Automatic control

theory
A Course ——used for
analyzing and designing a
automatic control system
 Chapter 1 Introduction
21 century — information age, cybernetics(control theory), system
approach and information theory , three science theory mainstay(supports)
in 21 century.
1.1 Automatic control
A machine(or system) work by machine-self, not by manual
operation.
val ve
1.2 Automatic control systems
1.2.1 examples +
Gear
assembl y fl oat
1) A water-level control system
* Operating principle…… Water pool
motor -

* Feedback control…… M

ampl i fi er Figure 1.1

 Chapter 1 Introduction
Another example of the water-level
control is shown in figure 1.2. fl oat
* Operating l ever
principle……
* Feedback water
control…… entrance
2) A temperature Control system W
ater exi t
(shown in Fig.1.3) Fi gure 1. 2
contai ner
thermo
+ uf meter
ur
ampl i fi er
* Operating principle…
e
* Feedback control(error)
…
ua=k(ur- uf ) Gear
M assembl y

Fi gure 1. 3
 Chapter 1 Introduction
3) A DC-Motor control system

+
Uk=k(ur- uf ) DC
ur  mot or
ua
e M

regul ator l oad

tri gger

Uf (Feedback) recti fi er -
M techometer
Fi g. 1. 4 +
* Principle…
* Feedback control(error)…
 Chapter 1 Introduction
4) A servo (following) control system

servopotenti ometer
I nput output
l oad
Tr Tc

servomechani sm
-

M
+ servo motor
Fig. 1.5 servomodul ator

* principle……
* feedback(error)……
 Chapter 1 Introduction
5) A feedback control system model of the family planning
(similar to the social, economic, and political realm(sphere or field))
excess
procreate

Desi re
popul ati on government + popul ati on
(Famil y pl anni ng committee) soci ety
- Pol i cy or
statutes

census
Fig. 1.6
* principle……
* feedback(error)……
 Chapter 1 Introduction
1.2.2 block diagram of control systems
The block diagram description for a control system : Convenience

x Si gnal xxx
Components
(vari abl e) (devi ces)
x3
x1 + + e Adders (compari son)
e=x1+x3-x2
-
x2 Fig. 1.7

Example:
 Chapter 1 Introduction
val ve

Gear +
For the Fig.1.1, The assembl y fl oat

water level control Water pool

-
system: motor
M

ampl i fi er Figure 1.1

resistance comparator
Actuator Actual
Desired
water level water level
amplifier Motor Water
Gearing Valve
Input Error container
Output
controller Process

Float
Feedback
signal measurement
Fig. 1.8 (Sensor)
 Chapter 1 Introduction
For the Fig. 1.4, The DC-Motor control system

comparator Actuator
Desi red Actual
rotate speed n e uk a ua rotate speed n
Regul ator Tri gger Recti fi er DC
Reference Error motor
Output n
i nput ur
control l er Process

Techometer
Feedback si gnal uf
measurement (Sensor)
Fi g. 1. 9
 Chapter 1 Introduction
1.2.3 Fundamental structure of control systems

1) Open loop control systems

Di sturbance
(Noi se)

I nput r(t) Output c(t)

uk uact
(actual output)
Control l er Actuator Process
Reference Control Actuati ng
desi red output si gnal si gnal
Fi g. 1. 10

Features: Only there is a forward action from the input to the

output.
 Chapter 1 Introduction
2) Closed loop (feedback) control
systems Di sturbance
(Noi se)
e(t)= Output c(t)
I nput r(t) r(t)-b(t) uk uact
+ Control l er Actuator Process
(actual output)
Reference - Control Actuati ng
desi red output si gnal si gnal
(+)
Feedback si gnal b(t)
measurement

Fi g. 1. 11
Features:
not only there is a forward action , also a backward action
between the output and the input (measuring the output and
comparing it with the input).
1) measuring the output (controlled variable) . 2) Feedback.
 Chapter 1 Introduction
Notes: 1) Positive feedback; 2) Negative feedback—
Feedback.
1.3 types of control systems
1) linear systems versus Nonlinear systems.
2) Time-invariant systems vs. Time-varying systems.
3) Continuous systems vs. Discrete (data) systems.
4) Constant input modulation vs. Servo control systems.

