Control Engineering

ME-339

Dr. Sara Ali

sarababer@smme.nust.edu.pk

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REFERENCE BOOKS:

Text Book:
 Control Systems Engineering, 4th Ed By Noman S. Nise John Wiley & Sons
ISBN: 0-471-44577-0
Other Books:
 Automatic Control Engineering, 5th Ed By Francis H.Raven ; McGraw-Hill, In.
ISBN: 0-07-113639-8
 Modern Control Engineering,2nd Edition By Katsuhiko Ogata
Prentice Hall International Edition ISBN: 981-3026-94-4
 Automatic control systems, 6th Edition By Benjamin C. Kuo.
Englewood Cliffs, N.J. : Prentice Hall , c1991
ISBN: 0130510467.

YOU CAN REFER OTHER CONTROL BOOKS ALSO. ABOVE IS JUST FOR GUIDELINE.

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 Lecture Outline

 Introduction to control systems; ordinary differential

equations; Laplace transform;
 Basic principle of feedback
 Modeling of physical systems
 Control system design — stability issues
 Control system design time domain specifications
steady state errors, overshoot, rise time and settling
time.
 Control system design using Proportional-Integral-
Derivative (PID) control technique.

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INTRODUCTION

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 WHAT IS CONTROL SYSTEM

 Objective:
To make the system OUTPUT and the desired REFERENCE as
close as possible, i.e., to make the ERROR as small as possible.
 Key Issues:
1) How to describe the system to be controlled? (Modeling)
2) How to design the controller? (Control)

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CONTROL SYSTEM EXAMPLES

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 Demonstration on Control of a Coupled-Tank System through
Internet Based Virtual Laboratory

 The objective is to control the flow levels

of two coupled tanks. It is a reduced-
scale
 model of some commonly used chemical
plants.

The objective is to control the flow levels of two coupled tanks. It is a reduced-
scale model of some commonly used chemical plants.

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Introduction: Controller

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Introduction: Controller

 A controller is one which compares controlled

values with the desired values and has a
function to correct the deviation produced
Functions:
• Decreasing the steady state errors.
• As the steady state accuracy improves, the stability
also improves
• Help in reducing the offsets produced in the system
etc

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Introduction

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Introduction

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 Introduction

 Configurations of control systems

• Open-loop control system
• Closed-loop control system

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 Introduction: Open loop system
Open-loop control system

 Example: heating system

• Output variable = temperature
• Controller = consisting of fuel valves and electrical system that
operates these valves
 Disadvantage:
• Cannot compensate for any disturbances both at the input and
the output of the system
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 Introduction: Closed- loop system
 Closed-loop control system

 Overcomes the disadvantages of open-loop systems

• Sensitivity to disturbance and
• Inability to correct them

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Introduction: Closed- loop system
 Advantages of closed-loop systems
• Accurate than open-loop systems
• Less sensitive to noise, disturbances and
changes in environment

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 Introduction
 Conclusion
• Systems that perform measurement and correction
are called closed-loop or feedback control systems
• Systems that do NOT perform measurement and
correction are called open-loop

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 Introduction

 Design and Analysis of a control system

• Design: process by which system’s performance is
created or changed.
• Analysis: process by which system’s performance is
determined e.g. transient response and steady state
error.

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 Introduction: Design objectives

• Analysis and Design Objectives

1. Producing the desired transient response
2. Reducing steady-state error
3. Achieve stability

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 Introduction

 Stability
Total response = natural response (homogeneous
solution) + forced (particular solution) response

• Natural response is the response to initial conditions.

