Chapter 2:

Introduction to the
Control of SISO Systems

Control Automtico

3 Curso. Ing. Industrial

Escuela Tcnica Superior de Ingenieros
Universidad de Sevilla

(Some of the illustrations are borrowed from : Modern Control Systems (Dorf and Bishop)
 Outline of the presentation

1. Dynamical Systems
2. Single Input-Single Output Systems (SISO
Systems)
3. Identification of Dynamic Systems
4. Equilibrium points. Steady state characteristic
5. Linearization
6. Control scheme
7. Basic control actions

2
 Dynamical systems

System: object composed by a number of interrelated parts. The
properties of the system are determined by the relationships
between its different parts.

Dynamical: its state varies with time

Signal or variable: every

magnitude that evolves with time

3
 Basic notions

We understand the system to be part of the
real world with a boundary with the outside
environment.

Types of signals:
x x x xx
x x x
Input signals: they act upon the system xx x x
x x


and are responsible for its future evolution.

Output signals: they are the signals to be
measured (and controlled). They represent
the effect of the system on its environment.

Internal variables: all the remaining states
variables

Examples:

4
 Basic notions

Types of inputs: (from a technological point of view )

Manipulated variables: their evolution can be manipulated and fixed to a
desired value

Disturbances: are often regarded as uncontrolled being determined by the
environment in which the system resides (weather variations, process feed
quality variations, )

Parameters of the system: magnitudes that characterize the system. They

allow one to distinguish between systems with similar structural and
functional characteristics.

Example: distinguish between parameters and signals of the systems
corresponding to the illustrations above.

5
 Basic notions

Models:

Representation of the system that enables

its study.

Physical representation (scaled-models)

Mathematical representation (dynamic equations)

Purposes of a model:

Prediction of the evolution of the system

Analysis of the behavior of the system
Modeling error

Analysis of the effect of the variation of a parameter

Analysis of the effect of the inputs on the evolution of the system

6
 Modelling of Dynamical Systems

Trade off between the accuracy of the model and its simplicity

Error
Complexity

The type of model should be chosen according to the desired
functionalities and purposes

Analysis

Objective: cualitative analysis of the systems behaviour.

This analysis can be a difficult task.

The model should be as simple as possible, but reflecting the main characteristics
and properties of the dynamics.

Simulation

Objective: prediction of the evolution of the system.

This is normally a simpler task than the analysis (it can be solved by means of
numerical integration).

The model should have a degree of detail capable of yielding small prediction
errors.

7
 Simulation of systems

Numerical Integration of the differential equations

Discretization of time {t0, t1, t2,}
Model

Integration step
Computation of the outputs {y0, y1, y2,} SIMULATOR

Input Output

Example: Euler Method Initial conditions

1 Kp
y& (t ) = q (t ) y (t )

Initialization : y0=y(0) A A

For k=1 to N

tk=k h
1 K

y k = y k 1 + h qk 1 p y k 1
A A

End

8
 System Representation
xc qc xf
qf Inputs
Tc Manipulated inputs:
Cold water valve xf
Tf Hot water valve xc
Disturbances
Ta Ambient temperatureTa
Temperatures Tc y Tf
Pressure at the pipes
of cold and hot water
h T Outputs
Tm Temperature of tank T
Water level in tank h
Measurements:
hm qs T Metal resistance termometer
Pressure sensor
9
 System Representation
xc qc xf
qf
Tf
Ta

h T
Tm

hm qs T

Pv Ta r
xc qc h hm
xf Actuator qf System T
Sensors Tm

10
 Single Input-Single Output
Systems
1. Dynamical Systems
2. Single Input-Single Output Systems
(SISO Systems)
3. Identification of Dynamic Systems
4. Equilibrium points. Steady state characteristic
5. Linearization
6. Control scheme
7. Basic control actions

11
 Linear systems representation
Differential equation: it models the dynamics of a lumped
parameter linear system in continuous time.

d n y (t ) d n 1 y (t ) dy (t ) d mu (t ) d m 1u (t ) du (t )
n
+ a1 n 1
+ ... + an 1 + an y = b0 m
+ b1 m 1
+ ... + bm 1 + bmu (t )
dt dt dt dt dt dt

Order of the equation : n u(t) y(t)

Causal models : n m system
Laplace transform:

U(s) Y(s)
G(s)

12
 Frequency response

Steady-state output for sinusoidal input

u(t) y(t)
system

G(jw) characterizes the frequency response of the system

Fourier Series expansion G(jw) characterizes the system

13
 Graphic plots

Objective: Graphic plot of

Bode Diagram:
2 semi-logarithmic scalar plots
Bode Diagram
0

Magnitude -20

-40

Magnitude (dB)
-60

-80

- 100

- 120

Phase
-45

Phase (deg)
-90

- 135

- 180
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequenc y (rad/s ec )

