CONTROL SYSTEM LECTURE 6

Lecture 6 Control System Engr M.Nadeem Iqbal 1

Control Systems are Often
More Complex Than Single
Loops

• One forward path

• Four transfer functions in the forward path G1, G2, G3, G4.
• Three Feedback Loops.
• Three Summing Junctions
Lecture 6 Control System Engr M.Nadeem Iqbal 2
Block Diagram = Flow Graph
Besides Block diagrams, control systems
are often represented using Flow Graphs
Block Diagram

Flow Graph
H3

1 G1 G2 1 G3 G4 1 C(s)
R(s)

-H2
-H1

Note that two of the H transfer functions in the Flow Graph have
negative signs. This is necessary since the summing nodes do not
have any signs associated with them as in the block diagram.
Lecture 6 Control System Engr M.Nadeem Iqbal 3
Solve For The Transfer Function

R(S) + E
G1 C(s)

F
H

Solution:
C(s) = G1E (1)
F = C(s)H (2)
E = R(s)-F (3)
E = R(s)- C(s)H (4)
C(s) = G1[R(s)- C(s)H] (5)
C(s) +C(s)HG1 = G1(R(s)
C(s)[1 + HG1] = G1(R(s)

C(s)/R(s)=G1/(1+G1H)

Lecture 6 Control System Engr M.Nadeem Iqbal 4

Solve For The Transfer Function
G1 A

+ C(s)
R(S) + E G2 B +
_
F
H
Solution:
C(s) = A + B (1)
A = G1E (2)
B = G2E (3)
F = HB (4)
E = R(s)-F (5)

Substitute (2) and (3) into (1); C(s) = G 1E  G 2E (G 1  G 2 )E (6)

Substitute (5) into (6); C(s) = (G 1  G 2 )[R(s)  F] (7)
Substitute (3) into (4); F = HG 2E (8)
Substitute (5) into (8); F = HG 2[R(s)  F] (9)
HG 2R(s)
Solve (9) for F; F = (10)
1  G 2H
HG 2R(s)
Substitute (10) into (7); C(s) = (G 1 +G 2 )[R(s)  ] (11)
1  G 2H
1  G 2H  HG 2
C(s) = (G 1  G 2 ) R(s)
1  G 2H
C(s) (G 1  G 2 )
T(s) = 
R(s) 1  G 2H
Lecture 6 Control System Engr M.Nadeem Iqbal 5
Derive Transfer Function for Previous Control System
Example

Manipulated G 2( s)  4 C(s)
R(s) + Error G1( s ) K a
Ka Kb Variable s 2  4s  2
G1( s )  G2(s)  H(s) 0.5
-as 1 2
s  4s  6

Feedback
H = 0.5

Applying Mason' s Rule

4
Ka  2
C(s) G1( s )G 2( s ) s  4s  2 4K a
T (s)     2
R(s) 1  G1( s )G 2( s ) H 1  K  4
a 2
0.5 ( s  4 s  2)  2 K a
s  4s  2
Suppose we select K a 3 , then,
C(s) 12 12
T (s)   2 
R(s) s  4 s  8 ( s  2  j 2)( s  2  j 2)

Note: The denominator, set equal to zero, is called the

Characteristic Equation
Lecture 6 Control System Engr M.Nadeem Iqbal 6
More on the Characteristic Equation

F(s) 1 Y(s) F(s) 1/ M Y(s)

Block Diagram
Ms 2  bs  K s2  b s  K
M M

F(s) 2 Y(s)
General Quadratic Form A n

s2  2 s  
n n
2

Characteristic Equation (C.E.) s 2  2 n s   n 2 0

Roots of the C.E. are: s1 , s2   n  n  2  1   n  j n 1  2
If  1 Roots = s1 , s2   n Are the same
If  1 Roots are real but different
If  1 Roots are complex conjugates

