MINISTRY OF EDUCATION AND TRAINING

HCM CITY UNIVERISTY OF TECHNOLOGY AND EDUCATION FACULTY OF

HIGH-QUALITY TRAINING

FINAL REPORT

Automatic control
Lecturer: Vu Van Phong

Student : Vo Quang Huy

Student ID: 19146030

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 Table of Contents
I) Task 1:...........................................................................................................................................................2

1.1) Definition of the control and the automatic control:...........................................................................2

II) Task 2:...........................................................................................................................................................6

2.1) Block diagram:...........................................................................................................................................6

2.2) Using Maltab to find the closed-loop transfer function:...........................................................................6

2.3) State-space equation:................................................................................................................................7

III) Task 3: Transient Response and stability Analysis................................................................................10

3.1) Analyze the behavior and response of the first-order system as follow:.................................................10

3.2) Consider the Hubbe Space Telescope is modelled in Fig.8. Analyse the behavior and response of this
system.............................................................................................................................................................12

3.3) Taken into account the following system............................................................................................12

3.4) Consider the Disk Drive Read System......................................................................................................14

IV) Task 4:.................................................................................................................................................... 17

4.1) What is the PID controller? The roles of the P, I, D of PID control in the control system........................17

4.2) Let us consider the following system:......................................................................................................18

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I) Task 1:
1.1) Definition of the control and the automatic control:
- In order to control a system, one must gather and process data, then exert influence
over the system to change and adapt in order for it to fulfill its intended function.
Automatic control refers to a process that doesn't need human intervention directly.
 Example: When the toaster is set to achieve the perfect toast consistency, the
minimum toast size determines the output while the maximum setting or timing
adjusts the quantity. If the darkness of the toast doesn't meet expectations due
to factors like the bread's condition, the heating time remains constant. The
toaster's heating element can dynamically manage the system without relying
on a timer.
- Three essential components make up a basic control system: the controller, the
measurement device, and the control object.
 Within that:
 r(t): input signal, reference input, setpoint_SP
 or set value_SV)
 y(t): output signal, process variable, actual value (process value _PV).
 yht(t): feedback signal, measurement variable.
 e(t): error signal, error
 u(t): control signal
 z(t): noise signal
 Control object: is the part of the physical system that has to be managed in
order to get the desired outcome. Technology programs, various machines, and
other technical apparatuses are examples of control objects. The apparatus and
machinery that is commonly typified by actuators—such as motors, cylinders,
and sliding table systems—and continuous output signals—such as force,
position, velocity, and rotation angle—related to motion are referred to as the
control object. The output signals from technological processes are typically
concentration, flow, temperature, pressure, and liquid level.
 Measuring device (sensor): carries out the task of measuring and transforming
the system's output quantity into an appropriate signal form for easy
processing, comparison, and display. While the majority of the input signal is
electrical, the system's output signal can also be velocity, position, temperature,
force, and other variables. The general guidelines for measuring non-electrical
quantities using the electricity method are to convert them into signals in the
form of voltage, current, or number of pulses (digital sensors) (analog sensors).
 Comparator: determines the difference between the return signal (or the
output signal's measured value) and the standard input signal. Generally,

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 measuring instruments convert ratios. The comparator and controller are
frequently coupled in real-world systems.
 Controller: generates a suitable control signal u by utilizing information about
the deviation e, which in turn affects the object. The control algorithm, also
known as the control law, is the procedure for figuring out the function u(t). Op-
amp circuits, pneumatic devices, and mechanical mechanisms can all be used to
achieve continuous control. In essence, digital controllers are computer
programs that operate on PLCs, microprocessors, or other hardware.
 Interference: All system impacts that result in undesired outcomes are referred
to as interference. Although noise is always present and can impact any
component of the system, noise that affects the control object—also referred to
as output noise or load noise—usually raises the most concerns.
- The difference between closed-loop and open-loop system:
 Closed-loop system: is a feedback control system, meaning that measurements
are made and fed back to compare the output signal with the input signal. The
controller recalibrates the output signal in a direction that eliminates the
deviation using the input-output deviation to compute the control signal u(t).
There could be one or more feedback loops in the closed system structure.
 Open-loop system: Since there is no feedback circuit employed, the desired
value and the actual result following the control action are not compared. All
time-based control systems operate in an open manner. A washing machine that
uses a time relay to sequentially operate the washing, rinsing, and spinning
cycles is an example. The machine does not check or measure the cleanliness of
the clothes as its output. The open system is appropriate for applications that
do not demand high response quality because of its straightforward structure.
 A block diagram can be used to easily describe an example of a closed-loop
system:

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  A block diagram can also be used to simply explain an example of an open-loop
system:

- Consider the liquid-level control system in Fig.3, please list the components of this
system and make block diagram of this system. This system is open-loop or closed-loop
system?

 The block diagram of this system can be described below:

This block diagram makes it simple to determine that the system is closed-loop,
with float serving as feedback to the controller.

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II) Task 2:
2.1) Block diagram:

Pc (s )
Please find the transfer function G ( s )= of the above system.
E(s)
We can simplify the block diagram by this graph:

With the graph we can give out the component function as:
P1 = G1*G2
L1 = -G2*H1*H3*H4
L2 = G2*H1*H2*H3*H4
L3 = -H2
Δ = 1 - (L1+L2+L3)
Δ1 = 1 - L3
1
G(s) = (P1* Δ1)
Δ
G 1∗G 2+G 1∗G 2∗H 2
G(s)=
1+ G2∗H 1∗H 3∗H 4−G 2∗H 1∗H 2∗H 3∗H 4+ H 2
We have G(s) is the transfer function of this system.

2.2) Using Maltab to find the closed-loop transfer function:

Consider a closed-loop system as follows

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 1 1
Where: G ( s )= , H ( s )=
2
s +s +4 s +2

Because this is a simple closed-loop system so the transfer function can be described as:

G(s)
Tf =
1+ G ( s )∗H ( s)

With the overal form of the transfer function we add in the function variable:

1
2
s + s +4
Tf =
1
1+ 2
(s +s +4 )(s +2)

We can simplify thí to get the desire transfer function:

s+ 2 s+2
Tf = = 3
( s +s +4 ) ( s +2 )−1 ( s +3 s 2 +6 s+9 )
2

The trans fer function can also be found by using matlab:

 Matlab input:

 Transfer function output:

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2.3) State-space equation:
Consider a system illustrated in Fig. 7. u(t) are the external force (inputs) ; and y(t) is the
displacement of m.

Using Newton’s II law, we have:

m*a = F – Fb – Fk
m*x’’ = F – b*x’ – kx (with “ ‘ “ illustrated as derivative)
Then we laplace transform the function we have:
F = m* s2∗X + b*s*X + k*X
X
Transfer function will be described as:
F
X 1
= 2
F m∗s +b∗s+k
State space equation:
 We use the function: m*x’’ = F – b*x’ – kx
 Assign state variables:
x1 = y
x2 = x1’ = y’
x2’ = y’’
 When we substitute in the differential equation, we obtain:

{
'
x 1 =x 2
 '
m∗x 2 =F−b∗x 2−k∗x 1
 Make the equation more viable for state space equation,

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 we obtain:
{ '
x2 =
x 1' =x 2
−k∗x 1 b∗x 2 F
m
−
m
+
m
 With desire output of: y=x1
We have statespace equation as follow:

{
| || || | | |
' 01 0
x1 = x1 +
k b 1 F
¿ x 2 ' ¿− − ¿x 2 ¿
m m m

| |
y=|10| x 1
¿ x2
X 1
Matlab/simulink will be demonstrated with this transfer function: = 2
F m∗s +b∗s+k
With m=1, b =0.1, k=0.15 we have the block diagram as:

And the system can be seen through scope is:

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III) Task 3: Transient Response and stability
Analysis
3.1) Analyze the behavior and response of the first-order system as
follow:
where G(s)=1/(4s+a) , a is the last number of your student ID

a is chosen to be 2. We have:
1
G(s) =
4 s+2
 Characteristic equation is described as:
K
G(s) =
T s +1
 The given G(s) have to have some transform to fit the defaut characteristic
equation:

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 1/2
G(s) =
2 s+1

{
1
K=
2
1
We have w = so the remaining variables are shown: T=2
T
1
w=
2

2% criterion setting time equation has been clarified in the textbook:

Based on this we can easily determine ts by (5-15) equation. So the final answer for ts with ξωn
= ½ is:
4
ts = =8
1/2
- Matlab simulation:
 We have the block diagram with step as input:

Step time and final value will be increase to 10 for better observation purposes.
 Output of the system through scope:

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3.2) Consider the Hubbe Space Telescope is modelled in Fig.8.
Analyse the behavior and response of this system.

Ignore the effect of disturbance, please determine the transfer function between Y(s) and R(s).
G(s)
We have closed loop system can be determined by: Tf =
1+ G ( s )∗H ( s)
The system above included 2 closed-loop. The inner closed-loop can be concluded as:
2 2
1/(s ) s
which can be simplify into
1+(1/ s2 )Kis 2
s + Kis

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 The whole system will be include the inner closed-loop and the closed-loop of the whole system
which can be determined as:
2
s K
2
s + Kis sK
which can be simplify into :
2
s K s +sK + Ki
1+ 2
s + Kis
sK
So the transfer function G(s) =
s +sK + Ki

3.3) Taken into account the following system

- For this closed-loop system we can find it transferfunction by using matlab. Matlab input
will be:

And the transfer function output will be:

With this transfer function we can easily find its poles and zeros.
For zeros, we have:
2
s +6 s+5=0
 Z1 = -1, z2 = -5
For poles, we have:
3 2
2 s +6 s +8 s +8=0
−1 −1
 P1 = -2, p2 = +1.322875656 i , p3 = −1.322875656 i
2 2
- Plot the poles and zeros on the complex plan by using Matlab:
Matlab input:

Poles and zeros plot output:

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- By looking at the provided output pzplot, we can quickly determine that the system is
stable because all of the poles and zeros are located on the left side of the imaginary
axis.
- Simulink simulation:
 Block dagram of system:

 Scope output:

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3.4) Consider the Disk Drive Read System

Which is describe by block diagram as:

With given parameters and G(s), we have:

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 5
G ( s )= , Gp(s) = Kp
s ( s +20 ) (s+1)

First we must find the transfer function of the system. This is a standard closed loop
system so transfer function can be determined by:

G ( s )∗Gp(s)
Tf =
1+ G ( s )∗Gp(s )

So the transfer function of this system is:

5 Kp
s (s+20)(s+1) 5 Kp
which can be simplify into
5 Kp s ( s+ 20 ) ( s+ 1 )+ 5 Kp
1+
s(s+ 20)(s +1)
But for Routh-Hurwirtz criterion we need to use the characteristic equation of the
closed-loop which is:
5 Kp
1+ =0
s (s+20)(s+1)
Solve equation in to form of polynomial:
 s(s+20)(s+1) + 5Kp = 0 (Kp>0 due to polynomial)
 s3 +21 s 2 +20 s +5 Kp=0
With the upper polynomial equation we can make Routh-Hurwirtz criterion:
1 20 0
21 5 Kp 0
21∗20−5 Kp
0 0
21
With this we have:
420−5 Kp
>0
21
 Kp < 84
After solving for Kp, we can concluded that for the system to be stable Kp must be:
0 < Kp <84

