems, on the other hand, are
usually difficult to treat mathematically, and there are no general methods available
for solving a wide class of nonlinear systems.
• It is practical to first design the controller based on the linear-system model by
neglecting the nonlinearities of the system. The designed controller is then applied
to the nonlinear system model for evaluation or redesign by computer simulation.
© Prepared by Engr. Dr. Babar
Khan
Time-Invariant versus Time-Varying System

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

• When the parameters of a control system are stationary with respect to
time during the operation of the system, the system is called a time-
invariant system. In practice, most physical systems contain elements
that drift or vary with time. For example, the winding resistance of an
electric motor will vary when the motor is first being excited and its
temperature is rising. Another example of a time-varying system is a
guided-missile control system in which the mass of the missile
decreases as the fuel on board is being consumed during flight.
Although a time-varying system without nonlinearity is still a linear
system, the analysis and design of this class of systems are usually much
more complex than that of the linear time-invariant systems.
• Continuous-Data Control System
• Discrete-Data Control System
© Prepared by Engr. Dr. Babar
Khan
 Continuous-Data Control System

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

• A continuous-data system is one in which the signals at various parts of the
system are all functions of the continuous time variable t. The signals in
continuous-data systems may be further classified as ac or dc.
• Unlike the general definitions of ac and dc signals used in electrical
engineering, ac and dc control systems carry special significance in control
systems terminology.
• When one refers to an ac control system, it usually means that the signals in
the system are modulated by some form of modulation scheme. A dc control
system, on the other hand, simply implies that the signals are unmodulated,
but they are still ac signals according to the conventional definition.
• Typical components of a dc control system are potentiometers, dc amplifiers,
dc motors, dc tachometers, and so on.
• In practice, not all control systems are strictly of the ac or dc type. A system
may incorporate a mixture of ac and dc components
© Prepared by Engr. Dr. Babar
Khan
 Discrete-Data Control System

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

• Discrete-data control systems differ from the continuous-
data systems in that the signals at one or more points of the
system are in the form of either a pulse train or a digital
code.
• Usually, discrete-data control systems are subdivided into
sampled-data and digital control systems. Sampled-dala
control systems refer to a more general class of discrete-data
systems in which the signals are in the form of pulse data.
• A digital control system refers to the use of a digital
computer or controller in the system so that the signals are
digitally coded, such as in binary code.
© Prepared by Engr. Dr. Babar
Khan
 Discrete-Data Control System

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

• In general, a sampled-data system receives data or
information only intermittently at specific instants of
time.
• For example, the error signal in a control system can be
supplied only in the form of pulses, in which case the
control system receives no information about the error
signal during the periods between two consecutive
pulses.
• Strictly, a sampled-data system can also be classified as
an ac system, because the signal of the system is pulse
modulated. © Prepared by Engr. Dr. Babar
Khan
 Discrete-Data Control System

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

• A continuous-data input signal r{t.) is applied to the system.
The error signal e{t) is sampled by a sampling device, the
sampler, and the output of the sampler is a sequence of
pulses.
• The sampling rate of the sampler may or may not be
uniform.
• There are many advantages to incorporating sampling into
a control system. One important advantage is that
expensive equipment used in the system may be time-
shared among several control channels. Another advantage
is that pulse data are usually less susceptible to noise.
© Prepared by Engr. Dr. Babar
Khan
 Discrete-Data Control System

* “Automatic Control System” G Farid & B.C.Kuo, Chapter 1.

• Because digital computers provide many
advantages in size and flexibility, computer
control has become increasingly popular in
recent years.
• Many airborne systems contain digital
controllers that can pack thousands of discrete
elements into a space no larger than the size
of this book.
© Prepared by Engr. Dr. Babar
Khan
 Analysis and Design

* “Control System Engineering” Norman Nise, Chapter 1.

• Analysis is the process by which a system’s
performance is determined
• System’s performance includes transient
response and steady-state error.
• Design is the process by which a system’s
performance is created or changed.

© Prepared by Engr. Dr. Babar

Khan
 Analysis and Design

* “Control System Engineering” Norman Nise, Chapter 1.

• Total response = Natural response + Forced response
(Complete solution = general solution + particular solution)
• Natural response describes the way the system dissipates or
acquires energy
• For a control system to be useful (Stable), the natural
response must
– eventually approach zero (only forced response remains)
– oscillate
• In some systems, the natural response grows without bound.
This condition, called instability, could lead to self-destruction
of the physical device if limit stops are not part of the design.
© Prepared by Engr. Dr. Babar
Khan
 Control Design Process

* “Control System Engineering” Norman Nise, Chapter 1.

• Steps of Design Process:
1. Transform requirements into a physical system
2. Draw a functional Block Diagram
3. Create Schematic
4. Develop a Mathematical Model
5. Reduction of Block Diagrams
6. Analyze and Design

© Prepared by Engr. Dr. Babar

Khan
Control Design Process

* “Control System Engineering” Norman Nise, Chapter 1.

© Prepared by Engr. Dr. Babar
Khan