D(s)

R(s) +
C(s)
+
-
Controller + Plant

MA3005: Control Theory

Part II: Controller Design

Assistant Professor Guo Zhan Lum

1
 Teaching Plan
Week Lecture Topics Tutorial

8 Recap & Introduction to controller design/System Types 6

9 Root Locus: Introduction and Sketching 7

10 Root Locus: Controller Design 8
11 Bode Plot: Introduction and Sketching 9
12 Bode Plot: Analysis 10
13 Revision 11

2
 Harmonic Inputs
Time Domain
𝑅(𝑠) 𝐶(𝑠)
𝐺(𝑠) Input: 𝑟 = 𝑟0 cos 𝜔𝑡
Transfer
Function Steady-state: 𝑐 = 𝑟0 |𝐺 𝑠 = 𝑗𝜔 | cos 𝜔𝑡 + ∠𝐺 𝑠 = 𝑗𝜔

Magnitude changed by a Phase shift by a factor of

factor of |𝐺 𝑠 = 𝑗𝜔 | ∠𝐺 𝑠 = 𝑗𝜔
3
𝜋
2 3
Input 3
Signals

1
Output 0.5
0
-1
-2
-3 3
T time
 Example
𝑅(𝑠) 2 𝐶(𝑠)

𝑠+2
Transfer Function

Input: 𝑟 𝑡 = 𝑟0 cos 10𝑡

2 2 2 −𝑗(tan −1 5)
𝐺 𝑠 = 10𝑗 = = −1 5) = 𝑒
10𝑗 + 2 104𝑒 𝑗(tan 104

𝑐𝑠𝑠 𝑡 = 𝑟0 𝐺 𝑠 = 𝑗𝜔 cos(10𝑡 + ∠𝐺 𝑠 = 𝑗𝜔 )

2
− tan−1 5
104 4
 Bode Plot
𝑅(𝑠) 𝐶(𝑠)
𝐺(𝑠) Frequency response of the
Transfer
transfer function
Function

Generates Two Log-Scale Plots

20 lg 𝐺 (dB)
1. Magnitude plot
One decade
20log10(|𝐺(𝑠 = 𝑗)|) against lg 𝜔

x-axis is lg 𝜔
∠𝐺 (degrees)

2. Phase plot
∠𝐺(𝑠 = 𝑗) against lg 𝜔

rad
𝜔( ) 5
𝑠
 Motivation
1. Together with Fourier series analysis, it can compute the output of periodic inputs
▪ Example, 𝑟 = 2 sin 3𝑡 + 6 cos 100𝑡 + 𝜋

Output: 𝑐 = 2 𝐺 𝑠 = 3𝑗 sin(3𝑡 + ∠𝐺 𝑠 = 3𝑗 ) + 6 𝐺 𝑠 = 100𝑗 cos 100𝑡 + 𝜋 + ∠𝐺 𝑠 = 100𝑗

2. Analysis:
▪ Resonance
▪ Filtering

3. Designing closed-loop system:

▪ Poles
▪ Steady-state response

4. Reverse engineering:
▪ Identify the transfer function of the system

6
 D(s)

R(s) +
C(s)
+
-
Controller + Plant

Bode Plot: Sketching

7
Superposition Principle (I)
Objective: Plot two log-scale plots
𝑅(𝑠) 𝐶(𝑠) ς𝑛𝑖=1(𝑠 + 𝑧𝑖 )
𝐺(𝑠) 𝐺 𝑠 =𝐾 𝑚
ς𝑗=1(𝑠 + 𝑝𝑗 )
Transfer Function

Frequency Response
𝑗tan −1 (𝜔 )