14
 Example

Ta

T -
Tm -
Caldera
xc
qc

15
 Identification of Dynamic Systems

1. Dynamical Systems
2. Single Input-Single Output Systems (SISO
Systems)
3. Identification of Dynamic Systems
4. Equilibrium points. Steady state characteristic
5. Linearization
6. Control scheme
7. Basic control actions

16
 Identification

Obtaining a model from the temporal response of
the system

Model parameters (for a given structure of the model)

Parametric model

Structure and parameters (unknown model)

Black box identification

Analysis of the systems output corresponding to
different test input signals

Impulse response

Step response

Sinousoidal response

17
 Identification based on the step response
10 10

u 9.5
9
y
9
8.5
8 8
7.5
7 7
6.5
6 6
5.5
5 5
4.5
4 4
3.5
3 3
2.5
2 2
1.5
1 1
0.5
0 0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
tiempo tiempo

Step input signal Output of the system

G(s)?

18
 Identification based on the step response
10 10

u 9.5
9
y
9
8.5
8 8
7.5
7 7
6.5
6 6
5.5
5 5
4.5
4 4
3.5
3 3
2.5
2 2
1.5
1 1
0.5
0 0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
tiempo tiempo

Step input signal Output of the system

Characteristic response of a first order system:

Exponential evolution with non zero slope at the
instant corresponding to the step jump
19
Identification based on the step response

Candidate Transfer Function

K
G ( s) =
1 + s
Two parameters:
K?
?

20
 Identification based on the step response
10 10
9.5
u y
9 9
8.5
8 8
7.5
7 7
6.5
6 6

y = 6
5.5
5 5
4.5
4 4
3.5
3 3

u = 2
2.5
2 2
1.5
1 1
0.5
0 0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

tiempo tiempo

K: it is obtained from the steady state :

y 8 2 6
K= = = =3
u 3 1 2

21
 Identification based on the step response
: it is obtained from the transitory response
10
9.5
y
9
8.5
8
7.5
7
6.5
6
5.5
5 y = 6
0 . 63 y = 3 . 78
4.5
4
3.5
3
2.5
2
1.5
1
0.5

0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
tiempo

22
 Frequency based identification

G(s) can be determined from the experimental Bode
Diagram
u(t) y(t)
system

Determination of the frequency range:

Step response: Characteristic time constant of the system

Other factors:

Frequency range of noise

Sampling time

23
Frequency identification of a tank

Operating point:

h(t)

1 H
1/A To Workspace
s
Integrator h
Vlvula 1/A
Sine Wave
Math
k Function
Qs
q0 Constant k sqrt Scope

h0 Constant1

24
Frequency identification of a tank
35

30

25

20

15

10
-4 -3 -2 -1 0
10 10 10 10 10

-20

-40

-60

-80

-100
-4 -3 -2 -1 0
10 10 10 10 10

25
 Frequency identification of a tank

35

Bode Experimental
30
Ke (dB) Bode sistema aprox.
25

20

15

10
-4 -3 -2 -1 0
10 10 10 10 10
1/
0

-20

-40

-60

-80

-100
-4 -3 -2 -1 0
10 10 10 10 10

26
 Equilibrium points. Steady state
characteristic
1. Dynamical Systems
2. Single Input-Single Output Systems (SISO
Systems)
3. Identification of Dynamic Systems
4. Equilibrium points. Steady state
characteristic
5. Linearization
6. Control scheme
7. Basic control actions
27
 Transitory and steady state response
2

1.5 Transitory response Steady state

response
1

0.5

0
0 5 10 15 20 25 30 35 40

Steady state
1.5
Transitory response response
1

0.5

0
0 5 10 15 20 25 30 35 40

28
 Equilibrium point

The equilibrium point is reached when the derivative

of vs is zero. That is, when ve = vs
29
 Equilibrium point
Uniqueness of the equilibrium point for linear systems:

Given an input, for example ve= 1 volt, the system will evolve till it
reaches a unique equilibrium point that corresponds to the
output vs=1 volt.
If the input is ve = 2 volts, then the system evolves till it reaches an
equilibrium point that corresponds in this case to an output vs=2
volts.
For a given input, there is only one equilibrium point.

