Sistem Kendali Digital

Program S1
Departemen Elektro FTUI

1
Control Systems:
1. Linear Systems
2. Nonlinear Systems
3. Digital Control
4. Adaptive Control
5. Optimal Control
6. Robust Control
7. Fuzzy Control

2
Control Systems Duality
Primal Dual
Linear Nonlinear
Continuous-Time Discrete-Time
Time-Invariant Time-Varying
Deterministic Stochastic
Model Based Non-Model Based

3
 Nonlinear Control Systems
• State space and phase plane analyses;
• Method of harmonic linearization;
• Describing functions;
• Lyapunov stability;
• Circle and Popov criteria;
• Nonlinear control systems design.
4
 Digital Control Systems
• Linear discrete-time & sampled-data
systems;
• Analysis & design of digital control
systems using transform and state-space
techniques;
• Pole placement design, estimator design;
• Quantization effects.
5
Review on Fundamental Control System
• Mathematics for Dynamic Systems
– Differential Equation
– Transfer Function
– State Space
• Time Response
– Transient
– Steady State
• Frequency Response
– Bode and Nyquist Plots
– Stability and Stability Margins
6
 A Differential Equation of
Motion
• Newton’s Law:
y(t )  f (t, y(t ), y(t ), w(t ))  bu(t )

• A Linear Approximation:
 KT
y(t )   y(t )  w(t )  u (t )
J J

7
Laplace Transform and Transfer
Function

Y ( s)   y(t )e dt  st
0

 KT
y (t )   y (t )  u (t )
J J

 KT
s Y ( s )  (  ) sY ( s ) 
2
U ( s)
J J

Y ( s) KT
 G p ( s) 
U ( s) s( Js   )
8
 State Space Description
 KT  x1 
y (t )   y (t )  u (t ) Let x   
J J  x2 
  x  Ax  Bu
x1  y , x2  y 
 y  Cx  Du

with
 0 1   0 
 x1     x1 K u 0 1   0 
 
 x  0    x   T  
 2  2 A   ,B   K 
 J  J  0    T
 x1   J  J 
y  [1 0]  
 x2  C  [1 0], D=0
9
From State Space to Transfer
Function
1
G p ( s )  C ( sI  A) B  D
KT
=
s( Js   )

10
 Linear System Concepts
• States form a linear vector space
• Controllable Subspace and Controllability
• Observable Subspace and Observability
• The Linear Time Invariance (LTI)
Assumptions
• Stability
– Lyapunov Stability (for linear or nonlinear
systems)
– LTI System Stability: poles/eigenvalues in RHP
11
 A Motion Control
Problem

LOAD
PULLEY
r WL
0 M WL ASSEMBLY
EQUIVALENT
JL
JP MODEL
N LP
r WL N DP
NL
L ND L
TL J TR
L
TL
M WD
r WD B TR
L
L
B L L D r WD
O
J TR L
L
TD
JD
DRIVE
B D D
12
From Differential Eq. To Transfer
Function
TL  J T    BT  

TL  TD  grT
L grT
TF  
TD s  J T  s  BT 

TD  vCS  K S  K A  KT

L K S  K A  KT  grT
Gp ( s)  
vCS s  J T  s  BT 
13
Transfer Function model of the
motion plant
K S  K A  KT  grT
G p (s) 
s  J T  s  BT 

K
G p ( s) 
s  Js   

14
 Unity Feedback Control System

r e u y
Gc(s) G p(s)
reference - output
input

15
Common Nonlinearities

16
Linearization

17
Time Response

18
 Open Loop Transient Response
• How parameters of transfer functions affect output
• Terminologies for 1st and 2nd order systems

19
Basis of Analysis

20
 First Order Transfer Function

a
G( s) 
s  a
1

 s  1

21
 Pure 2nd Order Transfer
Functions
1
G( s)  2
 s   s 
   2   1
 n   n 

 : damping ratio,  n : natural frequency

  1: overdamped
  1: underdamped
  1: critically damped
  0 : undamped 22
Pure 2nd Order Transfer
Functions