ς𝑛𝑖=1(𝑗𝜔 + 𝑧𝑖 ) ς𝑛𝑖=1 𝜔2 + 𝑧𝑖2 𝑒 𝑧𝑖

𝐺 𝑠 = 𝑗𝜔 = 𝐾 𝑚 =𝐾 𝜔
ς𝑗=1(𝑗𝜔 + 𝑝𝑗 ) ς𝑚
𝑗tan−1 ( )
𝑝𝑗
𝑗=1 𝜔2 + 𝑝𝑗2 𝑒

ς𝑛𝑖=1 𝜔 2 + 𝑧𝑖2 −1 𝜔 −1 𝜔
𝑗 σ𝑛 𝑚
𝑖=1 tan (𝑧 )−σ𝑗=1 tan (𝑝 )
=𝐾 𝑒 𝑖 𝑗

ς𝑚
𝑗=1 𝜔 2 + 𝑝𝑗2
∠𝐺(𝑠 = 𝑗)
|𝐺(𝑠 = 𝑗)| 8
Superposition Principle (II)
Transfer function ∠𝑮 (Phase)
𝑛 𝑚
ς𝑛𝑖=1(𝑠 + 𝑧𝑖 ) 𝜔 𝜔
𝐺 𝑠 =𝐾 𝑚 ෍ tan−1 − ෍ tan −1
𝑧𝑖 𝑝𝑗
ς𝑗=1(𝑠 + 𝑝𝑗 ) 𝑖=1 𝑗=1
Linear combination of angles

𝑮 (Magnitude)
ς𝑛𝑖=1 ς𝑛𝑖=1 𝜔 2 + 𝑧𝑖2
𝜔2 + 𝑧𝑖2 Log-scale
𝐾 20 lg 𝐾
ς𝑚 ς𝑚 𝜔 2 + 𝑝𝑗2
𝑗=1 𝜔 2 + 𝑝𝑗2 𝑗=1

𝑛 𝑚

20 lg |𝐺| = 20 lg 𝐾 + ෍ 20 lg 𝜔 2 + 𝑧𝑖2 − ෍ 20 lg 𝜔 2 + 𝑝𝑗2

𝑖=1 𝑗=1

Linear combination of magnitudes 9

 Principal Components
1. Constants (𝐾)
2. Differentiator (𝑠)
1
3. Integrator
𝑠

𝑎
4. First order systems
𝑠+𝑎

2
𝜔𝑛
5. Second order systems 2
𝑠+2𝜁𝜔𝑛 𝑠+𝜔𝑛

10
 20 lg 𝐺 (dB)
Plotting Constants
𝑅(𝑠) 𝐶(𝑠)
20 lg 𝐾 𝐾
Transfer Function

0.01 0.1 1 10 100 𝜔(rad/s)

𝐺 𝑠 =𝐾

𝐺 𝑠 = 𝑗𝜔 = 𝐾𝑒 𝑗0
∠𝐺 (rad)

Magnitude
20 lg |𝐺 𝑗𝜔 | = 20 lg 𝐾
0.01 0.1 1 10 100 𝜔(rad/s)
Phase
∠𝐺 𝑗𝜔 = 0
11
 20 lg 𝐺 (dB)
Plotting Differentiator
+20 dB/dec 𝑅(𝑠) 𝐶(𝑠)
𝑠
Transfer Function

0.01 0.1 1 10 100 𝜔(rad/s) 𝐺 𝑠 =𝑠

−40 𝐺 𝑠 = 𝑗𝜔 = 𝑗𝜔
𝜋
𝑗2
∠𝐺 (rad) 𝐺 𝑠 = 𝑗𝜔 = 𝜔𝑒
𝜋
2 Magnitude
20 lg |𝐺 𝑗𝜔 | = 20 lg 𝜔
0.01 0.1 1 10 100 𝜔(rad/s)
Phase
𝜋
∠𝐺 𝑗𝜔 =
2
12
 20 lg 𝐺 (dB)
Plotting Integrator
40 𝑅(𝑠) 1 𝐶(𝑠)
𝑠
𝜔(rad/s) Transfer Function

0.01 0.1 1 10 100 1 1

𝐺 𝑠 = , 𝐺 𝑠 = 𝑗𝜔 =
𝑠 𝑗𝜔
−20 dB/dec
1 𝑗(−𝜋)
𝐺 𝑠 = 𝑗𝜔 = 𝑒 2
∠𝐺 (rad) 𝜔
Magnitude
𝜔(rad/s)
20 lg |𝐺 𝑗𝜔 | = −20 lg 𝜔
0.01 0.1 1 10 100
𝜋 Phase
−
2 𝜋
∠𝐺 𝑗𝜔 = −
2
13
 Plotting First Order Pole (I)
20 lg 𝐺 (dB)

𝑅(𝑠) 𝑎
𝐶(𝑠)
𝑠+𝑎
Transfer Function

0.01 0.1 1 𝑎 10 100 𝜔(rad/s) 𝑎

𝐺 𝑠 = 𝑗𝜔 =
𝑗𝜔 + 𝑎
When  << a
𝑎
∠𝐺 (rad) 𝐺 𝑠 = 𝑗𝜔 = = 1𝑒 𝑗0
𝑎
Magnitude

0.01 0.1 0.1𝑎 1 𝑎 10 10𝑎 100 𝜔(rad/s)

