EEE4202 Lecture 1
EEE4202 Lecture 1
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
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
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
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
Im
s4 s1
Re
s3
s2
Analysis of the characteristic
equation; stability
We have simply grouped all possible
values of s;
s-plane
Stable Unstable
Region
region
Stability criteria
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