Also many text books refer to   1   2

Lecture 6 Control System Engr M.Nadeem Iqbal 7

Characteristic Equation
• The denominator polynomial of the transfer function when set equal to zero is
called the characteristic equation C.E..
s 2  4s  8 ( s  2  j 2)( s  2  j 2) 0
• The roots of the C.E. are the poles of the system.
• The roots of the transfer function’s numerator are the zeros of the system.
• Poles and zeros are critical frequencies
• At the poles, the transfer function becomes infinite
• At the zeros the transfer function becomes zero.
• The complex frequency s-plane plot of the poles and zeros graphically portrays
the character of the natural transient response of the system. jω
4( s  5) x 4
T (s)  4
( s  3  j 4)( s  3  j 4)
-6 -5 -4 -3 -2 -1

x -4
Lecture 6 Control System Engr M.Nadeem Iqbal 8
Root Location vs Stability of the 2nd order C.E.
• Any time the roots are equal and real, the system is
jω critically damped, no overshoot. Settling Time ~ Ts
1

Double 0.9

0.8

Root 0.7

0.6

Amplitude
X
0.5

0.4
  0.3

0.2

0.1

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
Time (sec)

jω
• Any time the roots are unequal and real, the system
is overdamped, no overshoot. Settling Time ~ Ts
1

0.9

0.8

X X 0.7

0.6

Amplitude
0.5

0.4

0.3

0.2

0.1

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
Time (sec)

Lecture 6 Control System Engr M.Nadeem Iqbal 9

Root Location vs Stability of the 2nd order
C.E.
Continued
jω • Anytime the roots are in the RHP the
system is unstable and diverges
X 80
Unit Step Response

60

40

20

Amplitude
-20

X -40

-60

-80

-100
0 5 10 15 20 25
Time (sec)
jω

Unit Step Response #2

9

X
6

X 5

Amplitude
4

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Time (sec)

Lecture 6 Control System Engr M.Nadeem Iqbal 10

Root Location vs Stability of the 2nd order C.E.
Continued
jω • Anytime the roots are complex conjugates,
the system experiences damped oscillation
X 1.4
Settling Time 2 ~ Ts

1.2

0.8

Amplitude
0.6

X 0.4

0.2

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
Time (sec)

jω
• If the poles lie on the imaginary axis the
X system is marginally stable. It oscillates. Settling Time ~ Ts
2

1.8

1.6

1.4

1.2

Amplitude
1

X 0.8

0.6

0.4

0.2

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
Time (sec)

Lecture 6 Control System Engr M.Nadeem Iqbal 11

Deriving a Transfer Function for a Control System Component
Consider a DC Torque Motor

Ra La J, b
ea
Ia em
ө, ω

J = Motor Inertia, could also include load inertia

b = Friction
Ra = Motor winding resistance
La = Motor inductance
em = Back emf
KT = Motor Torque Sensitivity – A motor parameter
Km = Relates back emf to shaft speed, em = Kmω
Torque Developed : Tm ( s ) K T I a ( s ) (1)
Back emf : em K B ; Assusme  constant t hen e m K m or Em ( s ) K m s ( s ) (2)

Lecture 6 Control System Engr M.Nadeem Iqbal 12

Deriving a Transfer Function for a DC Torque Motor
Continued

Ra La J, b
ea em
Ia
ө, ω
KVL around loop:
E ( s )  Em ( s ) (3)
ea I a R a  LI a e m or Ea ( s ) I a ( s )[ Ra  Ls ] E m ( s ) Solvingfor I a ( s )  a
Ra  Ls

Motor and Load Inertia

Tm ( s )
Tm  J  b or Js 2 ( s ) Tm ( s )  bs ( s ) solving for  ( s )  (4)
Js 2  bs

Equations (1), (2), (3), and (4) are called Equilibrium Equations

Lecture 6 Control System Engr M.Nadeem Iqbal 13

Constructing Block Diagram for a DC Torque Motor
From Equilibrium Equations

Tm ( s ) KT I a ( s) (1) Ia(s) Tm(s)

KT

T (s)
Ia(s) Tm(s) 1  (s )
 ( s)  2m (4) KT
Js  bs Js 2  bs

Ia(s) Tm(s) 1  (s )
E m ( s )  K m s ( s ) (2) KT
Js 2  bs
Em(s)
Kms
Ea - E m
E ( s )  Em ( S )
I a (s)  a (3) Ea(s) + 1 Ia(s) Tm(s) 1  (s )
Ra  Ls KT
Ra  Ls Js 2  bs
-
Em(s)
Kms

Lecture 6 Control System Engr M.Nadeem Iqbal 14