International Conference on Systemics, Cybernetics and Informatics

Stable Design Of A Bionic Eye Control System

Achintya Das Rimi Ghosh Rupa Das
Professor and Head Faculty member M.Tech Project Scholar
Electronics and Communication Electronics and Instrumentation Electronics and Communication
Engineering Engineering Engineering
Kalyani Goverment Engineering College J.I.S College of .Engineering, Kalyani Goverment Engineering College
P.O: Kalyani Dist:Nadia P.O:Kalyani, Dist:Nadia P.O: Kalyani, Dist:Nadia
WestBengal. West Bengal WestBengal.
achintya_das123@yahoo.co.in rimighosh28@yahoomail.com ts_rupa@yahoo.com

Abstract brain, closing the loop.. Figure.3(a), is a block diagram of the

The present work describes the design and analysis control loop of the artificial eye. The compensator of
of a control system, which is a simulation of an artificial eye Figure.3(b). simulate the lens/detector portion of Figure.3(a).
or bionic eye in an efficient way. In accordance with the
principle of artificial vision introduced, a gimbaled mirror
rotates to follow the motion of an otherwise blind eye. The
mirror, in turn, causes a camera to detect light from the
direction toward which the eye is pointed. That light proceeds
to an artificial retina, to simulate brain activity. The total
control system in this work is considered to be composed of
Gimballed mirror and compensator system as operated in a Figure 1. Normal Vision
closed loop manner with unity negative gain in the closed loop
feedback path. Hence, the overall open loop transfer function
in the forward path is simply the product of the transfer
functions of the Gimballed mirror, and the compensator
system. The controllability and the observability of the system
are tested, and the system is found to be controllable &
observable. MATLAB 7.1 software is suitably used in the
concerned analysis and design. Figure.2. Bionic Vision(with an artificial eye).

Index Terms— Bionic eye, Controllability, observability.

1. Introduction
Control system science and biomedical
instrumentation form a partnership that has the promise of
restoring sight to those without central vision.[1].
Bio-Electronic eye-An electronic device which
replaces functionality of a part or whole of eye. It is used for Figure.3(a). Artificial eye control loop dynamics.
replacing functionality or adding functionality to the eye. The control loop.
Figure.1. shows a block diagram of normal human vision.
When a person wants to view an object, the brain causes the
muscle to rotate the eye’s central line to rotate the object. The
image from that object passes through the eye’s lens to the
retina, sending impulses back to the brain, closing the loop. In
Figure.2, the bionic artificial eye system, the brain attempts to
view the object by pointing the poorly functioning eye along Figure.3(b). Simulation of Figure.3(a).
some angle. An artificial eye orients a camera along the same
angle as the eye. The image from the object enters the camera 2. Conversion From S-Domain To Z-Domain [5]
and is then routed to some components that elicit response in The transformation of z transform helps in the
the analysis & design of sample data control system, as Laplace
Copyright © 2010
transform does in the analysis and design of continuous data
Paper Identification Number: CC-1.1
This peer-reviewed paper has been published by control system.
the Pentagram Research Centre (P) Limited. The z-transform F(z) of a sample data control signal
Responsibility of contents of this paper rests upon f(KT) is defined by the relation:
the authors and not upon Pentagram Research ∞
Centre (P) Limited. Copies can be obtained from
the company for a cost.
F(z)= ∑ f ( KT ) z
K =0
−K
…….. (1)

97
Stable Design Of A Bionic Eye Control System

The above relation is derived from the Laplace For example, the eye should be able to change focus
transformation as applied to sample data control signal, from one object to another object without any steady state
assuming esT= z as the concerned transformation variable in angular positioning error. Thus, there should be zero steady
Laplace transformation. state step error. Similarly, the eye should be able to scan a
We have, scene or track a moving object with smooth response. That
sT=lnz property will follow if the artificial eye provides zero steady
T state ramp error. Therefore the control loop should be type 2.
i.e, s-1= ……………………(2). and Gp(s) each have a pole at s=0 as Figure.4(c), then the
ln z steady state properties are assured in that the control loop is
Using power series expansion of lnz, the above equation clearly type 2.[1].
becomes: The close loop Transfer function is
1
s-1= T [ − u −
1
3 5 4 44
u - u ]…….….(3), Gc ( s)G p (s )
2 u 3 45 945 T ( s) = ……………(5)
where 1 + Gc (s )G p ( s )

