8 Chapter 1

used in analyzing dierent control strategies. System representations like state space
are presented along side of transfer functions in this text to develop the skills leading
to modern control theory techniques. State space, while useful for LTI SISO systems,
lends itself more readily to topics included in modern control theory. Modern con-
trol theory is a time-based approach more applicable to linear and nonlinear,
MIMO, time-invariant, or time-varying systems.
When we look at classical control theory and recognize its roots in feedback
amplier design for telephones, it comes as no surprise to nd the method based in
the frequency domain using complex variables. The names of those playing a pivotal
role have remained, and terms like Bode plots, Nichols plots, Nyquist plots, and
Laplace transforms are common. Classical control techniques have several advan-
tages. They are much more intuitive to understand and even allow for many of the
important calculations to be done graphically by hand. Once the basic terminology
and concepts are mastered, the jump to designing eective, robust, and achievable
designs is quite easy. Dealing primarily with transfer functions as the method to
describe physical system behavior, both open-loop and closed-loop systems are easily
analyzed. Systems are easily connected using block diagrams, and only the input/
output relationships of each system are important. It is also relatively easy to take
experimental data and accurately model the data using a transfer function. Once
transfer functions are developed, all of the tools like frequency plots and root locus
plots are straightforward and intuitive. The price at which this occurs is reected in
the accompanying limitations. With some exceptions, classical techniques are suited
best for LTI SISO systems. It rapidly becomes more of a trial-and-error process and
less intuitive when nonlinear, time varying, or MIMO systems are considered. Even
so, techniques have been developed that allow these systems to be analyzed. Based
on its strengths and weaknesses, it remains an eective, and quite common, means of
introducing and developing the concept of automatic controller design.
Modern control theory has developed quickly with the advent of the micro-
processor. Whereas classical techniques can graphically be done by hand, modern
techniques require the processing capabilities of a computer for optimal results. As
systems become more complex, the advantages of modern control theory become
more evident. Being based in the time domain and when linearized, in matrix form,
implementing modern control theories is equally easy for MIMO as it is for SISO
systems. In terms of matrix algebra the operations are the same. As is true in other
matrix operations, programming eort remains almost the same even as system size
increases. The opposite eect is evident when doing matrix operations by hand.
Additional benets are the adaptability to nonlinear systems using Lyapunov
theories and in determining the optimal control of the system.
Why not start then with modern control theory? First, the intuitive feel evident
in classical techniques is diminished in modern techniques. Instead of input/output
relationships, sets of matrices or rst-order dierential equations are used to describe
the system. Although the skills can be taught, the understanding and ramication of
dierent designs are less evident. It becomes more math and less design. Also,
although it is simple in theory to extend it to larger systems, in actual systems,
complete with modeling errors, noise, and disturbances, the performance may be
much less than expected. Classical techniques are inherently more robust. In using
matrices (preferred for computer programming) the system must generally be line-
arized and we end up back with the same problem inherent in classical techniques.