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

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 distances

BUT
o One is controlled, and the other is not.
o Control is the hidden technology that you meet every day
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

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

Overdamped, >1
Matlab Command:
>>y=zpk([],[-1 -3],3)
>> step(y)

Poles location

Step Response
Step Response
1

Im

0.9
0.8
0.7
0.6

Amplitude

Damping ratio,

0.5
0.4
0.3

Re

0.2
0.1
0

Time (seconds)

Im

0.9
0.8
0.7
0.6

Amplitude

Critically damped, =1
Matlab Command:
>>y=zpk([],[-2 -2],4)
>> step(y)

Step Response

0.5
0.4
0.3

Re

0.2
0.1
0

Time (seconds)

Step Response
0.35

Im

0.3

0.25

Amplitude

Under damped, 1>>0

Matlab Command:
>>y=zpk([],[-2+3i -2-3i],13)
>> step(y)

Re

0.2

0.15

0.1

0.05

Time (seconds)

Step Response
0.09

Im

0.08
0.07
0.06
0.05

Amplitude

Undamped, =0
Matlab Command:
>>y=zpk([],[5i -5i],25)
>> step(y)

0.04
0.03

Re

0.02
0.01
0
-0.01

4
Time (seconds)

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
2
1.8

Undamped, =0

1.6

Amplitude

1.4

Under damped, 1>>0

1.2
1

Critically damped, =1

0.8
0.6

Overdamped, >1

0.4
0.2
0

4
Time (seconds)

2nd order systems specification

Ts

TP

%OS e

n 1

( / 1 2 ) X 100

ln(% OS / 100 )

2 ln 2 (%OS / 100 )

Steady state error

R(s)

C(s)

E(s)

+
-

G (s )

Closed loop negative feedback system

General Formula

Constants

1
e estep
1 KP

With Position Constant,

1
e eramp
Kv

With Velocity Constant,

1
e e parabola
Ka

K p lim G( s)
s 0

K v lim sG(s)
s 0

With Acceleration Constant,

K a lim s 2G ( s )
s 0

2nd order approx. system

System Response with Additional Poles
Step Response
1.4
c1
c2
1.2

c3

Amplitude

Step response of system T1(s), system T2(s),

and system T3(s)

0.8

0.6

13
13

s 2 4s 13
( s 2 j 3)( s 2 j 3)
130
130
T2

( s 10 )( s 2 4s 13) ( s 10 )( s 2 j 3)( s 2 j 3)
65
65
T3

( s 5)( s 2 4s 13)
( s 5)( s 2 j 3)( s 2 j 3)
T1

0.4

0.2

0.5

1.5

Time (seconds)

2.5

3.5

1.3 EXAMPLES
1- DC MOTOR

2- HEAT TRANSFER

3- WATER TANK

14

DC MOTOR
5

Step Response

x 10

Amplitude

0.5

1.5

2.5

3
4

Time (seconds)

x 10

Step Response
25

20

Motor Position

Amplitude

15

Example of Matlab command :

ms_sys= tf(36421.54,[1 112.87 1796.25])
step(ms_sys)

10

0.05

0.1

0.15

0.2

Time (seconds)

0.25

0.3

0.35

Motor Speed

463 .62191 1.0546455 s

s 2 24.8s

36421 .54
s 2 112 .87 s 1796 .25

HEAT TRANSFER
Step Response
1.5

Amplitude

0.5

50

100

150

200

Time (seconds)

Transfer function

1.5
57 s 1

250

300

350

WATER TANK
G

Transfer function

10.004323
1 249 .39315 s
Step Response

10
9
8
7

Amplitude

6
5
4
3
2
1
0

500

1000
Time (seconds)

1500

1.4 DESIGN METHOD

1- Design in the s-plane. (Classical method)

2- Design in the frequency domain. (Classical method)

3- Design in the State Variable Feedback Systems

18

CONTROLLER DESIGN
Root locus displayed both
transient response and stability
information
Changes in gain resulted
changes in performance
Adding poles and/or zeros
change the root locus and also the
performance

Classical design: mainly use

transfer function as a system
model, design of simple
controller using intuitive
technique

Design in
the s-plane
(Classical)

Design in
the
frequency
domain
(Classical)

Design in
state
variables

Modern design:
based on state space
description, for
complex system
(MIMO, nonlinear),
analytical design
19

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.