ENGR3350U - CONTROL SYSTEMS

LECTURE-3
1
Dr. Hossam A.Gabbar 2
Lecture Schedule
Week-1 [10-Sep]: Lab Introduction
Week-2 [14,17 Sep]: Control System, Closed /
Open Loops, Modelling of Dynamic Systems
Week-3 [21,24 Sep]: Laplace Transform, Block
Diagram, Review
Week-4 [28-Sep, 1-Oct]: State Variables, Feedback
Control, Review
Week-5 [5,8 Oct]: Midterm Exam (1), Invited
Lecture / Project Discussions
Week-6 [12,15 Oct]: Performance of Feedback
Control
Week-7 [19,22 Oct]: Steady State Error, Stability
2
LEARNING OBJECTIVES
Modeling of dynamic systems
Convert physical system into control model
Define control block diagram
Use of Laplace Transform
Transfer Functions and Block Diagrams
3
SYSTEM BLOCK DIAGRAM
4
DYNAMIC SYSTEM
5
LAPLACE TRANSFORM
6
LINEARIZATION SUPERPOSITION
7
LINEARIZATION HOMOGENEITY
8
HOMOGENEITY CONDITION
9
A SPRING-MASS-DAMPER SYSTEM
) ( ) (
) ( ) (
2
2
t r t ky
dt
t dy
b
dt
t y d
M = + +
Newtons second law
Where,
k : spring constant
b: friction constant
This is second order equation
r(t): force
10
DYNAMIC SYSTEMS
1. The course is about controlling dynamic systems.
2. Dynamic systems have a memory.
3. Their present output, y(t), does not just depend on the
present input signal value u(t), but on past inputs
u() for t.
4. The way this memory is described in mathematical form is
through integral/differential equations.
5. In this course, we will learn how the dynamic systems are
modeled by derivative and integral terms.
6. The Laplace transform allows us to transform these
integral/differential equations into simpler algebraic equations
and solving them.
11
AN RLC CIRCUIT.
12
COMPLEX SYSTEMS
13
EXAMPLE 1: A MECHANICAL SYSTEM
14
15
) ( ) (
) (
0
2
2
t r dt t v k bv
dt
dv
M
dt
dy
v
t r ky
dt
dy
b
dt
y d
M
t
= + +
=
= + +
}
EXAMPLE 2: AN ELECTRICAL SYSTEM
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) ( ) (
1
0
t r dt t v
L dt
dv
c
R
v
t
= + +
}
DIFFERENTIAL EQUATIONS AND THEIR
SOLUTIONS
The idea is to find out how system output, y(t), responds to a
particular type of input excitation, u(t).
17
EXAMPLE: SECOND ORDER SYSTEM
18
u
dt
dy
dt
y d
n n
2
2
2
2 e e + +
frequency natural
factor damping
n

:
:
e

EXAMPLE: SECOND ORDER SYSTEM

The differential equation derived earlier for a mass on a
spring was:
M d
2
y/dt
2
+ b dy/dt + k y = r(t),
This can be rewritten as
d
2
y/dt
2
+ b/M dy/dt + k/M y = r(t)/M,
and is usually expressed in the following standard or
canonical form
d
2
y/dt
2
+ 2,e
n
dy/dt + e
n
2
y = e
n
2
u(t)
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LAPLACE TRANSFORMS
20
COMPLEX VARIABLES & FUNCTIONS
Analysis of dynamic systems relies heavily on the
theories associated with complex variables and
complex functions.
A complex number has a real part and an imaginary
part, both of which are constant.
If the real part and/or imaginary part are variables,
a complex number is called a complex variable.
In the Laplace transformation, we use the notation s
as a complex variable; that is,
s = +j
where is the real part and is the imaginary part.
21
COMPLEX FUNCTIONS
A complex function F(s), a function of s, has a
real part and an imaginary part or
F(s) = Fx + jFy
where Fx is the real part and Fy is the
imaginary part.
F(s) can be represented graphically using a
polar plot as follows:
22
IMAGINARY AND REAL AXIS
23
LINEARIZATION OF FUNCTIONS
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LAPLACE TRANSFORM
25
LEARNING OBJECTIVES
To state the definition of Laplace transform
To be able to use Laplace transform tables to solve
differential equations
26
WHY LAPLACE TRANSFORM
Ability to obtain linear approximations of physical
systems
Substitutes difficult differential equations with with
easily solvable algebraic equations
Time response solution is obtained by:
1. Obtain differential equations
2. Obtain Laplace transformation of the differential
equations
3. Solve the resulting algebraic transform of the variable of
interest
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DEFINITION OF LAPLACE TRANSFORM
Consider a continuous time function y(t); 0 s t < . The Laplace
transform pair associated with y(t) is defined as
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LAPLACE TRANSFORM TABLE
29
PROPERTIES OF LAPLACE TRANSFORM
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LAPLACE TRANSFORMS
The Laplace variable s can be considered to be the differential
operator,
And 1/s can be considered to be the integral operator,
s = d/dt
1/s = ( dt
]
This can be seen from the first three entries in the Laplace
transform table: the impulse or delta function o(t), the unit
step function u(t) and the unit ramp function t.
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WHY USE LAPLACE TRANSFORMS?
One big advantage of Laplace transforms is that they allow
even fairly complex sets of differential equations to be
solved using only algebraic manipulations.
They also allow complex sets of differential equations to be
reduced to a simple ratio of polynomials of s.
32
EXAMPLE: SECOND-ORDER SYSTEM
Lets take a second look at the example before. This
time we use the Laplace transform to solve the second
order differential equation.
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2 2
2
2 2 2
2 2 2
0
2
2
0
2
2
2
2 ) (
) (
) ( ) 2 )( (
) ( ) ( ) ( 2 ) (
0 , 0 , 0 ) 0 (
2
n n
n
n n n
n n n
n n
S S s U
s Y
s U S S s Y
s U s Y S s Y s Y S
dt
y d
dt
dy
y
u
dt
dy
dt
y d
e e
e
e e e
e e e
e e
+ +
=
= + +
= + +
= = =
+ +