23
Pure 2nd Order Transfer
Functions

24
Terminologies
cmax  c final
OS %  100
c final

25
 Calculations

 ( / 1 2 )
OS %  e 100
4
Ts 
 n

26
Pure 2nd Order Transfer Functions

27
Pure 2 nd Order Transfer Functions

28
Pure 2 nd Order Transfer Functions

29
 Steady State Response

Steady state response is determined by the dc

gain: G(0)

30
 Steady State Error

r e u y
Gc(s) G p(s)
reference - output
input

ess  e(t ) |t   sE ( s) |s0

R( s )
E ( s) 
1  Gc ( s)G p ( s)
31
 Frequency Response:
The MOST useful concept in control theory
• Performance Measures
– Bandwidth
– Disturbance Rejection
– Noise Sensitivity
• Stability
– Yes or No?
– Stability Margins (closeness to instability)
– Robustness (generalized stability margins) 32
Frequency Response

33
Bode Plot (Magnitude and Phase vs.
Frequency) G(s) =1/(s +2)

34
Polar Plot: imaginary part vs. real part of G(j)
G(s) =1/(s +2)

35
 Bandwidth of Feedback Control

r e u y
Gc(s) G p(s)
reference - output
input

Y ( j ) Gc ( j )G p ( j )
• -3dB Frequency of CLTF 
R( j ) 1  Gc ( j )G p ( j )
• 0 dB Crossing Frequency (c) of Gc(j)Gp(j)
• Defines how fast y follows r

36
 Disturbance Rejection
d
0 y
Gc(s) G p(s)
- output

Y ( j ) 1

D( j ) 1  Gc ( j )G p ( j )

measures disturbance rejection quality

37
 Noise Sensitivity

0 u y
Gc(s) G p(s)
-
n
noise

U ( j ) Gc ( j )

N ( j ) 1  Gc ( j )G p ( j )
 Gc ( j ) at high frequency

38
 Nyquist Plot
Using G (j) to determine the stability of

r y
G( s)
-

H ( s)

G ( s )  Gc ( s )G p ( s )
H ( s ) : Sensor and Filter
39
The Idea of Mapping

40
 Nyquist Contour

j

s    j RHP


 j
41
 Nyquist Stability Criteria
• Determine stability by inspection
• Assume G(s)H(s) is stable, let s complete
the N-countour
The closed-loop system is stable if
G(s)H(s) does not encircle the (-1,0)
point
• Basis of Stability Robustness
• Further Reading: unstable G(s)H(s), # of
unstable poles 42
Nyquist Stability Criteria
Stable

Unstable

43
 Stability Robustness
• The (-1,0) point on the GH-plane becomes the focus
• Distance to instability:
G(s)H(s)-(-1)=1+G(s)H(s)
• Robust Stability Condition
Distance to instability > Dynamic Variations of G(s)H(s)

• This is basis of modern robust control theory

44
 Gain and Phase Margins
(-1,0) is equivalent of 0db180 point on
Bode plot |G(j)H(j)|

G(j)H(j)

45
 Stability Margins:

Nyquist Plot Bode Plot

46
Digital Control

47
Discrete Signals

48
 Digital Control Concepts
• Sampling
– Rate
– Delay
• ADC and DAC
– Resolution (quantization levels)
– Speed
– Aliasing
• Digital Control Algorithm
Difference equation 49
 Discrete System Description
• Discrete system
u[n] h[n] y[n]
h[n]: impulse response

• Difference equation
N M

a
k 0
k y[n  k ]   bk u[n  k ]
k 0

50
Discrete Fourier Transform
and z-Transform


X(e j )   x[n]e  j
n


n
X(z)   x[n]z
n

51
Discrete Transfer Function and
Frequency Response
M
k
 k
b z
Y(z) k0
H(z)   N
X(z)
 ak z k
k 0

H(e j )  H(z) ze j

52
 Digital Control System
(Lecture Contents)

• Z Transform
• Discrete Time Transfer Functions
• Design of Discrete Time Control Systems
• Root Locus and Frequency Response Methods
• State Space Methods
• Controllability and Observability
• Pole Placement Design of Controllers and Observers

53