20 lg |𝐺 𝑗𝜔 | = 0
Phase
∠𝐺 𝑗𝜔 = 0
14
 Plotting First Order Pole (II)
20 lg 𝐺 (dB)

𝑅(𝑠) 𝑎
𝐶(𝑠)
𝑠+𝑎
Transfer Function
𝑎
0.01 0.1 1 𝑎 10 100 𝜔(rad/s) 𝐺 𝑠 = 𝑗𝜔 =
𝑗𝜔 + 𝑎

−20 dB/dec When  >> a

𝑎 𝑎 𝑗(−𝜋)
∠𝐺 (rad) 𝐺 𝑠 = 𝑗𝜔 = = 𝑒 2
𝑗𝜔 𝜔
Magnitude
𝑎
0.1 0.1𝑎 1 𝑎 10 10𝑎 100 𝜔(rad/s) 20 lg |𝐺 𝑗𝜔 | = 20 lg
𝜋 0.01 𝜔
−
4 𝜋 = 20 lg 𝑎 − 20 lg 𝜔
𝜋 − rad/dec
− 4
2 Phase
𝜋
∠𝐺 𝑗𝜔 = − 15
2
 First Order Pole: Example
𝑅(𝑠) 10 𝐶(𝑠) 𝑎 = 10
Corner Frequencies
𝑠 + 10
Transfer Function 𝜔 = 1, 10, 100
20 lg 𝐺 (dB)

−20 dB/dec

𝜔(rad/s)
∠𝐺 (degrees)

−45°/dec

16

𝜔(rad/s)
 Plotting First Order Zero (I)
20 lg 𝐺 (dB)
𝑅(𝑠) 𝑠 + 𝑎 𝐶(𝑠)
𝑎
Transfer Function
𝜔(rad/s) 𝑗𝜔 + 𝑎
𝐺 𝑠 = 𝑗𝜔 =
0.01 0.1 1 𝑎 10 100 𝑎
When  << a
𝑎
∠𝐺 (rad) 𝐺 𝑠 = 𝑗𝜔 = = 1𝑒 𝑗0
𝑎
Magnitude
20 lg |𝐺 𝑗𝜔 | = 0
0.01 0.1 0.1𝑎 1 𝑎 10 10𝑎 100 𝜔(rad/s)
Phase
∠𝐺 𝑗𝜔 = 0
17
 Plotting First Order Zero (II)
20 lg 𝐺 (dB)
𝑅(𝑠) 𝑠 + 𝑎 𝐶(𝑠)
+20 dB/dec 𝑎
Transfer Function
𝜔(rad/s) 𝑗𝜔 + 𝑎
𝐺 𝑠 = 𝑗𝜔 =
0.01 0.1 1 𝑎 10 100 𝑎
When  >> a
𝑗𝜔 𝜔 𝑗(𝜋)
∠𝐺 (rad) 𝐺 𝑠 = 𝑗𝜔 = = 𝑒 2
𝜋 𝑎 𝑎
𝜋
2 + rad/dec
𝜋 4 Magnitude
4
𝜔
20 lg |𝐺 𝑗𝜔 | = 20 lg
𝑎
0.01 0.1 0.1𝑎 1 𝑎 10 10𝑎 100 𝜔(rad/s)
= 20 lg 𝜔 − 20 lg 𝑎
Phase
𝜋
∠𝐺 𝑗𝜔 = 18
2
 First Order Zero: Example
𝑅(𝑠) 𝑠 + 10 𝐶(𝑠) 𝑎 = 10
Corner Frequencies
10
Transfer Function 𝜔 = 1, 10, 100
20 lg 𝐺 (dB)

+20 dB/dec

𝜔(rad/s)
∠𝐺 (degrees)

