REKAYASA SISTEM

MINGGU #3
What is Control System?
Open-Loop Control System (No feedback)
History of control engineering
Generally attributed to
James Watts mechanical
governor ca 1780
Earlier forms of control
exist e.g the development exist e.g the development
of the shape of a boat hull
to achieve stability against
strong dynamical forced
from wind and waves
Watts rotative steam engine
From: Watts patent of
1784
Control of wheel for raising water
From: Agricola, De re metallica, (Basle,
1556)
Manual control of water flow and brake?
Plants and systems
Plant
Any piece of equipment
that performs a particular
operation
System System
a set of components that
act together to perform a
specific objective
Vacuum oven
Roots pump plant
Variables
Controlled variable
(Sometimes called manipulated viariable), is the
quantity that is measured and controlled
Measured variable
The parameter that is monitored and compared
with the dersired value to determine the value of
the controlled variable.
Desired
value
Controlled
variable
the controlled variable.
Note: this need not be the same physical quanitity
as the controlled variable.
Eg. In a wc the water height is the measured
variable and the flow rate is the controlled
variable
Desired value
The value with which the measured variable is
compared in order to determine the controlled
variable
Controller
Measured
value
Plant
variable
What is Control System? (2)
Dynamic Response Open-Loop Control System (No feedback)
What is Control System? (3)
Feedback
Feedback is a key tool that can be used to modify the
behavior of a system.
This behavior altering effect of feedback is a key This behavior altering effect of feedback is a key
mechanism that control engineers exploit deliberately
to achieve the objective of acting on a system to
ensure that the desired performance specifications
are achieved.
What is Control System? (4)
Closed-Loop Control System (No feedback)
What is Control System? (5)
Response of a position control system showing effect of high and low
controller gain on the output response
Example Control System? (1)
Temperature Control System ( Heater or Air Condition )
Example Control System? (2)
Open Loop
Closed Loop
Control systems in reality-II
Domestic central heating system
Heat loss balanced by difference of indoor and outdoor temperatures
Outdoor temperature
sensor
Boiler /
heat exchanger
Radiator
Temperature
controller
Indoor temperature
sensor
sensor
Energy supply
Oven for semiconductor processing
N
2
+5% H
2
Thermocouple
Temperature control better than 0.5 C needed at 900-1150
C
Several heater thermocouple sensor units used to give
contant tempertaure over oven lenth
Controller
Semiconductor wafer
on quartz wafer
carrier
Typcal industrial oven
Example Control System? (3)
Vehicle Control System
Example Control System? (4)
Autopilot Control System
Control System Design Cycle
Review Exercise
Review Exercise (Result)
Practice in SIMULINK
State Space Representation of Transfer
Function
SISO
(Canonical form) (Canonical form)
1) ( Controllability form )
2) ( Observability form )
3) ( Diagonal form )
3) ( Jordan form )
Controllable Canonical form
Controllable Canonical form (Example)
Observable Canonical form
Observable Canonical form (Example)
Observer canonical form from the controller canonical
form
T
cont ob
T
cont ob
C B
A A
=
=
T
cont ob
cont ob
B C
C B
=
=
From Example
T
cont ob
T
cont ob
T
cont ob
B C
C B
A A
=
=
=
Exercise 1
Controllable Canonical Form
Exercise (Const)
Observable Canonical Form
Diagonal Canonical form
Diagonal Canonical form (Example)
Jordan Canonical form
Diagonal canonical form from the Controllable
canonical form
Diagonal canonical form from the Controllable
canonical form
Jordan canonical form from the Controllable canonical
form
Example
Example (Const)
Example (Const)
Exercise 2
Transformation of System Models with
MATLAB
Review Exercise
Solving the time-invariant state
equation
Solving the time-invariant state
equation (2)
Solving the time-invariant state
equation (3)
Laplace Transform Approach to the Solution
of Homogeneous State Equation
Laplace Transform Approach to the
Solution of Homogeneous State
Equation (2)
State - Transition Matrix
Example
Exercise 1
Solution of Nonhomogeneous State
Equation
Solution of Nonhomogeneous State Equation (2)
Solution of Nonhomogeneous State Equation (3)
Exercise 2
Matrix Exponential e
At
Matrix Exponential e
At
Example 3
Example 3
Matrix Exponential e
At
Matrix Exponential e
At
Example 4
Exercise 4
Exercise 4
Laplace Transform
Controllability of State Space
Controllability Controllability
A system is completely controllable if there exists an unconstrained control u(t) A system is completely controllable if there exists an unconstrained control u(t)
that can transfer any initial state x(t that can transfer any initial state x(t
00
) to any other desired location x(t) in a ) to any other desired location x(t) in a
finite time t finite time t
00
ssttssT. T.
nn
14 80
u = + x Ax B
rank[ ]
c
n = P
2 1
Controllability Matrix [ ]
n
c

= P B AB A B A B
nm
Controllable
0
c
= P
nn
Example 1
Controllability Controllability
Example Example 11: Controllability of a system : Controllability of a system
0 1 2
0 1 0 0
0 0 1 0 u
1 a a a
( (
( (
= +
( (
( (

x x
0 1 2
0 1 0 0
0 0 1 , 0
1
0 0
a a a
( (
( (
= =
( (
( (

( (
A B
14 81
| | | |
y= 1 0 0 0 u + x
2 1
2
2
2 2 1
0 0 1
[ ] 0 1
1 ( )
n
c
a
a a a