1.4 Basic performance requirements of control systems

1) Stability.
2) Accuracy (steady state performance).
3) Rapidness (instantaneous characteristic).
 Chapter 1 Introduction
1.5 An outline of this text

1) Three parts: mathematical modeling; performance analysis ;

compensation (design).
2) Three types of systems:
linear continuous; nonlinear continuous; linear discrete.
3) three performances: stability, accuracy, rapidness.
in all: to discuss the theoretical approaches of the control
system analysis and design.
1.6 Control system design process
shown in Fig.1.12
 Chapter 1 Introduction
1. Establish control goals 6. Describe a controller and select
key parameters to be adjusted

2. Identify the variables to control

7. Optimize the parameters and
analyze the performance
3. Write the specifications
for the variables
Performance
Performance does not meet the
4. Establish the system configuration Meet the specifications specifications
Identify the actuator
Finalize the design
5. Obtain a model of the process,
the actuator and the sensor

Fig.1.12
 Chapter 1 Introduction
1.7 Sequential design example: disk drive read system
Sequential design example: disk drive read system

A disk drive read system Shown in Fig.1.13

Rotation Spindle
Track a
of arm Disk
Actuator Track b
motor
◆ Configuration
◆ Principle
Arm
Head slider

Fig.1.13 A disk drive read system

 Chapter 1 Introduction
Sequential design:
here we are concerned with the design steps 1,2,3, and 4 of
Fig.1.12.
(1) Identify the control goal:
Position the reader head to read the date stored on a track on the disk.

(2) Identify the variables to control: the position of the read head.
(3) Write the initial specification for the variables:

The disk rotates at a speed of between 1800 and 7200 rpm and the read head
“flies” above the disk at a distance of less than 100 nm.
The initial specification for the position accuracy to be controlled:
≤ 1 μm (leas than 1 μm ) and to be able to move the head from track a to track b
within 50 ms, if possible.
 Chapter 1 Introduction
(4) Establish an initial system configuration:

It is obvious : we should propose a closed loop system , not

a open loop system.
An initial system configuration can be shown as in Fig.1.13.
Desired error Actual
Control Actuator Read
head head
device motor arm
position position

sensor

Fig.1.13 system configuration for disk drive

We will consider the design of the disk drive further in the after-
mentioned chapters.
 Chapter 1 Introduction
Exercise: E1.6, P1.3, P1.13
 Chapter 2 mathematical models
of systems
2.1 Introduction
2.1 Introduction
2.1.1 Why ？
1) Easy to discuss the full possible types of the control systems—in terms of
the system’s “mathematical characteristics”.
2) The basis — analyzing or designing the control systems.
For example, we design a temperature Control system :
Disturbance
e(t)=
Input r(t) + r(t)- uk uac Output T(t)
b(t) Controller Actuator Process
desired output( －- ) Control Actuating actual
temperature signal signal output
temperature
Feedback signal
b(t) temperature

measureme
The key — designing the controller →2.1
Fig.
nt how produce uk .
 Chapter 2 mathematical models
ofthesystems
Different characteristic of process — different u : k

T(t) Ⅰ Ⅰ  uk 11
T
Ⅱ For T1 
T1
2 Ⅱ  uk 12
uk
uk11 uk12
 Ⅰ  uk 21
For T1 
uk21
Ⅱ  uk 22 

2.1.2 What is ？
Mathematical models of the control systems—— the mathematical
relationships between the system’s variables.
2.1.3 How get ？
1) theoretical approaches 2) experimental approaches
3) discrimination learning
 Chapter 2 mathematical models
2.1.4 types
of systems
1) Differential equations
2) Transfer function
3) Block diagram 、 signal flow graph
4) State variables(modern control theory)
2.2 Input-output description of the physical systems — differential
equations
The input-output description—description of the mathematical
relationship between the output variable and the input variable of the
physical systems.
2.2.1 Examples
 Chapter 2 mathematical models
Example 2.1 : Aofpassive
systemscircuit

