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I. Concepts and Tools: Mathematics For Dynamic Systems

This document introduces several key concepts in control systems engineering: 1) It describes mathematical models including differential equations, transfer functions, and state-space descriptions that can represent dynamic systems. 2) It discusses time and frequency response analysis tools used to analyze system behavior and stability. 3) Key frequency response concepts like bandwidth, disturbance rejection, and stability margins are introduced for analyzing closed-loop control system performance and robustness. 4) The document also provides an overview of extending control techniques to digital and discrete-time systems with concepts like sampling, discrete transfer functions, and discrete Fourier transforms.

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Raveendhra Iitr
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29 views48 pages

I. Concepts and Tools: Mathematics For Dynamic Systems

This document introduces several key concepts in control systems engineering: 1) It describes mathematical models including differential equations, transfer functions, and state-space descriptions that can represent dynamic systems. 2) It discusses time and frequency response analysis tools used to analyze system behavior and stability. 3) Key frequency response concepts like bandwidth, disturbance rejection, and stability margins are introduced for analyzing closed-loop control system performance and robustness. 4) The document also provides an overview of extending control techniques to digital and discrete-time systems with concepts like sampling, discrete transfer functions, and discrete Fourier transforms.

Uploaded by

Raveendhra Iitr
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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I-1

I. Concepts and Tools


Mathematics for Dynamic Systems
Differential Equation
Transfer Function
State Space
Time Response
Transient
Steady State
Frequency Response
Bode and Nyquist Plots
Stability and Stability Margins
Extensions to Digital Control
I-2
A Differential Equation of Motion
Newtons Law:


A Linear Approximation:





( ) ( , ( ), ( ), ( )) ( ) y t f t y t y t w t bu t = +
( ) ( ) ( ) ( )
T
K
y t y t w t u t
J J

= + +
I-3
Laplace Transform and Transfer Function
2
( ) ( ) ( )
( ) ( ) ( ) ( )
( )
( )
( ) ( )
T
T
T
p
K
y t y t u t
J J
K
s Y s sY s U s
J J
Y s K
G s
U s s Js

= +

= +

= =
+
0
( ) ( )
st
Y s y t e dt


=
}
I-4
State Space Description
1 2
1 1
2 2
1
2
( ) ( ) ( )
,
0 1 0
0
[1 0]
T
T
K
y t y t u t
J J
x y x y
x x
u
K
x x
J J
x
y
x

= +

= =

( (
( (
( (
= +
( (
( (



(
=
(

1
2


0 1 0
,
0
[1 0], D=0
T
x
Let x
x
x Ax Bu
y Cx Du
with
A B
K
J J
C

(
=
(

= +

= +

( (
( (
= =
( (


=
I-5
From State Space to Transfer Function
1
( ) ( )
=
( )
p
T
G s C sI A B D
K
s Js

= +
+
I-6
Linear System Concepts
States form a linear vector space
Controllable Subspace and Controllability
Observable Subspace and Observability
The Linear Time Invariance (LTI) Assumptions
Stability
Lyapunov Stability (for linear or nonlinear systems)
LTI System Stability: poles/eigenvalues in RHP
I-7
A Motion Control
Problem

LOAD
DRIVE
PULLEY
ASSEMBLY
JL
JD
NL
ND
N
P
D
N
P
L
WL
0
r
r
W
L
M
W
L
r
WD
O
W
D
r
M
W
D
T
D
JP
OL
O
D
L T
BL L O
OD D B
B
TR
L
L
O
L O
L
T
J
TR
L
OL
TR
L
J
EQUIVALENT
MODEL
I-8
L T T
T J B = O+ O
L D T
T T gr =
( )
L T
D T T
gr
TF
T s J s B
O
= =
+
D CS S A T
T v K K K =
( )
( )
L S A T T
p
CS T T
K K K gr
G s
v s J s B
O
= =
+
From Differential Eq. To Transfer Function
I-9
( )
( )
S A T T
p
T T
K K K gr
G s
s J s B

=
+
Transfer Function model of the motion
plant
( )
( )
p
K
G s
s Js o
=
+
I-10
Unity Feedback Control System
(s)
-
(s)
r
y e
reference
input
output
p
G
c
G
u
I-11
Common Nonlinearities
I-12
Linearization
I-13
Time Response
I-14
Open Loop Transient Response
How parameters of transfer functions affect output
Terminologies for 1st and 2nd order systems
I-15
Basis of Analysis
I-16
First Order Transfer Function
( )
( )
( )
1