u=
1 − z −1
1 + z −1 k +k 
Gc ( s) = 1 +  1 2  ………………(6)
In general, for any positive integral value n, we have,  s 
n n
s- n =  T   1 − 1 u − 4 u 3 − 44 u 5  ….(4)
G p ( s) =
60
   ………….……(7)
 2  u 3 45 945  s( s + 60)
By using binomial expansion in the above equation for various Under present situation, overall transfer function of the
values of n, we may have the transformation from s to z system is given by the relation:
domain.
Y ( s)
= T (s )
R( s )
3. Controllability & Observability [2]
60 s + 60( k1 + k 2 )
3.1 Controllability T ( s) = 3 …..(8)
A system described by the matrices (A,B) can be s + 60 s 2 + 60 s + 60( k1 + k 2 )
said to be controllable, if there exists an unconstrained control
u that can transfer any initial state x(0) to any other described Thus for the entire system the characterstic equation is
location x(t). s 3+60s2+60s+60(k1+k2) =0 …… (9).
For the system, the state equation is represented as: For this characteristics equation to make the design
x’=Ax + Bu. problem with stability, the Routh array is constructed as
We can determine whether the system is controllable by below:
examining the algebraic condition: S3 1 60
Rank[B AB A2B……An-1B]=n. S2 60 60(k1+k2)
For a single input, single output system, the controllability S1 60 -( k1+k2)
matrix Pc is described in terms of A &B. S0 60(k1+k2)
Pc= [B AB A2B……An-1B], For stability
which is an nxn matrix. Therefore if the determinant of Pc is (k1+k2) >0
nonzero, the system is controllable[2]. (k1+k2) <60
3.2 Observability Considering k1 = 1 and k2 = 20, overall transfer function of the
Observability refers to the ability to estimate a state system becomes:
variable. .A system is observable, if and only if, there exists a 1260 + 60 s
finite time t such that the initial state x(0) can be determined T (s ) = 3 ………..(10)
from the observation history y(t) given the control u(t)[12].
s + 60s 2 + 60 s + 1260
Consider the single input single output system represented by
the state space equation: 5. Methods And Material
x’=Ax + Bu, and y=Cx, Normally control system is considered in continuous
C is a row vector & x is a column vector. This system is data control system (continuous time domain ↔ Laplace
observable, when the determinant of Q is nonzero where Q= C domain), the system analysis and study get restricted for any
CA ……CAn-1 which is a nxn matrix. change in the system parameter, or input variation for easy and
ready study. To circumvent this problem sample data(s.d.)
4. System Design control system makes study and analysis easy and ready
available with variation in the system parameter and also the
The overall control system under study consists of
input. For this reason the system is also studied in sample data
one appropriate compensator in cascade with the gimbaled
control model. The stability of the present system is tested by
mirror system in closed loop manner with unity negative
Jury’s stability test which guarantees the stability of the
feedback path. To design the compensator Gc(s) and gimbaled
overall system. Needless to mention, any stable system when
mirror Gp(s), we need to think about the properties of normal
operated in s.d. mode, the system is not necessarily to be
vision this electronic eye should reproduce.
guaranteed to remain stable in the s.d. mode also, there being

98
 International Conference on Systemics, Cybernetics and Informatics

the enhancement of the order of the system as introduced by 4. Jury stability criteria are satisfied.
the sampler.
As any control system deserves to reach its steady 8. Output Plots
state by which the system finally runs, and follows the input at
that state, the designed parameter k1 and k2 is accordingly
decided. The other desirable characteristic performances being
also available in the system.