It is only dependent on the system and NOT the input.
• Forced response (also known as zero-state) is the
response to a particular input but with no initial
conditions.
Introduction

 Stability
• Natural response should eventually approach zero
leaving behind forced response only
• In some cases/systems, the natural response does
not decay and starts to grow such that a point comes
where it dominates the forced response leading to
instability.
• Control systems must be designed such that the
natural response decays to zero as time approaches
infinity or oscillates.
BACKGROUND

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DIFFERENTIATION

 Given a function of time, say

f (t), its differentiation is the
rate of change of the
function.
Mathematically,
 Example: Consider f (t) = 1.
Obviously, the rate of
change of a constant is
zero, i.e., it does not change
at all.
 Example: Consider f (t) = t.
The rate of change of this
function is
The rate of change of this
function is constant.
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INTEGRATION

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LAPLACE TRANSFORM

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MODELING

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Control System Design Process

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MODELING OF SOME PHSYICAL SYSTEM

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ORDINARY DIFFERENTIAL
EQUATION

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Quiz 1

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 Transfer Function

• A transfer function is defined as the ratio of the

Laplace transforms of the output and input of a Linear
Time-Invariant (LTI) system with zero initial conditions

• Transfer functions are used to analyze the frequency

response and time domain behavior of LTI systems
when subjected to various inputs

http://pilot.cnxproject.org/content/collection/col10064/latest/module/m2102/latest

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 Transfer Function
 A nth order linear time invariant differential
equation can be expressed as:

 c(t) is the output, r(t) is the input and a, b are the

coefficients dependent on the system.
 Taking Laplace transform of both sides:
 Transfer Function
 Assuming that all initial conditions are zero, the equation
reduces to:

Rearranging

 G(s) is called the Transfer function of the system and

evaluate it with zero initial conditions.
 Transfer function relates input and output of a
system/subsystem.
Transfer Function

 Block Diagram of a transfer function

 Transfer function examples (in detail for

mechanical and electrical system)
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Test Waveforms in Control System
Transfer Functions

• Electrical Network
• Mechanical System

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Electrical System Transfer
Functions
Electrical Network Transfer Functions
 Goal: Apply transfer function to mathematical models of
electric circuits.
 Table below represents voltage and current relationships
for different components under zero initial conditions.
Electrical Network Transfer Functions

 Kirchhoff’s laws
• KVL = sum of all voltages around a closed loop
equals zero
• KCL = sum of all currents at a node equals zero
 Strategy:
• Use the laws, whichever is convenient/suitable for
the electrical network and then equate equal to zero.
• Using these relationships write the differential
equation, and take Laplace transform.
• Find the transfer function.
 Example – Transfer Function via Mesh Analysis

 Find the transfer function relating capacitor

voltage Vc(s) to input voltage V(s)
 Solution:

Assuming zero initial conditions, sum the

voltages around the loop
Example – Transfer Function via Mesh Analysis

Taking LT and rearranging the equations:

Example – Transfer Function via Mesh Analysis
 Alternative and simplified solution
• Use impedance of electrical components
Example – Transfer Function via Mesh Analysis

 How concept of impedance simplifies the

solution?

 Difference between impedance and R?

• Unlike R, Impedance is applicable to
capacitors and inductors and carries
information for dynamic behaviour of the
component.

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Example 2.7

Single loop via transform method

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Transfer functions- Multi loop

https://www.google.com/search?
q=cramers+rule&source=lnms&tbm=isch&sa=X&ved=2ahUKEwiz0pWHo63sAhVTVhUIHc9oAsQQ_AUoAXoECBUQAw
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Example 2.11

 Use nodal analysis to solve the pervious

circuit.

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Example 2.12

Assignment#1: Example 2.13 and any 3-loop question in exercise.

Due date : 19-Oct-2020

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Translational Mechanical System
Transfer Functions
Translational Mechanical System Transfer Functions

K = spring constant

fv = coefficient of
viscous friction

M = mass
Translational Mechanical System Transfer Functions

 Mechanical systems have direct analogy

with Electrical Systems
 Energy storage elements:
• Spring and mass <------> capacitor and inductor
 Energy dissipating element:
• Viscous damper <------> resistance
Translational Mechanical System Transfer Functions

Mechanical Force <-----> Electrical

Voltage
Mechanical Velocity <------> Electrical
Current
Displacement <---->
charge
Example – One Equation of Motion
 Find the transfer function, X(s)/F(s).
 Solution:
Step 1: Free Body Diagram:

Step 2: Write differential equation of motion using Newton’s law.