30
 Steady state characteristic
Relationship between the input and the output in the
steady state regimen.
Example:
vs

In steady state:

ve

31
 Steady state characteristic
The steady state characteristic can be often obtained in an
experimental way:
For example: DC Motor
Input: Applied voltage V (volts)
Output: Angular velocity (r.p.s.) revolutions per second

_ R
+
V

32
 Steady state characteristic
Applying different voltages at the input and measuring the
revolutions per second in steady state:
V(v) R(r.p.s.)
0 0
1 0
2 0.2
_ R 3 1.3
+
V 4 3.2
5 5.1

6 6.5
7 7.2
8 7.4
9 7.4

33
 Steady state characteristic
Graphic representation of the steady state characteristic

9
R
8
7
6
5
4
3
2
1

1 2 3 4 5 6 7 8 9
V

34
 Steady state characteristic
Some considerations for the analysis of the steady state
characterisitic Zone of non linear behaviour
9
R
8
7
6
5
4
3 Zone of linear behaviour
2
1

1 2 3 4 5 6 7 8 9
V

35
 Static gain
The static gain allows one to determine which is the final
increment at the output of the system due to a given increment in
the input.

u(t) y(t)
system

y
K static =
u

36
 Static gain
Consider the following data, obtained from the step
response of the system. Which is the static gain ?
8 8
7 7
6 6
5 5
4 4
3 3
2 2
1 1
0 0
0 5 10 0 5 10

u(t) y(t)
system K static ?

37
 Static Gain
u 8 y8
7 7
6 6
5 5
4 4
3 3
y = 3
2 2
1
u
u ==11 1
0 0
0 5 10 0 5 10

y 5 2 3 5 5
K static = = = =3 K static K static
u 2 1 1 2 1

38
 Static Gain
The steady state characteristic of a system allows one to
determine which is its static gain at each operating point
(equilibrium point): It is given by the slope of the curve.
y
y 9 K static =
8 u
7
6
5
4
3
2
1

1 2 3 4 5 6 7 8 9
u
39
 Static gain
In the zone corresponding to a linear behaviour, the static gain
characteristic has a constant slope. Therefore, in this zone the
static gain is constant regardless of the operating point
Zones of non linear behaviour: Kstatic depends on the operating point
9
y
8
7
6
5
4 Linear zone: same static gain
3 Kstatic for every operating point
2
1

1 2 3 4 5 6 7 8 9
u
40
 Linearization

1. Dynamical Systems
2. Single Input-Single Output Systems (SISO
Systems)
3. Identification of Dynamic Systems
4. Equilibrium points. Steady state characteristic
5. Linearization
6. Control scheme
7. Basic control actions

41
 Linear dynamic systems:
Superposition principle
3.5 3.5

3 3

2.5

2
2.5

2
y1
1.5 u1 1.5

Linear system
1 1

0.5 0.5

0 0
0 5 10 15 20 25 30 0 5 10 15 20 25 30

3.5 3.5

3 3

2.5 2.5

2 2

1.5 1.5

0.5
u2 Linear system 1

0.5
y2
0 0
0 5 10 15 20 25 30 0 5 10 15 20 25 30

3.5 3.5

3 3

2.5

2
2.5

2
y1+y2
1.5 u1+u2 1.5

1
Linear system 1

0.5 0.5

0 0
0 5 10 15 20 25 30 0 5 10 15 20 25 30

42
 Superposition principle
(it is not applicable for non linear systems)
3.5 12

3
10

2.5
8
2

1.5 u1 6
y1
1 Non Linear 4

0.5
system 2

0
0 5 10 15 20 25 30 0
0 5 10 15 20 25 30

3.5 12

3
10

2.5
8

6
1.5

1
u2 Non Linear 4

y2
0.5
system 2

0 0
0 5 10 15 20 25 30 0 5 10 15 20 25 30

3.5 12

3
10

2.5

2
8 yt=y
/ 1+y2
1.5 ut=u1+u2 6

1 Non Linear 4

0.5
system 2

0 0
0 5 10 15 20 25 30 0 5 10 15 20 25 30

43
 System Linearization

Objective:

Obtaining approximated linear models from non linear ones.

Operating poing:

Equilibrium point at which the linearization is done.

Properties:

It represents in a correct way the system in a neigborhod of the
equilibrium point.

Outside of the region of applicability of the linearized model, the error
might be too large.