1
a
G s
s a
s t
=
+
=
+
I-17
Pure 2
nd
Order Transfer Functions
2
1
( )
2 1
: damping ratio, : natural frequency
1: overdamped
1: underdamped
1: critically damped
0: undamped
n n
n
G s
s s

e e
e

=
| | | |
+ +
| |
\ . \ .
>
<
=
=
I-18
Pure 2
nd
Order Transfer Functions
I-19
Pure 2
nd
Order Transfer Functions
I-20
Terminologies
max
% 100
final
final
c c
OS
c

=
I-21
Calculations
2
( / 1 )
% 100
4
s
n
OS e
T
t
e

=
=
I-22
Pure 2
nd
Order Transfer Functions
I-23
Pure 2
nd
Order Transfer Functions
I-24
Pure 2
nd
Order Transfer Functions
I-25
Steady State Response
Steady state response is determined by the dc gain: G(0)
I-26
Steady State Error
(s)
-
(s)
r
y e
reference
input
output
p
G
c
G
u
0
( ) | ( ) |
( )
( )
1 ( ) ( )
ss t s
c p
e e t sE s
R s
E s
G s G s

= =
=
+
I-27
Frequency Response:
The MOST useful concept in control theory
Performance Measures
Bandwidth
Disturbance Rejection
Noise Sensitivity
Stability
Yes or No?
Stability Margins (closeness to instability)
Robustness (generalized stability margins)
I-28
Frequency Response
I-29
Bode Plot (Magnitude and Phase vs. Frequency)
G(s) =1/(s +2)

I-30
Polar Plot: imaginary part vs. real part of G(je)
G(s) =1/(s +2)
I-31
Bandwidth of Feedback Control
-3dB Frequency of CLTF

0 dB Crossing Frequency (e
c
) of G
c
(je)G
p
(je)
Defines how fast y follows r
(s)
-
(s)
r
y e
reference
input
output
p
G
c
G
u
( ) ( )
( )
( ) 1 ( ) ( )
c p
c p
G j G j
Y j
R j G j G j
e e
e
e e e
=
+
I-32
Disturbance Rejection
(s)
-
(s)
0
y
output
p
G
c
G
d
( ) 1

( ) 1 ( ) ( )
measures disturbance rejection quality
c p
Y j
D j G j G j
e
e e e
=
+
I-33
Noise Sensitivity
(s)
-
(s)
0
y
p
G
c
G
n
u
noise
( ) ( )

( ) 1 ( ) ( )
( ) at high frequency
c
c p
c
U j G j
N j G j G j
G j
e e
e e e
e

=
+
~
I-34
Nyquist Plot
Using G (je) to determine the stability of
-
r
y
( ) G s
( ) H s
( ) ( ) ( )
( ) : Sensor and Filter
c p
G s G s G s
H s
=
I-35
The Idea of Mapping
I-36
Nyquist Contour

j
j
s j o e = +
RHP
I-37
Nyquist Stability Criteria
Determine stability by inspection
Assume G(s)H(s) is stable, let s complete the N-
countour
The closed-loop system is stable if G(s)H(s)
does not encircle the (-1,0) point
Basis of Stability Robustness
Further Reading: unstable G(s)H(s), # of unstable
poles

I-38
Nyquist Stability Criteria
Stable
Unstable
I-39
Stability Robustness
The (-1,0) point on the GH-plane becomes the focus
Distance to instability:
G(s)H(s)-(-1)=1+G(s)H(s)
Robust Stability Condition
Distance to instability > Dynamic Variations of G(s)H(s)

This is basis of modern robust control theory

I-40
Gain and Phase Margins
(-1,0) is equivalent of 0dbZ(180) point on Bode plot
ZG(je)H(je)
,G(je)H(je)|
I-41
Stability Margins:

Bode Plot Nyquist Plot
I-42
Digital Control
I-43
Discrete Signals
I-44
Digital Control Concepts
Sampling
Rate
Delay
ADC and DAC
Resolution (quantization levels)
Speed
Aliasing
Digital Control Algorithm
Difference equation

I-45
Discrete System Description
Discrete system

h[n]: impulse response

Difference equation
h[n] u[n] y[n]
0 0
[ ] [ ]
N M
k k
k k
a y n k b u n k
= =
=

I-46
Discrete Fourier Transform
and z-Transform



X(e
je
) = x[n]e
je
n=

X(z) = x[n]z
n
n=

I-47
Discrete Transfer Function and
Frequency Response
H(e
je
) = H(z)
z=e
je
H(z) =
Y(z)
X(z)
=
b
k
z
k
k=0
M

a
k
z
k
k=0
N

I-48
Application of Basic Concepts to
Previously Designed Controllers

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