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- Select two values of Kp, one satisfies the Routh-Hurwirtz condion and another is not,
then using Matlab to simulate above system with two valules of Kp. The input signal is
unitiy step input signal. Based on the obtained the simulation results, please evaluate
the stability of the system with P controller when the parameter of P controller is
determined based on the Routh-Hurwirtz criterion.
 Simulink block diagram:

 Satisfies the Routh-Hurwirtz condion, K chosen to be 50 which is 0 < Kp <84:

When K is chosen to be satisfies the Routh-Hurwirtz condion we can see that

the transient gradually disappears, ensuring system stability.
 Unsatisfies the Routh-Hurwirtz condion, K chosen to be 100 which is 0 < Kp
<84:

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 Due to transients that progressively get worse over time, the system is unstable
when chosen K fall out of 0 < Kp <84

IV) Task 4:
4.1) What is the PID controller? The roles of the P, I, D of PID
control in the control system.
- Proportional Integral Derivative, or PID for short, is a feedback mechanism for control
loops that is extensively utilized in contemporary industrial control systems.
In closed-loop control systems with feedback signals, this controller is frequently utilized.
The PID task assists in calculating the error value, which is the discrepancy between the
variable parameter's measured value and the intended set value.
Through control input value adjustments, the device reduces errors. Adjustments based
on system properties are required to get the desired result from PID parameters. The
parameters vary depending on the unique features of that system, but the control will
remain the same.

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 - P (Proportional): represents a proportional adjustment technique that aids in producing
a proportional adjustment signal based on sampling time and input error.
- I (Intergral): is the integral of the sampling-time error. An adjustment technique called
integral control generates adjustment signals to get the error down to zero. The total
instantaneous error over time or the cumulative error in the past are then indicated. The
integral adjustment effect is stronger for smaller times, which also corresponds to
smaller deviations.
- D (Derivative): is the variance's differential. The output of differential control is a signal
that can be adjusted and is proportionate to the input error's rate of change. The
differential tuning range is stronger over longer times, meaning that the regulator reacts
to changes in voltage faster.
- There are several alternative to control a system by this method such as:
 Proportional controller – P (Proportional Controller).
 PI (Proportinal and Integral Controller) is called a proportional and integral
controller.
 PD (Proportional and Derivative (PD) Controller) is called a derivative controller.
 PID (Proportional, Integral, and Derivative (PID) Controller) is a proportional-
integral-derivative (differential) controller.

4.2) Let us consider the following system:

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G ( s )= 2 and input R(s) is the unity step signal
s +3 s +5
Simulink block diagram described as:

- Let Ki=0, Kd=0, using the Simulink to simulate the system with Kp=1, 5, 10,
200, based on these simulation results, please give the comments the
effects of Kp to the response of the system.

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 With Kp=1

 With Kp = 5

 With Kp = 10

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  With Kp = 200

 In conclution of these simulation of increasing Kp, stronger control

action and a quicker reaction to changes in the process variable are
the outcomes of higher Kp. Overshooting or system instability may
result from a Kp that is too high.
- Let Kp=10, Kd=0, using the Simulink to simulate the system with Ki=0.1, 1,
20, 50, based on these simulation results, please give the comment the
effects of Ki to the response of the system.
 With Ki = 0.1

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 With Ki = 1

 With Ki = 20

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 With Ki = 50

 With Ki increasing in each of these simulation, we have the

conclution that stronger corrections are produced by higher Ki
values, but they can also make the system unsteady or sluggish.

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- Let Kp=10, Ki=10, using the Simulink to simulate the system with Kd=0.1, 1,
5, 15, based on these simulation results, please give the comment the
effects of Kd to the response of the system.
 With Kd = 0.1

 With Kd = 1

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 With Kd = 5

 With Kd = 15

 As we have Kd keep rising through all of the above simulation, we

can see that Kd functions as a damping element to decrease
overshoot and enhance reaction time. Stronger damping is

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produced by a higher Kd, but noise in the system may also be
amplified by it.

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