(
(
= =
(
(

P B AB A B A B 1
c
= P
2
2
2
2 2 1
0 0
1 ,
( )
a
a a a
( (
( (
= =
( (
( (

AB A B
Controllable
Observability of State Space
Observability Observability
A system is completely observable if and only if there exists a finite time T A system is completely observable if and only if there exists a finite time T
such that the initial state x( such that the initial state x(00) can be determined from the observation history ) can be determined from the observation history
y(t) given the control u(t). y(t) given the control u(t).
= + x Ax B
14 82
u
y=
= + x Ax B
Cx

rank[ ]
o
n = P
1
Observability Matrix [ ]
n T
o

= P CCA CA
Controllable
0
o
= P
1n
n1
nn
Example 2
Example Example 22: Observability of a system : Observability of a system
0 1 2
0 1 0 0
0 0 1 0 u
1 a a a
( (
( (
= +
( (
( (

x x
| |
0 1 2
0 1 0
0 0 1 ,
1 0 0
a a a
(
(
=
(
(

=
A
C
Observability Observability
14 83
| | | |
y= 1 0 0 0 u + x
1
1 0 0
[ ] 0 1 0
0 0 1
n T
o

(
(
= =
(
(

P CCA CA
1
o
= P
| |
| |
| |
2
1 0 0
0 1 0 ,
0 0 1
=
=
=
C
CA
CA
Observable
Example 3
Example Example 33: Controllability and Observability of a two : Controllability and Observability of a two--state system state system
2 0 1
u
1 1 1
( (
= +
( (


x x
| |
1 2 1 2
, ,
1 2 1 2
c
( ( (
= = = =
( ( (


B AB P B AB
Observability Observability
| |
1 1 1
y= 1 1


x
0
c o
= = P P
| | | | | |
1 1
1 1 , 1 1 ,
1 1
T
o

(
= = = =
(

C CA P C CA
Not Controllable and Not Observable
1 2
1 2 1 2 1
1 2
2 ( )
y x x
x x x x x u u
x x
= +
+ = + +
= +

Exercise 1
MATLAB Exercise 1
( )
24 24 26 9
) ( 24 ) ( 24 26 9
24 26 9
24
) (
) (
1
2 3
2 3
c x
c x
r c c c c
s R s C s s s
s s s s R
s C
=
=
= + + +
= + + +
+ + +
=

State variables
24 9 26 - 24 -
1
3 2 1 3
3 2
2 1
3
2
x c y
r x x x x
x x
x x
c x
c x
= =
+ =
=
=
=
=

State variables
Output equation
System
equations
MATLAB Exercise 1 (2)
0 0 1 0
24 9 26 - 24 -
1 1
1
3 2 1 2
3 2
2 1
(
(

(
(

(
(

(
(

= =
+ =
=
=
x x
x c y
r x x x x
x x
x x

| | 0 0 1
24
0
0
9 26 24
1 0 0
0 1 0
3
2
1
3
2
1
2
2
1
(
(
(

=
(
(
(

+
(
(
(

(
(
(

=
(
(
(

x
x
x
y
r
x
x
x
x
x
x

MATLAB Exercise 1 (3)

Review
Review
Design By Pole Placement
Design By Pole Placement
Design By Pole Placement
Determination of Matrix K using Transformation Matrix T.
Determination of Matrix K using Transformation Matrix T. (2)
Determination of Matrix K using Transformation Matrix T. (3)
Determination of Matrix K using Transformation Matrix T. (4)
Determination of Matrix K using Transformation Matrix T. (5)
Summary to Find Matrix K Using Transformation Matrix T
Example
Example
Determination of Matrix K Using Direct Substitution Method.
Example
Determination of Matrix K Using Ackermans Formula.
Determination of Matrix K Using Ackermans Formula. (2)
Determination of Matrix K Using Ackermans Formula. (3)
Determination of Matrix K Using Ackermans Formula. (4)
Example
Solving Pole-Placement Problems with MATLAB
Ackermanns Formula
Ackermanns Formula
Ackermanns Formula
MATLAB Program (Produce The
Feedback Gain Matrix K by Using
Ackermanns Formula)
MATLAB Program (Produce The
Feedback Gain Matrix K by Using
Ackermanns Formula)
MATLAB Program (Produce The
Feedback Gain Matrix K by Using
Ackermanns Formula)
MATLAB Program (Produce The
Feedback Gain Matrix K by Using
Ackermanns Formula)
Design of Regulator-type Systems by
Pole Placement
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Mathematical Modeling
Determination of state-feedback gain
matrix K with MATLAB
Determination of state-feedback gain
matrix K with MATLAB
Determination of state-feedback gain
matrix K with MATLAB
Obtaining System Response To Initial
Condition
Obtaining System Response To Initial
Condition
Obtaining System Response To Initial
Condition
Obtaining System Response To Initial
Condition
Obtaining System Response To Initial
Condition
Obtaining System Response To Initial
Condition
Obtaining System Response To Initial
Condition
Obtaining System Response To Initial
Condition
Obtaining System Response To Initial
Condition
Obtaining System Response To Initial
Condition
MATLAB Program
MATLAB Program
Response Of Inverted Pendulum System
Subjected To Initial Condition