+45°/dec

19
𝜔(rad/s)
 Plotting Second Order Pole (I)
20 lg 𝐺 (dB)
𝑅(𝑠) 𝜔𝑛2 𝐶(𝑠)
𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2
Transfer Function
𝜔(rad/s)
𝜔𝑛2
0.01 0.1 1 𝜔𝑛 10 100 𝐺 𝑠 = 𝑗𝜔 =
−𝜔 2 + 𝑗2𝜁𝜔𝑛 𝜔 + 𝜔𝑛2
When  << n
𝜔𝑛2
∠𝐺 (rad) 𝐺 𝑠 = 𝑗𝜔 = 2 = 1𝑒 𝑗0
𝜔𝑛
Magnitude
0.01 0.1 0.1𝜔𝑛 1 𝜔𝑛 10 10𝜔𝑛 100 𝜔(rad/s) 20 lg |𝐺 𝑗𝜔 | = 0
Phase
∠𝐺 𝑗𝜔 = 0
20
 Plotting Second Order Pole (II)
20 lg 𝐺 (dB)
𝑅(𝑠) 𝜔𝑛2 𝐶(𝑠)
𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2
Transfer Function
𝜔(rad/s)
𝜔𝑛2
0.01 0.1 1 𝜔𝑛 10 100 𝐺 𝑠 = 𝑗𝜔 =
−𝜔 2 + 𝑗2𝜁𝜔𝑛 𝜔 + 𝜔𝑛2
−40 dB/dec When  >> n
𝜔𝑛2 𝜔𝑛2 𝑗(−𝜋)
∠𝐺 (rad) 𝐺 𝑠 = 𝑗𝜔 = 2
= 2𝑒
−𝜔 𝜔
Magnitude 2
𝜔𝑛
𝜋 0.01 0.1 0.1𝜔𝑛 1 𝜔𝑛 10 10𝜔𝑛 100 𝜔(rad/s) 20 lg |𝐺 𝑗𝜔 | = 20 lg 2
−
𝜔
2 𝜋
− rad/dec
2 = 40 lg 𝜔𝑛 − 40 lg 𝜔
−𝜋
Phase 21
∠𝐺 𝑗𝜔 = −𝜋
 Second Order Pole: Example
𝑅(𝑠) 1 𝐶(𝑠) 𝜔𝑛 = 1
Corner Frequencies
𝑠 2 + 2𝜁𝑠 + 1
Transfer Function 𝜔 = 0.1, 1, 10
20 lg 𝐺 (dB)

−40 dB/dec
∠𝐺 (degrees)

−90°/dec

22
 Second Order Pole: Example
𝑅(𝑠) 1 𝐶(𝑠) 𝜔𝑛 = 1
Corner Frequencies
𝑠 2 + 2𝜁𝑠 + 1
Transfer Function 𝜔 = 0.1, 1, 10
20 lg 𝐺 (dB)

𝜁 = 0.01
𝜁 = 0.1
𝜁 = 0.3

𝜔(rad/s)
∠𝐺 (degrees)

𝜁 = 0.01

𝜁 = 0.1
𝜁 = 0.3

23
𝜔(rad/s)
 Plotting Second Order Zero (I)
20 lg 𝐺 (dB)
𝑅(𝑠) 𝑠 2 + 2𝜁𝜔 𝑠 + 𝜔2 𝐶(𝑠)
𝑛 𝑛
𝜔𝑛2
Transfer Function
−𝜔2 + 𝑗2𝜁𝜔𝑛 𝜔 + 𝜔𝑛2
0.01 0.1 1 𝜔𝑛 10 100 𝐺 𝑠 = 𝑗𝜔 =
𝜔𝑛2
𝜔(rad/s)
When  << n
𝜔𝑛2
∠𝐺 (rad) 𝐺 𝑠 = 𝑗𝜔 = 2 = 1𝑒 𝑗0
𝜔𝑛
Magnitude
0.01 0.1 0.1𝜔𝑛 1 𝜔𝑛 10 10𝜔𝑛 100 20 lg |𝐺 𝑗𝜔 | = 0
𝜔(rad/s)
Phase
∠𝐺 𝑗𝜔 = 0
24
 Plotting Second Order Zero (II)
20 lg 𝐺 (dB)
𝑅(𝑠) 𝑠 2 + 2𝜁𝜔 𝑠 + 𝜔2 𝐶(𝑠)
𝑛 𝑛
+40 dB/dec 𝜔𝑛2
Transfer Function
−𝜔2 + 𝑗2𝜁𝜔𝑛 𝜔 + 𝜔𝑛2
0.01 0.1 1 𝜔𝑛 10 100 𝐺 𝑠 = 𝑗𝜔 =
𝜔𝑛2
𝜔(rad/s)
When  >> n
−𝜔2 𝜔2 𝑗𝜋
∠𝐺 (rad) 𝐺 𝑠 = 𝑗𝜔 = 2 = 2 𝑒
𝜋 𝜔𝑛 𝜔𝑛
𝜋 𝜋
2
+
2
rad/dec Magnitude
0.01 0.1 0.1𝜔𝑛 1 𝜔𝑛 10 10𝜔𝑛 100
𝜔2
20 lg |𝐺 𝑗𝜔 | = 20 lg 2
𝜔(rad/s)
𝜔𝑛
= 40 lg 𝜔 − 40 lg 𝜔𝑛
Phase
25
∠𝐺 𝑗𝜔 = 𝜋
 Second Order Zero: Example
𝑅(𝑠) 𝑠 + 2𝜁𝑠 + 1 𝐶(𝑠) 𝜔𝑛 = 1
Corner Frequencies
1
Transfer Function 𝜔 = 0.1, 1, 10
20 lg 𝐺 (dB)
∠𝐺 (degrees)