Step 3: Take Laplace transform, assuming zero initial conditions

 Transfer Function – Two degree of freedom

 Find the transfer function X2(s)/F(s) for the following

system

 For problems with multiple degree of freedom, we draw the

free-body diagram for each point of motion and then use
superposition. For each free-body diagram we begin by
holding all other points of motion still and finding the forces
acting on the body due only to its own motion.
 Transfer Function – Two degree of freedom

 Find the transfer function X2(s)/F(s) for the following system

 The system has two degrees of freedom, since both masses

can be moved in the horizontal direction while other is held
still.
 Transfer Function – Two degree of freedom

 Find the transfer function X2(s)/F(s) for the following system

 Step 1: Get equation of motion by free body diagram for

each mass M1 and M2.
• For M1
Hold M2 Still and move M1 towards Hold M1 Still and move M2 towards
right right
 Transfer Function – Two degree of freedom

 Find the transfer function X2(s)/F(s) for the following system

 Step 1: Get equation of motion by free body diagram for

each mass M1 and M2.
• For M1 ,the total force is superposition or sum of the two forces:

+ =
 Transfer Function – Two degree of freedom
 Find the transfer function X2(s)/F(s) for the following system

 Step 1: Get equation of motion by free body diagram for

each mass M1 and M2.
• For M2

Hold M1 Still and move M2 towards Hold M2 Still and move M1 towards
right right
 Transfer Function – Two degree of freedom

 Find the transfer function X2(s)/F(s) for the following system

 Step 1: Get equation of motion by free body diagram for

each mass M1 and M2.
• For M2 ,the total force is superposition or sum of the two forces:

+ =
 Transfer Function – Two degree of freedom
 Find the transfer function X2(s)/F(s) for the following system

 Step 2: Write the equation of Motions for both M1 and M2.

 Transfer Function – Two degree of freedom

 Find the transfer function X2(s)/F(s) for the following system

 Step 3: Solve the equations to get the transfer function

Cramer’s rule

Reading Assignment Example 2.18

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Rotational Mechanical System
Transfer Functions
Introduction

 All concepts remain same but instead of

translation, we now consider rotation
 Torque replaces force
 Angular displacement replaces
translational displacement
 Mass is replaced by inertia
Spring
Constant

D = Coefficient
of viscous
friction

J = Moment of
Inertia
 Example
 Find the transfer function θ2(s)/T(s)

 2 degrees of freedom, since each inertia can be held still while other is
rotated. Therefore 2 equations can be formed
J1 Still,
 Torques on J1 Total/Sum
J2
rotating

J2 Still,
J1
rotating
 Example
 Find the transfer function θ2(s)/T(s)

 2 degrees of freedom, since each inertia can be held

still while other is rotated. Therefore 2 equations can
be formed 2J Still,
Total/Sum
J
 Torques on J2 1
rotating

J1 Still,
J2
rotating
 Example
 Find the transfer function θ2(s)/T(s)

 2 degrees of freedom, since each inertia can be held

still while other is rotated. Therefore 2 equations can
be formed
 Equations of Motion
 Transfer Function for Systems with gears

 Important since systems with motor are difficult

to be found without gears.
 Gears provide mechanical advantage to
rotational systems
 Transfer Function for Systems with gears

 Notations
• r  radius
• N  number of teeth
• T  torque
• Θ  angular displacement
 Since the distance travelled along each gears circumference
is the same

 As the ratio of number of teeth along circumference is in the

same proportion as the ratio of radii
 Transfer Function for Systems with gears

 Relationship between input and output torque?

Energy/Work done = Force x displacement
 Assuming no losses
energy in gear 1 = energy in gear 2

 As (from previous slide)

 So
Transfer Function for Systems with gears

 Important relations
 Transfer Function for Systems with gears
 Affect on mechanical impedances due to gears?
 Can we eliminate gears?

Equivalent system by reflecting

Rotational System driven by
input at the output
Gears

Since

T1 can be reflected to the output by multiplying

N2/N1
 Transfer Function for Systems
with gears
 Affect on mechanical impedances due to gears?
 Can we eliminate gears?