44
Linealizacin de sistemas

Las variables incrementales dependen

del punto de funcionamiento elegido

45
Linealizacin de sistemas

46
 Example

Operating point:

Defining incremental variables

Modeling error
47
 Illustrative example

Good approximation around the

equilibrium point

For larger deviations, the linear
model might incurr in large errors

All the signals evolve around their
value at the equilibrium point

48
 Control scheme

1. Dynamical Systems
2. Single Input-Single Output Systems (SISO
Systems)
3. Identification of Dynamic Systems
4. Equilibrium points. Steady state characteristic
5. Linearization
6. Control scheme
7. Basic control actions

49
 Feedback control
Manipulated
variable

Reference error
Controller Actuator System
- e u Controlled output

y(t) Sensor

Measured signal

Negative feedback:
Compensation for the error e
y
e
(if not, unstable)
50
 Controller gain

The controller should guarantee a positive gain,
that is, e
y

Positive gain:

If u
y, then e
u h

Negative gain:

If u
y, then e
u
h

51
Linearization and control

U(t) Y(t)
u(t) y(t)
u0 y0

U(t) Y(t) y(t)

u(t) Plant
+ -
u0 y0

u(t) Linearized y(t)

model

52
 Control of linearized systems

R(t) e(t) u(t) U(t) Y(t)

Controller Plant

- +
u0 e(t) = (R(t)-y0)-(Y(t)-y0)
= R(t)-Y(t)

R + E U V Y
C(s) Ga(s) G(s)
-
Controller Actuator Plant

Equivalent (linear) Ym
Gs(s)
control system
Sensor

53
 Basic control actions

1. Dynamical Systems
2. Single Input-Single Output Systems (SISO
Systems)
3. Identification of Dynamic Systems
4. Equilibrium points. Steady state characteristic
5. Linearization
6. Control scheme
7. Basic control actions

54
 Basic control terms

 Relay based control

 Proportional term

 Integral term

 Derivative term

55
 Relay based control

On-Off control Relay

Control law e(t)
R(t) U(t)
System Y(t)

If e(t)>0, u(t)=umax
-

If e(t)<0, u(t)=umin

Oscillatory behavior

Drives the system to the reference point

Relay control with hysteresis u umax

Reduces oscillatory behavior

Increasing the band of the umin e
hysteresis reduces the frequency and
increases the amplitude

56
 Level Control of a vessel
r

Referencia Scope

1 H
1/5 To Workspace
s
Integrator h
Step Rele Vlvula 1/A
Math
k Function
Qs
10 sqrt
Step1

Histresis de anchura 0.04 Histresis de anchura 0.08

0.9 0.9 0.9

0.8
0.8 0.8

0.7
0.7 0.7

0.6
0.6 0.6

0.5
0.5 0.5
0.4
0.4 0.4
0.3
0.3 0.3
0.2
0.2 0.2
0.1
0.1 0.1
0
0 1 2 3 4 5 6 7 8 9 10
0 0
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10

57
 Proportional term
u umax

Control law
u0
umin

e
Proportional
band

R(t) e(t) U(t) Y(t)

Kp System

- +
u0

58
 Proportional term
 Properties:

Reduces oscillatory behavior

BP=0%
Relay control

It eliminates the tracking error of the step-
response for the equilibrium reference u0

In general it does not eliminate the tracking
error of the step response for arbitrary
references

59
 Proportional level control of a Vessel

Referencia Scope

1 H T o Workspa ce
10 1 /5
s
Integra tor h
Step Gai n V lvul a 1/A
M ath
k Function
Qs
7.07 11 Constant 10 sqrt
Step1

K =10 K =10 K p=100

p p
0.7 0.7 0.7

0.6 0.6 0.6

0.5 0.5 0.5

0.4 0.4 0.4

0.3 0.3
0.3

0.2 0.2
0.2

0.1
0.1 0.1

0
0 0 1 2 3 4 5 6 7 8 9 10
0 0 1 2 3 4 5 6 7 8 9 10
0 1 2 3 4 5 6 7 8 9 10

60
 Integral term

PI control law

R(t) e(t) U(t) Y(t) Eliminates the tracking error of

PI System
the step-response for arbitrary
- references
Increases oscillatory behavior
(may lead to instability)

61
 Integral term

Adapts the value of u0
e(t) U(t) Y(t)
R(t) System
Kp
+ u0
-
1er order
(K=1, t=Ti)

If the closed-loop system is stable then

u(t) bounded
bounded
e(t) 0

62
 PI level control of a vessel
r

Referencia Scope

1 H
1/5 To Workspace
100 s
Integrator h
Step Gain Vlvula 1/A
Math
Transfer Fcn k Function
Qs
1 10 sqrt
Step1 s+1

Kp=100 Ti=1 Kp=100, Ti=0.1

0.8 0.9

0.8
0.7

0.7
0.6
0.6
0.5
0.5

0.4
0.4

0.3 0.3

0.2 0.2

0.1
0.1

0
0 0 1 2 3 4 5 6 7 8 9 10
0 1 2 3 4 5 6 7 8 9 10

63
 Derivative term

PD control law R(t) e(t) U(t)

System
Y(t)
PD
- +
u0

Predicts future evolution of the error

May improve transient

Amplifies high-frequency noise

64