Week 1

CONTROL SYSTEMS
Doç. Dr. Murat Efe
WEEK 1
Course Outline
PART 1
Introduction to Control Engineering
Review of Complex Variables & Functions
Review of Laplace Transform
Review of Linear Algebra
PART 2
Linear Differential Equations
Obtaining Transfer Functions (TFs)
Block Diagrams
An Introduction to Stability for TFs
Concept of Feedback and Closed Loop
Basic Control Actions, P-I-D Effects
2/17
PART 3
Concept of Stability
Stability Analysis of the Closed Loop
System by Routh Criterion
State Space Representation and
Stability
PART 4
Transient Response Analysis
First Order Systems
Second Order Systems
Using MATLAB with Simulink
Steady State Errors
PARTS 5-6
Root Locus Analysis
Design Based on Root Locus
Midterm
PART 7
Frequency Response Analysis
Bode Plots
Gain Margin and Phase Margin
Polar Plots and Margins
Nyquist Stability Criterion
PARTS 8-9
Design of Control Systems in State Space
Canonical Realizations
Controllability and Observability
Linear State Feedback
Pole Placement
Bass-Gura and Ackermann Formulations
Properties of State Feedback
Observer Design and
Observer Based Compensators
PART 10
Concept of Robustness
Concept of Optimality
Concept of Adaptive Systems
Concept of Intelligence in Control
PART 11
Final Exam
P-1 Introduction to Dynamical Systems
© Honda, Humanoid Robot Courtesy: Efe, Acay, Unsal, Courtesy: Acay

Vande Weghe, Khosla, Carnegie Mellon University, 2001
Carnegie Mellon University, 2001
Industrial process control Control of unmanned aerial vehicles Chemical process control
What is a dynamic system?
A dynamical system is a concept in

mathematics where a fixed rule describes
the time dependence of a point in a
geometrical space.
http://en.wikipedia.org/wiki/Dynamical_system
What is control theory?
The mathematical study of how to

manipulate the parameters affecting
the behavior of a system to produce
the desired or optimal outcome.
http://mathworld.wolfram.com/ControlTheory.html
How to classify in terms of time?
• Continuous time systems

-Differential equations
 Laplace transform
• Discrete time systems
-Difference equations
 Issues of sampling
 z Transform
How to classify in terms of representation?
• Linear systems
• Nonlinear systems
How to classify in terms of representation?
• Ordinary Differential Equations

• Partial Differential Equations
What common alternatives do we have?
• Proportional Integral Derivative

• Classical control
• State space methods
• Optimal control
• Robust control
• Nonlinear control
• Stochastic control
• Adaptive control
• Intelligent control
• ...
What engineering aspects should we
consider?
• Disturbance rejection
• Insensitivity to parameter variations
• Stability
• Rise time
• Overshoot
• Settling time
• Steady state error
• ...
What else should we think about?
• Cost (money/time)
• Computational complexity
• Manufacturability (any extraordinary
requirements?)
• Reliability (mean time between failures)
• Adaptability (with low cost for similar
applications)
• Understandability
• Politics (opinions of your boss and
distance from standard practice)
What mathematical tools shall we use?
• Calculus & Linear Algebra

• Laplace Transform
• Fourier Transform
• Complex Variables and Functions
• Ordinary Differential Equations (ODE)
• ...
What sort of systems shall we cover?
This course
Hybrid
Systems
Nonlinear
Linear Systems
Systems Linear & Nonlinear
Continuous & Discrete
Linear Time invariant or varying
Continuous time
Time invariant
A natural way to follow is to start with

Linear Time Invariant (LTI) Systems
P-1 Review of Complex Variables & Functions
Complex variable
Function of the complex variable s
Magnitude of the function F(s)
Angle of the function F(s)
Complex conjugate of the

function F(s)
If the derivative along these two directions give
the same value
Cauchy-Riemann
conditions
Then the derivative dG(s)/ds can uniquely be

determined
Hence the derivative dG(s)/ds is analytic
in the entire s-plane except at s=-1; the
derivative is as follows:
The derivative of an analytic function can

be obtained by differentiating G(s) simply
with respect to (w.r.t) s.
• The points at which the function G(s) is analytic
are called ordinary points
• The points at which the function G(s) is not analytic

are called singular points
• At singular points the function G(s) or its derivatives

approach infinity, and these points are called poles
• The function G(s)=1/(s+1) has a pole at s=-1, and

this pole is single. G(s)=1/(s+1)p has p poles all at
s=-1.
• The function G(s)=(s+3)/[(s+1)(s+2)] has two zeros
at s=-3 and s=; and two poles at s1=-1 and s2=-2
Euler’s Theorem
j
P-1 Review of Laplace Transform
f (t) A function of time such that f (t)=0 for t<0

s A complex variable
L Laplace operator
F(s) Laplace transform of f (t)
The Laplace transform is given by

The inverse Laplace transform is given by
Where c, the abscissa of convergence, is a real

constant and is chosen larger than the real parts
of all singular points of F(s). Thus, the path of
integration is parallel to the j axis and is displaced
by the amount c from it. This path of integration
is to the right of all singular points.
We will utilize simpler methods for inversion

When does the Laplace transform exist?
The Laplace transform exists if the Laplace integral

converges, more explicitly
IF f (t) is sectionally continuous on every finite
interval on the range t > 0
AND
IF f (t) is of exponential order as t

Which functions are of exponential order?
A function f (t) is said to be of exponential order

if a real positive s exists such that
If this limit approaches zero for s>sc, then sc is

said to be the abscissa of convergence
For example This is f (t)
• This limit approaches zero for s>-a.

• The abscissa of convergence is therefore sc=-a
• The Laplace integral will converge only if s, the
real part of s, is greater than the abscissa of
convergence
The Laplace integral

What is the abscissa of convergence of
Hint: Find partial fractions, and take inverse

Laplace transform, find f (t), and check if
The answer is sc > max(-b, -c). This will be clear

after we see how to perform the inversion.
The first conclusion by
Analytic Extension Theorem
If L{f (t)}=F(s) is obtained, and sc is determined,
F(s) is valid on the entire s-plane except at the
poles of F(s).
The second conclusion by

Physical Realizability
Functions like f (t)=et2 or f (t)=tet2, which increase
faster than the exponential function, do not have
Laplace transform, however, on finite time
intervals they do.

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CONTROL SYSTEMS

Doç. Dr. Murat Efe

© Honda, Humanoid Robot Courtesy: Efe, Acay, Unsal, Courtesy: Acay

A dynamical system is a concept in

The mathematical study of how to

• Continuous time systems

• Ordinary Differential Equations

• Proportional Integral Derivative

• Calculus & Linear Algebra

A natural way to follow is to start with

Function of the complex variable s

Magnitude of the function F(s)

Angle of the function F(s)

Complex conjugate of the

Then the derivative dG(s)/ds can uniquely be

The derivative of an analytic function can

• The points at which the function G(s) is not analytic

• At singular points the function G(s) or its derivatives

• The function G(s)=1/(s+1) has a pole at s=-1, and

f (t) A function of time such that f (t)=0 for t<0

The Laplace transform is given by

Where c, the abscissa of convergence, is a real

We will utilize simpler methods for inversion

The Laplace transform exists if the Laplace integral

IF f (t) is of exponential order as t

A function f (t) is said to be of exponential order

If this limit approaches zero for s>sc, then sc is

• This limit approaches zero for s>-a.

The Laplace integral

Hint: Find partial fractions, and take inverse

The answer is sc > max(-b, -c). This will be clear

The second conclusion by

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