Equivalent system by reflecting Equivalent system at the

input at the output input after reflection of
impedances
Since

θ1 can be reflected to the output by multiplying

N1/N2
 Transfer Function for Systems
with gears
 Affect on mechanical impedances due to
gears?
 Can we eliminate gears?

Equivalent system at the input after reflection of impedances

*Rotational Mechanical impedances can be

reflected through gear trains by multiplying the
Mechanical impedance by the ratio
 Example
 Find the transfer function θ2(s)/T1(s)

First, reflect impedances(J1 and D1) by using (N2/N1)2 and Torque (T1) by
using (N2/N1) from input to output
 Gear Trains

 In general, a gear with large radii is

replaces with a gear train of small gears
such as shown here

*For gear trains, the

equivalent gear ratio is
simply the product of
individual gear ratios

Reading assignment: example 2.20 and 2.22

Electromechanical Systems

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 Electromechanical Systems

 Hybrid of electrical and mechanical variables

 Example: our first case study of azimuth
position control, robot controls, …
 Motor is the most obvious electromechanical
component with input voltage (electrical input)
and displacement (mechanical output) as
output
 Transfer Function of DC Servo Motor

Block
Diagram
DC motor schematic
 Fixed field: a magnetic field developed by stationary
permanent magnet
 Armature Circuit: It is a rotating circuit (also known as
armature) through which current ia(t) passes.
 Principle: Whenever a current carrying conductor is placed
in a magnetic field it experiences a force in a particular
direction determined by Flemings left hand rule.
Transfer Function of DC Servo Motor

B is the magnetic field, l is the length of

conductor.
 Electromotive Force in Motors
 Faradays Law: A changing magnetic field induces an emf in a coil.
The change in magnetic field could be due to magnet towards or
away from the coil. Changing flux induces emf.
 Lenz’s Law: when an emf is generated by a change in magnetic
flux according to Faraday's Law, the polarity of the induced emf is
such, that it produces a current whose magnetic field opposes the
change which produces it.
 A conductor moving at right angles to magnetic field produces
voltages at the terminal of the conductor also known as back emf.

 Where e is the voltage, B is magnetic field, L is the length of

conductor and v is the velocity of conductor normal to magnetic
field.
 Transfer Function of DC Servo Motor

 The current carrying armature rotates in the magnetic field.

The induced voltage is therefore proportional to angular
velocity.

Laplace
Transform
 Vb(t) is back emf, Kb is back emf constant and differential
term is clearly motor’s angular velocity
 Writing the equation of armature circuit
 Transfer Function of DC Servo Motor
 Torque and current relationship of motor is given as:

 Where Tm is the torque developed by motor, Kt is

motor torque constant
 To find transfer function, make the following
substitutions
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TUTORIALS

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FEEDBACK CONTROL

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 Types of Controller

• Proportional controllers
• Integral controllers
• Derivative controllers

1. Proportional Controllers: In a proportional controller the output (also

called the actuating signal) is directly proportional to the error signal

Where Kp is proportional constant also known as controller gain. Why

suggested that Kp should be greater than unity?

i. Conditions: Deviation should not be large, it means there should be

less deviation between the input and output
ii. Deviation should not be sudden

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Types of Controller

When to use: reducing the steady state error, thus makes the system more
stable.
slow response of the over damped system can be made faster

Disadvantages: Increase the maximum overshoot of the system

2. Integral Controllers: The output (also called the actuating signal) is directly
proportional to the integral of the error signal

Advantages: Removes SSE, but cause

oscillatory response of slowly
increasing/decreasing the amplitude and
therefore making system unstable

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Types of Controller

3. Derivative Controller: In a derivative controller the output (also

called the actuating signal) is directly proportional to the derivative of
the error signal.

Improves the transient response of the system. (Transient response,

two main conditions for changing response? (startup, abnormal
conditions)

Disadvantages: Never used alone as this has few drawbacks: never

improves SSE and also produces certain noise effects

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 Types of Controller

Proportional Integral Controller:

Proportional Derivative Controller:

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SYSTEM STABILITY

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BEHAVIOR OF SYSTEM

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CONTROL SYSTEM DESIGN

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