define: input → ur output → uc 。

R L
we have ：
i
ur C uc Ri  L
di
 uc ur i C c
du
dt dt

d 2uc duc
LC 2  RC  uc ur
dt dt

L d 2uc duc
make : RC T 1 T 2  T1T2 2  T1  uc ur
R dt dt
 Chapter 2 mathematical models
Example 2.2 : Aofmechanism
systems
Define: input → F ， output → y. We have:
dy d2y
F  ky  f m 2
F k dt d t

d2y dy
m m 2 f  ky  F
dt dt
y
f m
f If we make : T1, T2
k f
d2y dy 1
we have : T1T2 2
 T1 y F
dt dt k
Compare with example 2.1: uc→y; ur→F ─ analogous systems
 Chapter 2 mathematical models
of systems
Example 2.3 : An operational amplifier (Op-amp) circuit

R2 R3 Input →ur output →uc

C 1
i2
R4
i3 uc  R3i3 
C  (i3  i2 )dt  R4 (i3  i2 )......(1)

u
ur R1 i 1 i2  i1  r ...........................................( 2)
uc R1
-
+ 1
i3  (uc  R2i2 ).....................................( 3)
R1 R3
duc R2  R3  R2 R3 dur 
(2)→(3); (2)→(1); (3)→(1) R4C  uc  R  (  R4 )C  ur 
： dt R  R dt
1
 2 3 
R2  R3 R2 R3
make : R4C T ; k ; (  R4 )C 
R1 R2  R3
duc dur
we have : T  uc  k (  ur )
dt dt
 Chapter 2 mathematical models
Example 2.4 : A DCof systems
motor
Ra La
(J 1, f 1)

ia w1
(J 2, f 2)
ua M w2 (J 3, f 3) Mf
w3
i1
Input → ua ， output → ω1 i2
dia (4)→(2)→(1) and (3)→(1):
La  Raia  Ea ua ....(1)
dt
M Cmia .........................(2) La J   La f Ra J  R f
1  (  ) 1  ( a  1)1
CeCm CeCm CeCm CeCm
Ea Ce1.........................(3)

d1 1 La Ra
M  M J  f 1.....(4)  ua  M M
dt Ce CeCm CeCm
 Chapter 2 mathematical models
J  J1  2  of
J J 3 systems
......equivalent moment of inertia
i12 i12i22
f2 f3
here : f  f1  2  2 2 ......equivalent friction coefficie nt
i1 i1 i2
Mf
M .......... .......... ......equivalent torque
i1i2
( can be derived from : 1 i1 2 i1i23 )
L
Make: Te  a ............electric - magnetic time - constant
Ra
Ra J
Tm  .......mechanical - electric time - constant
CeCm
R f
T f  a ....... friction - electric time - constant
CeCm
 Chapter 2 mathematical models
The differential equationof systems
description of the DC motor is:
 
TeTm 1  (TeT f  Tm ) 1  (T f  1)1

1 1
 ua  (TeTm M  Tm M )
Ce J

Assume the motor idle: Mf = 0, and neglect the friction: f = 0,

we have:
d 2 d 1
TeTm 2
 Tm    ua
dt dt Ce
 Chapter 2 mathematical models
Example 2.5 : of systems
A DC-Motor control system
R2
R3
+ DC
ur R1 R3 mot or
- - ua M
uk w l oad
R1
tri gger
Uf recti fi er -
M
techometer
+
Input → ur ， Output → ω; neglect the friction:
R2
uk  (ur  u f ) k1(ur  u f )........................................(1)
R1
u f  .....................(2) ua k2uk ......................(3)

d 2 d 1 1
TeTm 2
 Tm   ua  (TeTm M  Tm M )......(4)
dt dt Ce J
 Chapter 2 mathematical models
（ 2 ）→（ 1 ）→（ 3 ）→（of systems
4 ）， we have ：

d 2 d 1 1 Tm
TeTm 2  Tm  (1  k1k2 C ) k1k2 ur  (Te M  M )
dt dt e Ce J
2.2.2 steps to obtain the input-output description (differential
equation) of control systems
1) Determine the output and input variables of the control
systems.
2) Write the differential equations of each system’s components in
terms of the physical laws of the components.
* necessary assumption and neglect.
* proper approximation.
 Chapter 2 mathematical models of
systems
3) dispel the intermediate(across) variables to get the input-output
description which only contains the output and input variables.
4) Formalize the input-output equation to be the “standard” form:
Input variable —— on the right of the input-output equation .
Output variable —— on the left of the input-output equation.
Writing polynomial—— according to the falling-power order.
2.2.3 General form of the input-output equation of the
linear control systems—A nth-order differential equation:

Suppose: input → r ， output → y

y ( n )  a1 y ( n  1)  a2 y ( n  2)   an  1 y (1)  an y
b0r ( m )  b1r ( m  1)  b2 r ( m  2)   bm  1r (1)  bm r.........n m
 Chapter 2 mathematical models
2.3 Linearizationof systems
of the nonlinear components
2.3.1 what is nonlinearity ？
The output is not linearly vary with the linear
variation of the system’s (or component’s) input →
nonlinear systems (or components).
2.3.2 How do the linearization ？
Suppose: y = f(r)
The Taylor series expansion about the operating
( 2) ( 3)
point
f ( r )r
0 f is:
(1)
( r0 )  f ( r0 )( r  r0 ) 
f ( r0 ) 2
( r  r0 ) 
f ( r0 )
( r  r0 )3  
2! 3!
 f ( r0 )  f (1) ( r0 )( r  r0 )
make : y  f ( r )  f ( r0 ) and : r r  r0

wehave : y  f ' ( r0 ) r ............linearization equation

 Chapter 2 mathematical models
Examples: of systems
Example 2.6 : Elasticity equation F ( x ) kx
suppose : k 12.65;  1.1; operating point x0 0.25
F ' ( x ) kx  1  F ' ( x0 ) 12.65 1.1 0.250.1 12.11
we have : F ( x )  F ( x0 ) 12.11( x  x0 )
that is : ΔF 12.11x..............linearization equation

Example 2.7 : Fluxograph equation

Q ( p ) k p
Q —— Flux; p —— pressure difference
 Chapter 2 mathematical models
k
of systems
because : Q ' ( p ) 
2 p
k
thus : Q  p.......... .linearization equation
2 p0

2.4 Transfer function

Another form of the input-output(external) description of control
systems, different from the differential equations.
2.4.1 definition
Transfer function: The ratio of the Laplace transform of the outp
ut variable to the Laplace transform of the input variable,with all i
nitial condition assumed to be zero and for the linear systems, that
is:
 Chapter 2 mathematical models
Cof
( s )systems
G( s) 
R( s)
C(s) —— Laplace transform of the output variable
R(s) —— Laplace transform of the input variable
G(s) —— transfer function
Notes:
* Only for the linear and stationary(constant parameter) systems.
* Zero initial conditions.
* Dependent on the configuration and the coefficients of the
systems, independent on the input and output variables.
2.4.2 How to obtain the transfer function of a system
1) If the impulse response g(t) is known
 Chapter 2 mathematical models
of systems
We have: G ( s )  Lg (t )
Because:
C ( s)
G( s)  , if r (t )  (t )  R( s ) 1
R( s)
Then: G ( s ) C ( s )  Lg (t )
 2t 5 3 2( s  5)
Example 2.8 : g (t ) 5  3e  G( s)   
s s  2 s ( s  2)
2) If the output response c(t) and the input r(t) are known
We have:
Lc(t )
G( s) 
Lr (t )
 Chapter 2 mathematical models
of systems 1
r (t ) 1(t )  R(s)  ........Unit step function
Example 2.9:
s
1 1 3
c(t ) 1  e  3t  C ( s )   
s s  3 s( s  3)
.........Unit step response
Then: C ( s ) 3 s( s  3) 3
G( s)   
R( s) 1s s 3

3) If the input-output differential equation is known

•Assume: zero initial conditions;
•Make: Laplace transform of the differential equation;
•Deduce: G(s)=C(s)/R(s).
 Chapter 2 mathematical models
Example 2.10:   of systems

2 c(t ) 3 c(t ) 4c(t ) 5 r (t ) 6r (t )