26
 Second Order Zero: Example
𝑅(𝑠) 𝑠 + 2𝜁𝑠 + 1 𝐶(𝑠) 𝜔𝑛 = 1
Corner Frequencies
1
Transfer Function 𝜔 = 0.1, 1, 10
20 lg 𝐺 (dB)

𝜁 = 0.3 𝜁 = 0.1

𝜁 = 0.01
∠𝐺 (degrees)

𝜁 = 0.1

𝜁 = 0.3
27
 D(s)

R(s) +
C(s)
+
-
Controller + Plant

Bode Plot: Example

28
 Complex Function: Asymptotes
20 lg 𝐺 (dB)
+20 dB/dec

+20 dB/dec
−20 dB/dec
20
Generate Bode plot:
0.01 0.1 1 10 100 1000
−20 𝜔(rad/s)
1000𝑠
−40 𝐺=
𝑠 2 + 𝑠 + 100
−40 dB/dec
∠𝐺 (rad) 1000 100
𝐺= (𝑠) 2
100 𝑠 + 𝑠 + 100
𝜋
2 𝜔(rad/s)
0.01 0.1 1 10 100 1000
π
−𝜋 − rad/dec
2

29
 Complex Function: Sketch
20 lg 𝐺 (dB)

+20 dB/dec
−20 dB/dec

Generate Bode plot:

0.01 0.1 1 10 100 1000
−20 𝜔(rad/s)
1000𝑠
𝐺=
𝑠 2 + 𝑠 + 100
∠𝐺 (rad) 1000 100
𝐺= (𝑠) 2
𝜋
100 𝑠 + 𝑠 + 100
2 𝜔(rad/s)
𝜋 0.01 0.1 1 10 100 1000
−
2

30
 Complex Function: MATLAB
20 lg 𝐺 (dB)

𝜔(rad/s)
∠𝐺 (deg)

𝜔(rad/s)

31
 Complex Function: Reading
𝑅(𝑠) 𝐶(𝑠)
𝐺(𝑠)
Transfer Function

Compute the output if the input is: 𝑟 𝑡 = 2 cos 𝑡 + 5 cos 10𝑡

𝑐 𝑡 = 2|𝐺 𝑠 = 𝑗 | cos(𝑡 + ∠𝐺 𝑠 = 𝑗 )

+5|𝐺 𝑠 = 10𝑗 | cos(10𝑡 + ∠𝐺 𝑠 = 10𝑗 )

32
 Complex Function: MATLAB
20
20 lg 𝐺 (dB)

𝐺 = 1020 = 10 60 dB
60
20 dB 𝐺 = 1020 = 1000

𝜔(rad/s)

𝜋 0 rad
∠𝐺 (deg)

rad
2

𝜔(rad/s)

33
 Complex Function: Reading
𝑅(𝑠) 𝐶(𝑠)
𝐺(𝑠)
Transfer Function

Compute the output if the input is: 𝑟 𝑡 = 2 cos 𝑡 + 5 cos 10𝑡

𝑐 𝑡 = 2|𝐺 𝑠 = 𝑗 | cos(𝑡 + ∠𝐺 𝑠 = 𝑗 )
𝜋
10
2
+5|𝐺 𝑠 = 10𝑗 | cos(10𝑡 + ∠𝐺 𝑠 = 10𝑗 )

1000 0

𝜋
𝑐 𝑡 = 20 cos(𝑡 + ) + 5000 cos(10𝑡) 34
2
 Summary
1. Bode plot is the frequency response of the system
a) Read the bode plot

2. Sketching techniques
a) Superposition principle
b) Sketch the principal components
c) Combine all the components together

35