FEEDBACK CONTROL SYSTEM

• Process control is methods to force

process parameters to have specific
Teknik kendali values.
• Objective to maintain the value of some
quantity at some desired level regardless
Drs. AL, MT
of influences
Aswir Premadi, ST, M.Sc.

Process Types Self-regulating Processes

• The process outputs are not regulated, its value will easily change.
• following is an example of self regulating process
• Self-regulating Processes
– These are uncontrolled processes. The process
variables are not regulated. Example! cold water in
• Manual Controlled Processes heat exchanger
– These proceses are controlled by human Example!
• Automatic Controlled Processes steam
hot water out
in
– These process are controlled by automatic controller.
There are 2 types:
• feed forward control system. Example!
• feedback control system (closed-loop control system). steam out
Example!
– We concern with the analysis and design of closed-
loop control system.

Manual controlled process Automatic controlled process

current to pneumatic
pressure converter

4-20 mA
I/P set point
Controller
air supply
3-15 psi

4-20 mA
cold water in
steam in
temperature
transmitter

hot water out

steam
heat exchanger
out

Heat exchange process when under Manual control. The dot line
represent the closed loop of the controller and the process
Heat exchange process when under Automatic control .

1
 models of electrical elements
MODELS OF PHYSICAL SYSTEM Component Diff. equ. Laplace transform
i(t)
• Mathematical model of a system is defined as a
set of equation used to represent physical v(t ) Ri (t ) V ( s) RI ( s)
v(t)
system.
• It should be understood that no mathematical i(t)
1
t
1
model of physical system is exact, although we v(t ) i (t )dt v(0) V ( s) I ( s)
v(t)
C0 sc
may increase the accuracy by increasing the
complexity of the equations i(t)
di
• In this module we only concern with LTI system, v(t ) L V ( s) LsI ( s)
whose equation can be solved using Laplace v(t) dt
transform and can be represented by a transfer
function.

Electrical circuit example modeling

i(t) R1 From the first Laplace transformed equation
Electrical circuit example modeling
R2 1
v1(t) v2(t)
R1I ( s) R2 I ( s) I ( s) V1 ( s)
sC
C we solve for I(s) • thus the circuit can be modeled by:
• In this circuit we consider v 1 to be I (s)
V1 ( s ) – two differential equation
the input and v 2 to be the output. R1 R2 (1 / sC ) – two equation in the LAPLACE transform
• here we have to write a set Substituting I(s) to the second equation variable, or
equations whose solution will yield – a transfer function
v2(t) as function of v1(t) or V2(s) as 1
a function of V1(s) R2 I ( s) I ( s) V2 ( s) • another model using state space will be discussed
sC next time
t
1 we get
R1i (t ) R2i (t ) i( )d v1 (t )
C0 R2 (1 / sC )
t
V2 ( s ) V1 ( s )
1 R1 R2 (1 / sC )
R2i (t ) i( )d v2 (t )
C0
1 The transfer function of this system is
R1 I ( s) R2 I ( s) I ( s) V1 ( s)
sC V2 ( s ) R2 sC 1
1 G(s)
R2 I ( s) I ( s) V2 ( s) V1 ( s ) ( R1 R2 ) sC 1)
sC

Op-amp example modeling Block diagram and signal flow graph

Zf (s)
E(s) C(s) E(s) G(s) C(s)
G(s)
Zi (s) -
C(s)= G(s)E(s)
Vi (s) +
Vo (s)

R(s) + E(s) C(s) R(s) 1 E(s) G(s) C(s)

G(s)
Vo ( s ) Z f (s)
G (s)
Vi ( s ) Z i (s) H(s)
H(s)

G( s)
C ( s) R( s )
1 G( s) H ( s)

2
Mechanical Translational System modeling
STATE VARIABLE MODELING
2
d x dx
K B
f (t ) M
dt 2
B
dt
Kx • Purpose: to develop presentation which preserves the
X ( s) 1 input output relationship, but which is expressed in n first
C ( s)
M F ( s) Ms 2 Bs K order equation
F ( s) Ms 2 X ( s) BsX ( s) KX ( s) ( Ms 2 Bs K ) X ( s) • Advantage: in addition to the input-output characteristic,
the internal characteristic of the system is represented
Mechanical Rotational System modeling • Computer aided analysis and design of state models are
performed more easily
• We feedback more information (internal/state variable)
K
about the plant
( s) 1 • Design procedure that result in the best control system
J B T ( s) Js 2 Bs K are almost all based on state variable models.
,

