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EEE4202 Lecture 1

The document provides an overview of Control Systems Engineering, defining it as the process of maneuvering a system to achieve desired output values based on input signals. It discusses the concepts of open-loop and closed-loop control systems, emphasizing the importance of feedback for stability and control. Additionally, it introduces the characteristic equation and Routh's Criterion as methods for analyzing system stability, with examples illustrating the application of these concepts.

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8 views32 pages

EEE4202 Lecture 1

The document provides an overview of Control Systems Engineering, defining it as the process of maneuvering a system to achieve desired output values based on input signals. It discusses the concepts of open-loop and closed-loop control systems, emphasizing the importance of feedback for stability and control. Additionally, it introduces the characteristic equation and Routh's Criterion as methods for analyzing system stability, with examples illustrating the application of these concepts.

Uploaded by

Musafu
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 PPT, PDF, TXT or read online on Scribd
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Control System Engineering I

EEE 4202
Julius Taremwa
E-mail: [email protected]
What is Control Systems
Engineering?
 We may define it as “ To maneuver a
system so as to achieve the desired
values”. The maneuvering is from one or
more inputs while the desired values are
measured at the output.
 It is clear that we need 3 items:
 1. Input signal
 2. System
 3. Output signal
Control System Block Diagram

 The basic control system block diagram


is:

Input signal Control


system Output signal
Feedback control system

 The above block diagram is known as


“open-loop” control system. It is open
because the output is simply measured
but not used so as to achieve the
(preset) desired value.
 The preferred system is called the
“closed-loop control system” or feedback
control system.
Feedback Control System Block
Diagram
 This is the standard feedback control
system:

Input Control
signal + signal Control Output signal
system
-
Feedback
feedback
Signal
Feedback Control System Block
Diagram
 The feedback control system has the
obvious features of using the output
signal, comparing it with the input,
obtaining a control signal; which is then
used to maneuver the system.
 The control signal is obtained by
subtraction; so in full we refer to it as
“negative feedback control system”.
Transfer function

 Itis now possible to determine the


feedback control mathematical
expressions.
 Let each block diagram have a “transfer
function” i.e.

output
transfer  function 
input
Feedback Control System Block
Diagram
 This is the standard feedback control
system:

Input Control
signal + signal Control Output signal
G
R E system C
-

F Feedback
feedback
Signal H
Feedback control signals
 The overall transfer function is obtained as
E R  F
C G * E
F C * H
C G
  ; or
R 1 G * H
C G

R 1  GH
Characteristic equation

 The most important equation is the


characteristic equation:
 All the analysis of control will be centred
on this equation

1+GH=0
Characteristic equation
 1. In very simple terms if the
characteristic equation is satisfied; the
output blows up to infinity!
 2. But in control engineering this is called
“oscillation”.
 3. As control engineers if we determine
the condition(s) of oscillation; this is the
boarder line separating “stability” &
“instability”.
Stability of a control system

 Incontrol engineering, we try to avoid


oscillation but worst of all “instability”
must never occur. The negative
consequences of instability are
enormously expensive.
 But instability has occurred on some
power systems; so we know it is a
reality.
Analysis of the characteristic
equation
 Consider the following ways of analysis:
 1+GH(s)=0
 Where “s” is a Laplace Transform operator
 We wish to find all the values of “s” that satisfy
the characteristic equation.
 The values of “s” are, in general, complex;
hence can be represented on a complex plane
or Argand Diagram.
Analysis of the characteristic
equation; stability
 Stability analysis using complex plane:

Im

s4 s1
Re
s3
s2
Analysis of the characteristic
equation; stability
 We have simply grouped all possible
values of s;

s1 ve  real  parts & ve  immaginary  parts


s2 ve  real  parts &  ve  immaginary  parts
s3  ve  real  parts &  ve  immaginary  parts
s4  ve  real  parts & ve  immaginary  parts
Analysis of the characteristic
equation; stability
 We shall assume knowledge of “Inverse
Laplace Transform” and state;
 All roots of “s” with +ve real parts lead to
signals which grow with time; unstable
 All roots of “s” with –ve real parts lead to
signals which decay with time; stable
 The overall response is the algebraic
summation of the individual responses.
Analysis of the characteristic
equation; stability
 We now state, without fear or favour,
that:
 A feedback control system will be stable
provided that all roots of “s” have –ve
real parts. Or
 A feedback control system will be stable
provided that all roots of “s” lie in the left-
hand side of the s-plane.
The “s” plane for stability

 Stable & unstable regions

s-plane
Stable Unstable

Region
region
Stability criteria

 We are now in a position to examine the


criteria that determine stability:
 In fact we have just stated one above.
 If our only interest is to determine
whether or not a system is stable; the
criterion will be to quickly determine
whether or not there are any values of
“s” with +ve real parts.
Routh’s Criterion

 The Routh’s Criterion is one of the


several criteria we shall use for stability
determination.
 It is actually the simplest of all.
 When the characteristic equation

1+GH=0
Routh’s Criterion
 The equation can be written as a
polynomial with descending powers of “s”
e.g.
n n 1 2
an s  an 1s  .....a2 s  a1s  a0 0
 The solution to this equation i.e. finding
all the values of s may be tedious. But
the Routh’s criterion uses the coefficients
of s i.e. the “a” values to determine the
number of solutions with +ve real parts.
Routh’s Criterion

 Clearly,if there are ANY values of “s”


with +ve real parts; the system is
unstable. If there are none; the system is
stable.
 The Steps for Routh’s Criterion are:
 Step 1:
 Use the values “a” to form the “Routh’s
Array”
Routh’s Criterion
 Routh’s Array:
an an  2 a2 a0
an  1 an  3 a3 a1
b1 b2 b3
c1 c2 c3
. . .
m1 m2
p1 p2
q
Routh’s Criterion
 The values “a” are read from the polynomial.
 The other values of the array are calculated
as:
an  1 * an  2  an * an  3
b1 
an  1
an  1 * an  4  an * an  5
b2 
an  1
Routh’s Criterion

 Step 2:
 Inspect the values in column 1 of the
Routh’s Array;
 The number of sign changes (i.e. from
+ve to –ve) equals the number of roots
of “s” with +ve real parts.
Routh’s Criterion

 Step 3:
 The system is stable if there are no sign
changes in Column 1 of the Routh’s
Array;
 Hence all values of s ( equation) have –
ve real parts. In other words, the system
is stable because all values of “s” lie in
the left half of the s-plane.
Stability Example: Routh’s
 Example 1: A control feedback system
has the following Transfer Functions:
 Determine the system’s stability using
Routh’s Criterion

1
G (s) 
s ( s  1)
H ( s ) 1
Stability Example: Routh’s
 The characteristic equation is:

1  GH ( s ) 0
1
1  0
s ( s  1)
2
s  s  1 0
Stability Example: Routh’s
 The Routh’s Array & stability
determination easily follows:

1 1
1
1
 No  sign  changes;
system  stable
Stability Example: Routh’s
 Example 2: A control feedback system
has the following Transfer Functions:
 Determine the system’s stability using
Routh’s Criterion
12
G (s) 
s ( s  1)( s  2)
H ( s ) 1
Stability Example: Routh’s
 The characteristic equation is:

1  GH ( s ) 0
12
1  0
s ( s  1)( s  2)
3 2
s  3s  2 s  12 0
Stability Example: Routh’s
 The Routh’s Array & stability
determination easily follows:
1 2
3 12
2
12
 2  sign  changes;
2 " s" with  ve  real  parts
system  unstable

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