Fundamentals of Control Systems Fundamentals of Control Systems

Lecture Notes Lecture Notes
Fundamentals of Control Systems Fundamentals of Control Systems

Instructor: Dr. Huynh Thai Hoang
Department of Automatic Control
Faculty of Electrical & Electronics Engineering
Ho Chi Minh City University of Technology
Email: hthoang@hcmut.edu.vn
huynhthaihoang@yahoo.com
Homepage: www4.hcmut.edu.vn/~hthoang/
6 November 2012 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1
Thi i b h l i d d i f
Course objectives Course objectives
This course is about the analysis and design of
control systems with emphasis on modeling, state
variable representation computer solutions variable representation, computer solutions,
modern design principles.
6 November 2012 2 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Ch t 1 I t d ti
Course outline Course outline
Chapter 1: Introduction
Chapter 2: Mathematical model of continuous systems
Chapter 3: Systemdynamics
Chapter 4: Analysis of systemstability
Chapter 5: Performances of control systems
Chapter 6: Design of control systems
Chapter 7: Mathematical model of continuous systems
Chapter 8: Analysis of discrete control systems
Chapter 9: Design of discrete control systems
T tb k K t hik Ot M d C t l E i i
Textbook Textbook
Textbook: Katsuhiko Otaga, Modern Control Engineering,
3
rd
ed., Prentice Hall
Reference:
Franklin, Powell, and Emami-Naeini, Feedback Control
of Dynamic Systems 6th ed Prentice Hall 2009 of Dynamic Systems, 6th ed., Prentice Hall, 2009
Farid Golnaraghi and Benjamin C. Kuo, Automatic
Control Systems, 9
th
ed., 2009, Prentice Hall.
Ri h d C D f d R b t H Bi h M d C t l Richard C. Dorf and Robert H. Bishop, Modern Control
Systems, 11
th
ed, Peason.
Explain the concepts of open-loop and closed-loop control systems
Learning outcomes Learning outcomes
Explain the concepts of open loop and closed loop control systems
Describe continuous and discrete control systems using transfer function
and state space model
Calculate the equivalent transfer function of control systems using block Calculate the equivalent transfer function of control systems using block
diagram and signal flow graph
Analyze the dynamics of control systems in time domain and frequency
domain domain
Analyze the stability of control systems
Analyze the transient and steady-state performances of control systems
Analyze the controllability and observerbility of control systems Analyze the controllability and observerbility of control systems
Design lead-lag compensator using root locus and frequency response
Design PID controller using frequency response, Zeigler-Nichols method
D i t t f db k t ll i l l t th d Design state feedback controller using pole placement method
Use teamwork and comunication skills in collaborating course design
projects
6 November 2012 5
Use modern software in analysis and design control systems
H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Cl ti i ti 10%
Grading Grading
Class participation: 10%
Homework: 20%
Midtermexam: 20%
Project presentation: 20%
Final exam: 30% Final exam: 30%
How to learn the course??? How to learn the course???
(*) After 2 weeks we
Reading
( ) After 2 weeks we
tend to remember
10% of what we read
Watching a movie
Looking at pictures
Hearing words
20% of what we hear
30% of what we see
S i it d l ti
Watching a demostration
Watching a movie
Looking at an exhibit
50% of what we
see and hear
PASSIVE
Participating in a discussion
Seeing it done on location
Given a talk
70% of what
we say
ACTIVE
Doing a dramatic presentation
Simulating the real experience
Doing the real thing
90% of what
we say
and do
Doing the real thing
and do
(*) Edgar Dale, Audio-Visual Methods in Teching, Holt, Rinehart and Winston
Active learning Active learning
Learning is not a spectator sport. Students do not learn
much just by sitting in class listening to teachers,
memorizing prepackaged assignments and spitting out memorizing prepackaged assignments, and spitting out
answers. They must talk about what they are learning, write
about it relate it to past experiences apply it to their daily about it, relate it to past experiences, apply it to their daily
lives. They must make what they learn part of themselves.
6 November 2012 8
Chickering, A & Gamson, Z. F. (March 1987). Seven principles for good practice. AAHE Bulletin 39: 3-7.
What is active learning? What is active learning?
Active Learning is, in short, anything that students do in a
classroom other than merely passively listening to an
instructor's lecture This includes everything fromlistening instructors lecture. This includes everything from listening
practices which help the students to absorb what they hear,
to short writing exercises in which students react to lecture to short writing exercises in which students react to lecture
material, to complex group exercises in which students
apply course material to "real life" situations and/or to new
problems.
Paulson & Faust, California State University, Los Angeles,
http://www.calstatela.edu/dept/chem/chem2/Active/index.htm
6 November 2012 9
http://www.calstatela.edu/dept/chem/chem2/Active/index.htm
Chapter 1 Chapter 1
INTRODUCTION INTRODUCTION
pp
INTRODUCTION INTRODUCTION
Wh t i t l t ?
Topics Topics
What is control system?
Control principles
Components of control systems Components of control systems
Examples of control systems
Review of complex variables and Laplace transform e e o co pe a abes a d apace t a s o
?? What is control system? What is control system?
Exercise Exercise
Find examples of control systems?
13 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 6 November 2012
Exercise Exercise
Explain howa control systemworks? Explain howa control systemworks?
Example of a control process Example of a control process
Objective is to keep moving at constant speed.
Activities in controlling the car:
1 di l i t 1. reading velocimeter
2. deciding to increase or decrease speed
3. acting on the gas pedal
15
g g p
H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 6 November 2012
Definition of control concept Definition of control concept
C t l i th f tti i f ti Control is the process of getting information,
processing information and making decision, and
ti t th t th t acting on a systemso that the systemreponses as
desired.
Control loop Control loop
Desired
+
_
Car speed
Desired
speed
Measured
speed
17 6 November 2012 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Components of a control system Components of a control system
C(s)
G(s) +
_
R(s) Y(s)
E(s)
H(s) H(s)
Y
fb
(s)
Notation:
C(s): controller R(s): setpoint
G( ) l t Y( ) t ll d t t G(s): plant Y(s): controlled output
H(s): sensor Y
fb
(s): feedback signal
E( ) t l
6 November 2012 18
E(s): control error
A simple level control system A simple level control system
Level control system in industry Level control system in industry
LC
LV LV
LT
Liquid tank
LC: Level Controller
LT: Level Transmitter
LV L l l
LV: Level valve
Speed control of steam engine Speed control of steam engine
6 November 2012 H. T. Hong - HBK TPHCM 21
I d ti it
Why control? Why control?
Increase productivity
Increase quality
Increase economic benefit
Plants Plants
Very diverse Very diverse
Class of systems:
Electrical Electrical
Mechanical
Th l Thermal
Fluid
Ch i t Chemistry
Real systems consist of different kind of basic systems.
Sensors Sensors
Temperature sensor Temperature sensor
Position sensor
V l it Velocity sensor
Accelocity sensor
Distant sensor
Flowsensor
Level sensor
Pressure sensor
Force sensor
Color sensor
6 November 2012 24
...
Controllers Controllers
M h i l ll Mechanical controller
Electrical controller
Analog controller
Digital controller Digital controller
Microcontroller, DSP based control
Computer based control
Programmable Logic Controller (PLC)
Basic problems in control Basic problems in control
SystemAnalysis
SystemDesign
SystemIdentification
Control schemes Control schemes
Open Open- -loop control loop control
n(t)
Controller
y(t) r(t)
Plant
u(t)
Feedforward control
Control without feedback information
Closed Closed--loop control loop control
y(t) r(t) (t)
(t)
n(t)
Controller
y(t) r(t)
Plant
u(t)
e(t)
y
m
(t)
Sensor
Feedback control
Need to measure systemoutput
Feedback and feedforward control Feedback and feedforward control
n(t) FF control
FB control
y(t) r(t)
Plant
e(t)
y
m
(t)
+
+
Sensor
y
m
(t)
This combined control scheme is widely used in
i d t industry
Hierachy control Hierachy control
Decentralized control
Di t ib t d t l Distributed control
Hierachy control Hierachy control
Example: SCADA (Supervisory Control And DataAcquisition) Example: SCADA (Supervisory Control And DataAcquisition)
Beer making process Beer making process
Chit chai
Control system clasification Control system clasification
Control system classification Control system classification
C i All i l i h i Continuous system: All signals in the system are continous.
Discrete system: There exists discrete signals in the system
Linear system: The systemsatisfies the superposition Linear system: The system satisfies the superposition
principle.
Nonlinear system: The system dont satisfies the y y
superposition principle.
Time Invariant System: Parameters of the system dont
change over time change over time.
Time Varying System: Parameters of the system change over
time.
SISO system: Single Input Single Output system
MIMO system: Multi-Input Multi-Output system
History of control theory History of control theory
Classical control
Modern control
Intelligent control
Classical control Classical control
Mathematic models used in analysis and design control Mathematic models used in analysis and design control
systems are transfer functions.
Features:
Simple, easy to understand
Advantages: easy to apply to analysis and design SISO
li ti i i t t linear time invariant system.
Frequency domain techniques.
Analysis and design techniques: Analysis and design techniques:
Root locus.
Frequency response: Nyquist, Bode. q y p yq ,
Controllers:
Lead lag controllers
6 November 2012 37
PID(Proportional Integral Derivative)
Modern control Modern control
Mathematical model sed in anal sis and design is mainl the Mathematical model used in analysis and design is mainly the
state-space equation.
Features: Features:
Can be applied to nonlinear systems, time varying
systems, multiple input- multiple output system. y p p p p y
Time domain technique
Analysis and design method:
Optimal control.
Adaptive control.
Robust Control
Controller:
6 November 2012 38
State feedback controller
Intelligent control Intelligent control
In principle, mathematic models are not required in design
intelligent control system.
F t Features:
Simulate / emulate biological intelligence system.
The controller is capable of processing uncertain The controller is capable of processing uncertain
information, learning, and handling large amounts of data
Intelligent control techniques: Intelligent control techniques:
Fuzzy Control
Neural Networks Neural Networks
Genetic Algorithm

Course objective Course objective
Th F d l f C l S i l The course Fundamental of Control Systems mainly
presents the classic method for analysis and design
of SISO linear time invariant systems.
The knowledge gained from the course help student
to analyze and design control systems at the
executive level.
Related courses Related courses
T b bl t d i th t l t t th To be able to design the control system at the
implementation level, in addition to knowledge of
automatic control theory a designer needs to master the automatic control theory, a designer needs to master the
relevant knowledge, such as:
Circuits Electronic circuits Circuits, Electronic circuits
Industrial Measurement
Digital system Microprocessor Digital system, Microprocessor
Computer based control system, ...
Applications of control systems Applications of control systems
Applications of control theory Applications of control theory
Feedback control can be found in many applications: Feedback control can be found in many applications:
Production system: cement plants, sugar mills, ....
Industrial processes: temperature, flow, pressure, speed, ... dust a p ocesses te pe atu e, o , p essu e, speed,
Mechatronics: robot arms, computer numerical control
(CNC), ...
Information systems
Power generation and transmission
Transportation s stems cars trains aircraft spacecraft Transportation systems: cars, trains, aircraft, spacecraft, ...
Military equipments
Measurement Measurement
Home appliances: air conditioners, televisions, refrigerators,
washing machines, cameras, rice cookers, ...
6 November 2012 43
Medical equipments
Temperature control Temperature control
Temperature control plays an important role in many
manufacturing systems: production of cement, ceramic tiles,
pulp and paper rubber and plastic oil and gas food and pulp and paper, rubber and plastic, oil and gas, food and
beverage,
Cement factory Paper factory
Examples of temperature control Examples of temperature control
A i lt l d t d i t ( ff h t Agricultural product drying system (coffee, cashew nut,
black pepper,)
6 November 2012 45
Agricultural product drying system
Block diagram of a temperature control system Block diagram of a temperature control system
Controller
Power
amplifier
Heater
Differential
amplifier
p
amplifier
Measurement
4.7k 4.7k
VCC
4.7k 4.7k
Temperature controller and user interface Temperature controller and user interface
1k
D6
LED 7DOAN
1457
1k
PORTD<6>
Q2
A1015
Q3
A1015
PORTD<4>
1k
1k
Q1
A1015
PORTD<5>
Q4
A1015
PORTD<7>
. . . .
LED_7DOAN
457
V
C
C
1
A F
V
C
C
2
V
C
C
3
V
C
C
4
GC D
O
T
D EB
DOT
2 3 89 1
0
1
1
1
2
6
A F GC DD EB
G
C
E
D
VCC
VCC F
A
B
D
SW4 A
V_sensor
G
F
B
VREF+
SW4
10k
E
PIC16F877A
2
3
4
5
6
7
33
34
35
36
37
38
39
40
1
RA0/AN0
RA1/AN1
RA2/AN2/VREF-/CVREF
RA3/AN3/VREF+
RA4/T0CKI/C1OUT
RB0/INT
RB1
RB2
RB3/PGM
RB4
RB5
RB6/PGC
MCLR*/VPP
DOT
10k
C
SW5
SW2
SW3
PORTD<5>
10MHz
C16
33p
SW3
SW4
PORTD<6>
PORTD<4>
G
SW1
SW2
7 40
15
16
17
18
23
24
25
26
19
20
21
22
27
28
29
30
13
8
9
RA5/AN4/SS*/C2OUT RB7/PGD
RC0/T1OSO/T1CKI
RC1/T1OSI/CCP2
RC2/CCP1
RC3/SCK/SCL
RC4/SDI/SDA
RC5/SDO
RC6/TX/CK
RC7/RX/DT
RD0/PSP0
RD1/PSP1
RD2/PSP2
RD3/PSP3
RD4/PSP4
RD5/PSP5
RD6/PSP6
RD7/PSP7
OSC1/CLKIN
RE0/RD*/AN5
SW2
SW3
PORTC<2>
PORTD<7>
10MHz
CRYSTAL
VCC
SW1
C17
33p
SW1
14
32
11
31
12
9
10
OSC2/CLKOUT
VDD
VDD
VSS
VSS
RE1/WR*/AN6
RE2/CS*/AN7
Temperature measurement using thermocouple Temperature measurement using thermocouple
5V
U2
71
5V
5V
U1
LM35
1
V
C
C
2
C1
10uF
-
+
OP07
3
2
6
48
5
5V
5
35
2
G
N
D
VOUT
V
V2
R1
25k
0
0
- 5V
-
+
U4
OP07
3
2
6
71
5V
5V
-
+
U5
OP07
3
2
6
71
R5
PA0/ ADC0
3
G
V3
Vout
OP07
48
5V
R6 R2
J 1
Thermo couple
1
+
U3
3
6
71
OP07
48
- 5V
- 5V
R4
1.8k
100
V1
R3
C2
10uF
3.9k 100
1
- 5V
-
OP07
2
6
48
V1
R3
100
0
0 0
0
Power circuit Power circuit
+12V
6
Heater FUSE R3
470
220Vac
0Vdc
Q2
BTA16
Q1
R1
U15
MOC3020
1
2
4
PORTC<2>
Q2SC1815
47k
R2
330
An industrial temperature control system An industrial temperature control system
Temperature
controller
Furnace
6 November 2012 50
Thermocouple
Motor control Motor control
Motors (DC AC) are one of the most common actuators used Motors (DC, AC) are one of the most common actuators used
machinery and manufacturing factory.
Three basic control problems: speed control, position control,
torque control
Antenna position control Antenna position control
Potentiometer
Antenna
(t)
i
(t)
Azimuth
angle
output
Desired
azimuth angle
input
o
(t)
Differential amplifier
output
Potentiometer
Motor
and power amplifier
Analog PID Analog PID control of DC motor control of DC motor
Digital PID control of DC motor Digital PID control of DC motor
An industrial DC motor control system An industrial DC motor control system
DC Motor
E d Encoder
DC Driver
Level control Level control
f Level control can be found in industrial processes such
as food and beverage, waste water treatment,
Level control, flow control
Sensor:
Level sensor: presure sensor, capacitor sensor, ultra
sonic sonic
Flow sensor: ultra sonic
Level control system in industry Level control system in industry
LC
LV LV
LT
Li id t k Liquid tank
LC: Level Controller
LT: Level Transmitter
LV: Level Valve
Pulp concentration control Pulp concentration control
Pitch angle control Pitch angle control
Block diagram of pitch angle control system Block diagram of pitch angle control system
CNC diagram CNC diagram
Block diagram of CNC control system Block diagram of CNC control system
Distillation Process Distillation Process
Steam Steam Power Generator Power Generator
Review of complex Review of complex pp
variables and matrix theory variables and matrix theory
Review Review
C l i bl A di B F db k C t l f Complex variables: Appendix B, Feedback Control of
Dynamic Systems, Franklin, Powell, and Emami-Naeini, 6th
ed Prentice Hall 2009 ed., Prentice Hall, 2009
Matrix theory: Appendix C, Feedback Control of Dynamic
Systems Franklin Powell and Emami Naeini 6th ed Systems, Franklin, Powell, and Emami-Naeini, 6th ed.,
Prentice Hall, 2009

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