STATE VARIABLE MODELING STATE VARIABLE MODELING

Let us start with an example Written in specific format, we have
d 2 y (t ) dy (t ) x1 x2  Definition: The state of a system of any time t 0 is the amount of
M f (t ) B Ky (t )
dt 2 dt K B 1
x2 (t ) x1 (t ) x2 (t ) f (t ) information at t0 that together with all inputs for t t0, uniquely
Y ( s) 1 M M M determines the behavior of the system for all t t0
G( s)
F ( s) Ms 2 Bs K y (t ) x1 (t )
• The standard form of the state equation is
For second order system we define
In matrix notation, we have dx(t)/dt = Ax(t) + Bu(t)
two state variables x1(t) and x2(t) as y(t) = Cx(t) + Du(t)
x1 0 1 x1 0
x1(t) = y(t) K B 1 f where
x2 x2
dx1 (t ) M M M – x(t) = state vector
x2 (t ) x1 (t ) x1 – A = (n n) system matrix
dt y (t ) 1 0
x2 – B = (n r) input matrix
Then we may write
– u(t) = input vektor = (r 1) vector composed of the system input function
A second order D.E. has been modified into – y(t) = output vektor = (p 1) vector composed of the defined output
d 2 y (t ) dx2 (t ) two first order D.E’s. we used two state
x2 (t ) – C = (p n) output matrix
dt 2 dt variables x1 and x2. For one n order D.E
B K 1 there will be n first order D.E’s having n state – D = (p r) matrix to represent direct coupling between input and output
x2 (t ) x1 (t ) f (t ) variables.
M M M

STATE VARIABLE MODELING

STATE VARIABLE MODELING
Example 3.1 Consider a D.E as follows:
 Recall that standard form of the state equation is y1 k1 y1 k 2 y1 u1 k3u2 with the outputs equation
dx(t)/dt = Ax(t) + Bu(t) (1)
y(t) = Cx(t) + Du(t) y2 k 4 y2 k5 y1 k0u1 y1 x1
 The first equation, called the state equation, is a 1st order D.E and where u1 and u2 are inputs and y1
x(t) is the solution of the equation. y2 x3
and y2 are outputs. Let us define
 The second one is the output equation. Given x(t) and u(t) y(t) can the states: this equation equations may be
be found. written in matrix form
 Usually matrix D is zero. Nonzero D indicates that there are some x1 y1 x2 y1 x1
path coupled input and output. (2)
x3 y2 0 1 0 0 0
 On the first equ only the first derivatives of the state var may appear
on the left side of equation and no derivatives on the right side x k2 k1 0 x 1 k3 u
from (1) and (2) we write :
 No derivatives may appear on the output equation. 0 k5 k4 k6 0
 The standard format of the state equation valid for multiple input and x1 x2 1 0 0
output system. y x
x2 k 2 x1 k1 x2 u1 k3u2 0 0 1
x3 k5 x2 k 4 x3 k0u1

3
SIMULATION DIAGRAM SIMULATION DIAGRAM
We have presented the way of finding state model from differential Equation. We will present a
method of finding state model form transfer function. The method is based on simulation
b2 s 2 b1s b0
The transfer function of third order system is: G(s) 3
diagram. It is a block diagram or flow graph consisted of gain, summing junction and integrator
only. s a2 s 2 a1s a0
•There are two common form of simulation diagram
x(t) y(t) 1 X(s) s-1 Y(s) •The first one is the control canonical form
X(s) Y(s) b2
s
Symbols of integrator
b1
B K 1
We will construct simulation diagram of y (t ) y (t ) y (t ) f (t )
M M M + +
u(t) + 1 1 1 b0
y(t)
x3 x2 x1 +
- s s s
f(t) 1 + y (t ) 1 y (t ) 1 y(t)
-
M - s s - a2
-
B
a1
M

K a0
M

SIMULATION DIAGRAM
The second one is the observer canonical form :
SIMULATION DIAGRAM
b2 s 2 b1s b0
G(s) Once simulation diagram of transfer function is
s 2 a2 s 2 a1s a0
constructed, a state model of the system is easily
u(t) obtained. The procedure has two step
1. Assign a state variable to the output of integrator
b0 b1 b2 2. Write an equation for the input of each integrator
+ + + and an equation for each system output . These
1 + 1 + 1 y(t) equation are written as function of integrator
x3 x2 outputs and the system inputs
s s s x1
This procedure yields the following state equation
a0 a1 a2

The diagrams can be easily expanded to higher order system

STATE EQUATION FROM SIMULATION DIAGRAM (control canonical form)

STATE EQUATION FROM SIMULATION DIAGRAM (observer canonical form )
b2
u(t)
b1
b0 b1 b2
+ + + + +
u(t) + 1 1 1 y(t)
b0
+ 1 + 1 + 1 y(t)
- s x3 s x2 s x1 x3 x2
- s s s x1
- a2
0 1 0 0
a0 a1 a2
x 0 0 1 x 0 u
a1
a0 a1 a2 1
a0 a2 1 0 b2
x a1 0 1 x b1 u
y b0 b1 b2 x
a0 0 0 b0

y 1 0 0x

4
Example
Consider the mechanical system with the following transfer function

1
Y ( s) 1 M
G( s) 2
F (s) Ms Bs K B K
s2 s
M M
The state model of control The state model of observer
canonical form is canonical form is

0 1 K
0 1 0
x(t ) K B x(t ) f (t ) M 1 f (t )
1 x(t ) x(t )
M M B
0 M
M
1
y (t ) 0 x(t ) y(t ) 1 0 x(t )
M