Control System Engineering

- BETR 3393
Chapter 1 : Introduction of Control
Design

Mr. Mohd Hanif Che

Hasan
hanif.hasan@utem.edu.my
Learning Outcome
At the end of this lecture, you
should be able to:
Briefly know how control system
engineering involves in daily life
application.
Recap fundamental control theory
Explain control system design step
by step procedure

2
 Contents
1.1 INTRODUCTION
1.2 REVIEW ON CONTROL
FUNDAMENTAL
1.3 EXAMPLES
1.4 DESIGN METHOD
 What do these two have in
Common?

o Highly nonlinear, complicated dynamics!

o Both are capable of transporting goods and people over long distan

BUT
o One is controlled, and the other is not.
o Control is the hidden technology that you meet every d
o It heavily relies on the notion of feedback
 CONTROL consists of
Sensing , Computation , Actuation
In Feedback Loop

Actuate Sense
Gas Pedal Vehicle Speed

Compute
Control Law

Example of Control System Block Diagram in Vehicle Auto Cruise Control

5
 Goals in Vehicle Speed
Control
Stability: system maintains and hold steadily
on desired speed operating point.
Performance: system have fast responds
and rapidly changes once desired speed is
set.
Robustness: system tolerates various
disturbances dynamics (mass, drag, etc)
 1.2 REVIEW ON CONTROL
FUNDAMENTAL
1. Various cases of poles location for second
order/approx. system
2. Four (4) cases of damping ratio and relation to
poles position for second order/approx. system
3. Step responses for second-order system
damping cases
4. Underdamped second order system
characteristics
5. Steady state error
6. 2nd order approximation
Various cases of poles location for 2nd
order system
Damping ratio, Poles location Step Response
Overdamped, >1
Step Response
1

Im
0.9

Matlab Command:
0.8

0.7

0.6

>>y=zpk([],[-1 -3],3)

Amplitude
0.5

0.4

0.3

>> step(y) Re 0.2

0.1

0
0 1 2 3 4 5 6 7 8
Time (seconds)

Critically damped, 1
Step Response

Im
0.9

=1 0.8

0.7

0.6

Matlab Command:

Amplitude
0.5

0.4

>>y=zpk([],[-2 -2],4)
0.3

Re
0.2

0.1

>> step(y)
0
0 1 2 3 4 5 6 7 8
Time (seconds)

Step Response

Im
0.35

Under damped, 0.3

0.25

1>>0 0.2

Amplitude
0.15

Matlab Command: Re
0.1

0.05

>>y=zpk([],[-2+3i -2- 0
0 1 2 3 4
Time (seconds)
5 6 7 8

3i],13)
Step Response

Im
0.09

0.08

>> step(y)
0.07

0.06

0.05

Amplitude
0.04

Undamped, =0 Re
0.03

0.02

0.01

Matlab Command: -0.01

0

0 1 2 3 4 5 6 7 8

>>y=zpk([],[5i
Time (seconds)

-5i],25)
 Four (4) cases of damping ratio and
relation to poles position for 2nd order
system
Damping ratio, Case Location of poles
>1 Overdamped Different locations
on the real axis
s1 , s2 n n 2 1

=1 Critically damped Overlapping on the

real axis
s1 , s2 n

1>>0 Under damped Conjugated and

complex
s1 , s2 n jn 1 2

=0 Undamped On the imaginary

axis, with same
magnitude
s1 , s2 jn
Step responses for second-order
system damping cases
Step Response

1.8
Undamped, =0
1.6

1.4
Under damped, 1>>0
1.2
Amplitude

0.8 Critically damped, =1

0.6
Overdamped, >1
0.4

0.2

0
0 1 2 3 4 5 6 7 8
Time (seconds)
2nd order systems specification

4
Ts
n %OS e ( / 1 2 ) X 100

ln(% OS / 100)
TP
n 1 2
2 ln 2 (%OS / 100)

Imaginary value of
Real value of pole
pole pair during pair during
1>>0
Steady state error

Closed loop negative feedback system

General Formula Constants

1 With Position Constant,
e estep K p lim G ( s )
1 KP s 0

1 With Velocity Constant,

e eramp K v lim sG ( s )
Kv s 0

1 With Acceleration Constant,

e e parabola K a lim s 2G ( s )
Ka s 0
 2nd order approx. system
System Response with Additional
Step Response

Poles 1.4
c1
c2
1.2
c3

0.8
Step response of system T1(s), system
Amplitude

T2(s),
0.6 and system
13 T3(s) 13
T1
s 2 4 s 13 ( s 2 j 3)( s 2 j 3)
0.4
130 130
T2
( s 10)( s 2 4 s 13) ( s 10)( s 2 j 3)( s 2 j 3)
0.2
65 65
T3
0
( s 5)( s 2 4 s 13) ( s 5)( s 2 j 3)( s 2 j 3)
0 0.5 1 1.5 2 2.5 3 3.5
Time (seconds)
1.3 EXAMPLES

14
 DC MOTOR 5
Step Response
x 10
6

Amplitude
3

0
0 0.5 1 1.5 2 2.5 3
4
Time (seconds) x 10

Step Response
25

463.62191 1.0546455s
20
Motor G
15
Position s 2 24.8s
Amplitude

10 Example of Matlab command :

ms_sys= tf(36421.54,[1 112.87 1796.25])
Motor 36421.54
5
step(ms_sys)
Speed
G
s 2 112.87 s 1796.25
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
Time (seconds)
HEAT TRANSFER
Step Response
1.5

Amplitude
0.5

0
0 50 100 150 200 250 300 350
Time (seconds)

Transfer 1.5
G
function 57 s 1
 WATER TANK

Transfer 10.004323
function
G
1 249.39315s

Step Response
10

6
Amplitude

0
0 500 1000 1500
Time (seconds)
1.4 DESIGN METHOD

18
 CONTROLLER DESIGN
Root locus displayed both
transient response and
stability information
Changes in gain resulted
changes in performance Design in
Adding poles and/or zeros the s-plane
change the root locus and (Classical)
also the performance
Design in
the Design in
frequency state
domain variables
Classical design: (Classical)
mainly use transfer Modern design:
function as a system based on state
model, design of space
simple controller using description, for
intuitive technique complex system
(MIMO,
nonlinear), 19

analytical design
 Design of Control Systems
1. Modeling of System - model and behavior
2. Determine control goals (requirements)
3. Selection on control architecture
(cascaded, feedback, etc.)
4. Set control gains (have various methods)
5. Are goals (requirements) are fulfilled?
6. Investigate sensitivity of performance to
changes in system parameters
7. modify gains or architecture if needed
thats all TQ
Next Lecture : Chapter 2
Root Locus Technique

21
 References
1] Norman S. Nise, Control Systems
Engineering, 6th Edition, John Wiley &
Sons Inc., 2011.
2] Richard C. Dort, Robert H. Bishop,
Modern Control Systems, 12th Edition,
Pearson, 2011.
3] Katsuhiko Ogata, Modern Control
Engineering, 5th Edition, Pearson,
2010.