2 s 2C ( s )  3sC ( s )  4C ( s ) 5sR( s )  6 R( s )

C(s) 5s  6
G(s)   2
R(s) 2 s  3s  4
4) For a circuit
* Transform a circuit into a operator circuit.
* Deduce the C(s)/R(s) in terms of the circuits theory.
 Chapter 2 mathematical models
Example 2.11: of
For systems
a electric circuit:
R1 R2 R1 R2

ur C1 C2 uc ur(s) 1/ C1s 1/ C2s uc(s)

1 1 1
// ( R2  )
sC1 sC2 sC2
U c ( s)  U r ( s ) 
1 1 1
R1  // ( R2  ) R2 
sC1 sC2 sC2
1
 2
U r ( s )
T1T2 s  (T1  T2  T12 ) s  1
U ( s) 1
G( s)  c 
U r ( s ) T1T2 s 2  (T1  T2  T12 ) s  1
here : T1  R1C1; T2  R2C2; T12  R1C2
Chapter 2 mathematical models of
systems
Example 2.12: For a op-amp circuit
R2 C R2 1/ Cs

ur R1 ur R1
- uc - uc
+ +
R1 R1

1
R2 
G( s) 
U c ( s)
 sC  R2Cs  1
U r ( s) R1 R1Cs
1
 k (1  )..................PI-Controller
s
R
here : k  2 ;   R2C......Integral time constant
R1
 Chapter 2 mathematical models
of systems
5) For a control system
• Write the differential equations of the control system, and Assume
zero initial conditions;
• Make Laplace transformation, transform the differential equations
into the relevant algebraic equations;
• Deduce: G(s)=C(s)/R(s).
Example 2.13 the DC-Motor control system in Example
R2 2.5
R3
+ DC
ur R1 R3 mot or
- - ua M
uk w l oad
R1
tri gger
Uf recti fi er -
M
techometer
+
 Chapter 2 mathematical models
of have
In Example 2.5, we systems
written down the
differential
R2 equations as:
uk  (ur  u f ) k1(ur  u f )......... .......... .......... .....(1)
R1
u f  .......... ..........(2) ua k2uk .......... .........(3)

d 2 d 1 T
TeTm 2  Tm    ua  m (Te M  M )......(4)
dt dt Ce J
Make Laplace transformation, we have:
U k ( s ) k1[U r ( s )  U f ( s )]........ .......... .......... .......... .......... ...(1)
U f ( s ) ( s )......... ......(2) U a ( s ) k2U k ( s )......... .....(3)
2 1 TeTm s  Tm
(TeTm s  Tm s  1)( s )  U a ( s )  M ( s )......(4)
Ce J
 Chapter 2 mathematical models
of systems
(2)→(1)→(3)→(4), we have:
2 1 1 TeTm s  Tm
[TeTm s  Tm s  (1  k1k2 )]( s ) k1k2 U r ( s )  M ( s)
Ce Ce J
k1k2 1
( s ) Ce
G( s)  
U r ( s ) T T s 2  T s  (1  k k  1 )
e m m 1 2
Ce
La
here : Te  ...........electric  magnetic time - constant
Ra
Ra J
Tm  ......mechanical  electric time - constant
CeCm
 Chapter 2 mathematical models
of systems
2.5 Transfer function of the typical elements of linear
systems
A linear system can be regarded as the composing
of several
2.5.1 typical
Proportioning elements, which are:
element
Relationship between the input and output variables:
c(t ) kr (t )
C ( s)
Transfer function: G( s)  k
R( s)
Block diagram representation and unit step response:
R(s) C(s) Examples:
k
r(t) C(t)
k amplifier, gear train,
1
tachometer…
t t
Chapter 2 mathematical models of
systems
2.5.2 Integrating element
Relationship between the input and output variables:
t
1
c(t )  r (t )dt..........TI : integral time constant
TI
0
C ( s) 1
Transfer function: G( s)  
R( s ) TI s
Block diagram representation and unit step response:
R(s) 1 C(s)
Examples:
r(t) TI s C(t)
1 Integrating circuit, integrating
1
motor, integrating wheel…
t t
TI
 Chapter 2 mathematical models
of element
2.5.3 Differentiating systems
Relationship between the input and output variables:
dr (t )
c(t ) TD
dt
C ( s)
Transfer function: G( s)  TD s
R( s)
Block diagram representation and unit step response:

R(s) C(s) Examples:

TDs
r(t) C(t) differentiating amplifier, differential
1 TD valve, differential condenser…

t t
Chapter 2 mathematical models of
systems
2.5.4 Inertial element
Relationship between the input and output variables:
dc(t )
T  c(t ) kr (t )
dt
C ( s) k
Transfer function: G( s)  
R( s ) Ts  1
Block diagram representation and unit step response:
R(s) k C(s)
Examples:
r(t) Ts  1 C(t)
k inertia wheel, inertial load (such as
1 temperature system)…
t t
T
 Chapter 2 mathematical models of
systems
2.5.5 Oscillating element
Relationship between the input and output variables:
2
2 d c(t ) dc(t )
T 2
 2T  c(t ) kr (t ) 0  1
dt dt
C ( s) k
Transfer function: G ( s )   2 2 0  1
R( s ) T s  2Ts  1
Block diagram representation and unit step response:

R(s) 1 C(s) Examples:

r(t) T 2 s 2  2Ts  1 C(t)
oscillator, oscillating table,
1 k oscillating circuit…

t t
Chapter 2 mathematical models
of systems
2.5.6 Delay element
Relationship between the input and output variables:

c(t ) kr (t   )
C ( s)
Transfer function: G( s)  ke  s
R( s)
Block diagram representation and unit step response:
R(s) C(s) Examples:
ke  s gap effect of gear mechanism,
r(t) C(t)
k threshold voltage of transistors…
1
t t

 Chapter 2 mathematical models
of systems
2.6 block diagram models (dynamic)
Portray the control systems by the block diagram
models more intuitively than the transfer function or
differential equation models.
2.6.1 Block diagram representation of the control
systems
Si gnal X(s) Component G(s)
(vari abl e) (devi ce)

X3(s)

Adder (com pari son) X1(s) + E(s)

E(s)=x1(s)+x3(s)- x2(s)
+
-
X2(s)
Examples:
 Chapter 2 mathematical models
of systems
Example 2.14 For the DC motor in Example 2.4
In Example 2.4, we have written down the differential equations as:
dia
La  Raia  Ea ua ....(1) M Cmia .......... .......... .....( 2)
dt
d
Ea Ce .......... .......... .....( 3) M  M  J  f  .....( 4)
dt
Make Laplace transformation, we have:
U a ( s )  Ea ( s )
La sI a ( s )  Ra I a ( s )  Ea ( s ) U a ( s )  I a ( s )  .............(5)
La s  Ra
M ( s ) Cm I a ( s )......................................................................................(6)
Ea ( s ) Ce( s ).......................................................................................(7)
1
M ( s )  M ( s )  J s( s )  f ( s )  ( s )  [ M ( s )  M ( s )]......(8)
Js  f
 Chapter 2 mathematical models of
systems
Draw block diagram in terms of the equations (5) ～ (8):
M (s )
Ua(s) 1 I a(s) M(s) - 1 (s )
Cm
- La s  Ra Js  f

Ea(s)
Ce
M (s )
Consider the Motor as a whole: 1
(TeTm s  Tm )
J
TeTm s 2  (Tm  TeT f ) s  T f  1
1
Ua(s) Ce - (s )
TeTm s 2  (Tm  TeT f ) s  T f  1
 Chapter 2 mathematical models of
systems
Example 2.15The water level control system in Fig 1.8:
Example 2.15

1 k4
Ce  s k3
k2e
k1 TeTm s 2  Tm s  1 s T1s  1 T2 s  1
Desi red Actual
water l evel water l evel
I nput hi e ua   Q Water Output h
ampl i fi er Motor Geari ng Val ve contai ner
-
Feedback si gnal hf
Fl oat
Tm
(Te s  1)
 J
2
M ( s) 
TeTm s  Tm s  1
Chapter 2 mathematical models of
systems
The block diagram model is: