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# ECE 309

## Control Systems Engineering

Jenny Zhen Yu
zhenyu@cpp.edu
Department of Electrical and Computer Engineering
California State Polytechnic University, Pomona
Fall 2016

Outline
Control System Engineering Introduction
Modeling in the Frequency Domain
Time Response
Reduction of Multiple Subsystems
Stability
Root Locus Techniques & Design Via Root Locus
Frequency Response Techniques

## Lecture 1: Control System Engineering

Introduction

Outline
Control System Engineering Introduction

## Control System Engineering Introduction

Control System
Reason
System
Block Diagrams of open-loop and closed-loop system
Design Process
Test Waveform used in Control Systems
Control System Examples

## Reasons of Control System

Power amplification
Remote control
Convenience of input form
Compensation for disturbances

Block Diagrams of
open-loop and closed-loop system

## Block Diagrams - Controller

Controller

PC - Proportional Controller
PI - Proportional Plus- Integral Controller
PD - Proportional Derivative Controller
PID - Proportional Integral Derivative
Controller

## Example of Control Systems

Curiosity Rover

Launched on 11/26/2011
http://mars.nasa.gov/msl/
Landed on Mars: 8/6/2012
https://en.wikipedia.org/wi
ki/Curiosity_(rover)
Journey: 563 million km
2.4 km from the targeted point

## Example of Control Systems

Avionics

http://www.airflite.com.au/avionics/

## Example of Control Systems

Autonomous Car Speed Control System

## Example of Control Systems

Autonomous Car Speed Control System
Vc
Desired
speed

Controller
K

K
Speed
sensor
sensor

Car engine
& car

## Example of Control Systems

Autonomous Car Direction Control System
Winter

Steering
wheel angle

Desired
difference

error

Controller
K

Actuator
(DC or stepper
motor)

Left sensor

Right sensor

car

angle

## Example of Control Systems

Segway Personal Transporter

## Example of Design Process

Antenna Azimuth Position Control System
Step 1: Transform requirement into a physical system

## Example of Design Process

Antenna Azimuth Position Control System
Step 2: Draw a functional block diagram

## Example of Design Process

Antenna Azimuth Position Control System
Step 3: Create a schematic

## Example of Design Process

Antenna Azimuth Position Control System
Step 4: Develop a mathematical Model (Block Diagram)

## Example of Design Process

Antenna Azimuth Position Control System
Step 4: Develop a mathematical Model (Block Diagram)

## Example of Design Process

Antenna Azimuth Position Control System
Step 4: Develop a mathematical Model (Block Diagram)
1. Input Potentiometer; Output Potentiometer
2. Preamplifier; Power amplifier

## Example of Design Process

Antenna Azimuth Position Control System
Step 4: Develop a mathematical Model (Block Diagram)

## Example of Design Process

Antenna Azimuth Position Control System
Step 4: Develop a mathematical Model (Block Diagram)

## Example of Design Process

Antenna Azimuth Position Control System
Step 4: Develop a mathematical Model (Block Diagram)

## Example of Design Process

Antenna Azimuth Position Control System
Step 5: Reduce the Block Diagram

## Example of Design Process

Antenna Azimuth Position Control System
Step 6: Analyze and Design
Stability Design via Gain K

## Example of Design Process

Antenna Azimuth Position Control System
Step 6: Analyze and Design
Error Design via Gain K

Input

## Static error constant for

type 1

step

Kp=

ramp

Kv=constant

1/Kv=25.79/K

parabola

Ka=0

Find the value of gain, K, to yield a 10% error in the steady state.
K=257.9, which is within the gain for stability 0<K<2623.3

Reference
N. Nise, Control Systems Engineering, 7th Edition,
Wiley, 2015, ISBN 978-1-118-17051-9c
F. Golnaraghi, B. Kuo, Automatic Control
Systems, 9th Edition, Wiley, 2009, ISBN: 978-0470-04896-2
R.C. Dorf and R.H. Bishop, Modern Control
Systems, 12th Edition, Pearson, 2011, ISBN: 9780-136-02458-3