6. Matlab Output Files [6]

Transfer function: G=
Transfer function:
60 s + 1260
--------------------------
s^3 + 60 s^2 + 60 s + 1260

Gain Margin and Phase Margin

G(m)=infinite
P(m)= 22.2 deg (at 6.55 rad/sec)
A=

-60.0000 -3.7500 -9.8438

16.0000 0 0 Plot 1. Bode plot
0 8.0000 0
B=4
0
0
C = 0 0.9375 2.4609
D=0
>> rank(M)
ans = 3
>> length(A)
ans = 3
>> rank(N)
ans = 3
Sampling Time T=0.02
G’= 0.0096115 z^2 + 0.0011566 z - 0.0049097
--------------------------------------------------
z^3 - 2.2837 z^2 + 1.5908 z - 0.30119
for jury test Plot 2. Root Locus plot
a0= 1
Impulse Response
a1= -2.2837 5
a2= 1.5908
a3= -0.30119 4

b0= -0.902972
3
b1= 1.80456
b2= - 0.9092845 2
c0= -0.011368
c1= -0.01141623 1
Amplitude

G’(1)>0
0
G’(-1) is negative
│ a3│< │ a0│ satisfied -1
│ b2│> │b0│ satisfied
-2
│ c1│> │c0│ satisfied
-3
7. Results
1. GAIN MARGIN= infinite -4
0 2 4 6 8 10 12 14 16 18
2. PHASE MARGIN = 22.2 deg (at 6.55 rad/sec) Time (sec)
3. Rank of the controllability & observability Plot 3. Impulse Response plot
matrix=3, as same as the order of the system &
hence controllable & observable.

99
Stable Design Of A Bionic Eye Control System

2
Step Response margin of value 22.2 degree. Since the system is stable in both
continuous and sample data control system, controllable,
1.8
observable, having appropriate gain margin and phase margin,
1.6 the design of an artificial eye (Bionic eye) system becomes
1.4
feasible as done in this present paper

1.2
10. References
Amplitude

1
1. Stefani Shahian Savant Hostetter “Design of
0.8 feedback control system”, 4rth ed, Oxford
University press, 2002, pp.237-240.
0.6
2. R.C.Dorf, Bishop,”Modern Control system”8th ed,
0.4 Addison Wesley, 1999, pp 286- 286, P5.16.
0.2 3. S.C Biswas,A.Das,P.Guha pp 15- 17”Mathematical
Model of Cardiovascular system by transfer function
0
0 2 4 6 8 10 12 14 16 18 Method”, Calcutta Medical Journal. Vol-103,No.4
Time (sec)
July-Aug2006.
Plot 4. Step Response plot 4. William F Ganong,pp63-64”Review of Medical
2
Step Response
Physiology”,14th edition, Prentice –Hall
International.
1.8
5. Achintya Das, pp 96-98”Advance Control
1.6 system”,3rd ed,Matrix Educare,Feb2009.
6. MATLAB 7.0.
1.4
7. R.N Clark ,Introduction to Automatic control
1.2 system, John wiley& sons,New York,1962,pp 115-
124.
Amplitude

1
8. R.C.Dorf, Electric circuits, 3rd ed. John
0.8 Wiley&sons,New York,1996.
9. Athans ,M;”The status of optimal control theory &
0.6
Applications for Deterministic systems” IEEE
0.4 Trans. Autom. Control (July 1996).
10. Sage .A.P,and White,C.C.3;Optimum system
0.2
control, Englewood cliffs, NJ :Prentice Hall,1977.
0 11. W.J .Rough, Linear system Theory ,2nd ed, Prentice
0 50 100 150 200 250 300 350
Time (sec)
Hall, Englewood Cliffs,N.J.,1996.
Plot 5. Step Response plot (sample data) 12. C.M close & D.K Fredrick, Modeling & Analysis of
Dynamic systems,2nd ed, Houghton Mifflin, Boston,
1993.
9. Conclusion
The system offers an in depth sight for the
biomedical engineering application of an artificial eye (Bionic
eye) system. As it is analyzed using MATLAB software, the
overall system is found to have infinite gain margin and phase

100