POLES AND ZEROS

The denominator polynomial, when set to zero, is called
the characteristic equation, because the roots of this
equation determine the time response of the system.
The roots of this characteristic equation are called the
poles of the system. The roots of the numerator are
called the zeros of the system. Poles and zeros are
critical frequencies. At the poles, the function Y(s)
becomes infinite, and at the zeros, it becomes zero.
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THE S-PLANE
s is a complex variable, conventionally denoted as
s = o + je.
A given value of s can be located somewhere in the s-plane.
For example, for
the poles are located at s = -2 and s = -1, and a zero is
located at s = -3.
o
je
o x x
-1 -2 -3 0
) 2 )( 1 (
3
) (
+ +
+
=
s s
s
s Y
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LAPLACE EXAMPLE 1
Determine the Laplace transform Y(s) and the
time function y(t) for the differential equation:
36
2 ) 0 ( , 1 ) 0 (
1 2 3
2
2
=
'
=
= + +
y y
y
dt
dy
dt
y d
37
2
2
1
1
1
2
1
2 1
) 2 3 (
) 1 (
) (
1
) ( 2 )) 0 ( ) ( ( 3 )) 0 ( ) 0 ( ) ( (
2
2
2
+

+
+

+ =
+
+
+
+ =
+ +
+
=
= + +
'

S S S
S
c
S
b
S
a
S S S
S S
s Y
S
S Y y s SY y Sy s Y S
t
y(t)
-1
0.5
Step 2 Find the inverse Laplace transform
t t
e e t y
2
2
1
2
1
) (

+ =
for t > 0
38
TRANSFER FUNCTION
Input = x(t)
System
G(s)
Output = y(t)
System transfer function = Y(s)/X(s)
X(s) Y(s)
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TRANSFER FUNCTION
The Laplace transform for the differential equations describing a
system can be expressed in the following general form:
s
n
Y(s) + a
n-1
s
n-1
Y(s) + a
0
Y(s) = b
m
s
m
X(s) + b
m-1
s
m-1
X(s) + b
0
X(s)
which can be expressed as:
Y(s) = b
m
s
m
+ b
m-1
s
m-1
+ b
0
X(s) s
n
+ a
n-1
s
n-1
+ a
0
The function G(s) = b
m
s
m
+ b
m-1
s
m-1
+ b
0
s
n
+ a
n-1
s
n-1
+ a
0
is called the transfer function of the system.
40
TRANSFER FUNCTION EXAMPLE -
FEEDBACK SYSTEM
Y(s) = G(s)*[X(s) H(s)*Y(s)]
= G(s)*X(s) G(s)*H(s)*Y(s)
= G(s)*X(s)/[1+G(s)*H(s)]
Therefore the transfer function is
Y(s) = G(s)
X(s) 1+G(s)*H(s)
G(s)
H(s)
X(s) Y(s)
+
_
41
TRANSFER FUNCTION EXAMPLE -
LEVEL CONTROL SYSTEM
What is the transfer function of the tank level control system?
Water
outflow
Water
inflow
Control
Valve
Level
Setpoint
Level
Meas
.
Controller
42
The block diagram of this system is:
K
1/(1+s)
A/s Cv
Level
Setpoint,
SP(s)
Actual
Level,
L(s)
Outflow
Controller Valve
Tank
Level
Measurement
43
The transfer function is:
L(s) = G
SP(s) 1 + GH
= K Cv A/s
1 + K Cv A/s [1/(1+s)]
= K Cv A (1+s) = K Cv A (1+s)
s(1+s) + K Cv A s
2
+ s + K Cv A
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FIGURE 1.24 (A) OPEN-LOOP (WITHOUT FEEDBACK) CONTROL OF THE SPEED OF A ROTATING DISK.
47
FIGURE 1.25 (A) CLOSED-LOOP CONTROL OF THE SPEED OF A ROTATING DISK.
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