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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
Steady-State Errors
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

Description of Control System

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

Control System Design Process

Test Waveforms used in Control System

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
Radar distance
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

Heading
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

3. Motor and Load

Example of Design Process


Antenna Azimuth Position Control System
Step 4: Develop a mathematical Model (Block Diagram)
3. Motor and Load

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

Steady-State Error

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