Automatic Control TheoryThe Classical Approach

Reference Book
Flight Stability and Automatic Control
By- Robert C. Nelson
(second edition)

Introduction

Introduction(cont..)
Control theory deals with the analysis and
synthesis of logic for the control of a system
In the broadest sense, a system can be thought
of as a collection of components or parts that
work together to perform a particular function.
The airplane is an example of a complex
system designed to transport people and cargo.

Introduction(cont..)
Control theory developed along with two
different analytical approaches.
Classical or Conventional Approach
(begins in late 1930s, based on frequency
response methods, the root locus technique,
transfer functions and Laplace transforms.
Foundation based upon the work of Bode,
Nyquist and Evans)

Introduction(cont..)
Modern Control Theory
( developed in the 1960s, based on the statespace formulation of the system.)

Classification of Control
System
Open-loop control system
Closed-loop control system

Feedback Control System

The typical closed-loop feedback control
system is composed of a forward path, a
feedback path and an error detection
device called comparator.

Transfer Function
Each component of the control system is
defined in terms of its transfer function.

The transfer function of each element of

the control system can be determined
from the equations that govern the
dynamic characteristics of the element.

Transfer Function(cont..)

Rouths Criterion
The roots of the characteristic equation tell
whether or not the system is dynamically stable.
If all the roots of the characteristic equation
have negative real parts the system will be
dynamically stable.
On the other hand, if any root of the
characteristic equation has a positive real part
the system will be unstable.

Rouths Criterion(cont..)
The system is considered to be marginally
stable if one or more of the roots is a pure
imaginary number.
The marginally stable system represents
the boundary between a dynamically
stable or unstable system.

Rouths Criterion(cont..)
Consider the characteristic equation

Conditions are
All the coefficients of the characteristic
equation must have the same sign.
All the coefficients must exist.

Rouths Criterion(cont..)

Rouths Criterion(cont..)
Example Example(2)-

Root Locus Technique

The root locus technique was introduced by
W.R.Evans in 1949. He developed a series of rules
that allow the control systems engineer to quickly
draw the root locus diagram.
The root-locus method is a technique for determining
the roots of the closed loop characteristic equation
of a system as a function of the static gain .[1]
This method is based on the relationship that exists
between the roots of the closed loop transfer
function and the poles and zeros of the open loop
transfer function.[1]

Root Locus
Technique(contd)
In the transfer function, the denominator is the
characteristic equation of the system.
In control terminology, the characteristic roots are
called poles of the transfer function.
The roots of the numerator are called zeros.
The roots of characteristic equation(or poles) must
be negative real parts if the system is be stable. In
control system design, the location of the poles of
the closed loop transfer function allows the
designer to predict the time-domain performance
of the system.

Root Locus
Technique(contd)

Root Locus
Technique(contd)
Any pole lying in the left half portion of the
complex plane is stable; that is, the
response decays with time.
Any pole in the right half plane leads to a
response that grows with time, which will
result in an unstable system.
The farther the root is to the left of the
imaginary axis, the faster the response
decays.

Root Locus
Technique(contd)
All poles lying along a particular vertical line
will have the same time to half amplitude.
Poles lying along the same horizontal line
have the same damped frequency, , and
period.
The farther the pole is from the real axis, the
higher the frequency of the response will be.

Root Locus
Technique(contd)
Poles lying along a radial line through the
origin have the same damping ratio, ,and
roots lying on the same circular arc around
the origin will have the same undamped
natural frequency.
Finally poles lying on the imaginary axis
lead to undamped oscillations.

Root locus concept

Root locus concept

Root Locus
Technique(contd)

Advantages of root locus

technique
It gives a clear idea of the effect of gain
adjustment with relatively small effort
compared other methods.
It gives a clear idea about the stability
It gives some idea about transient response
of the system, indicating whether the
system is over damped, under damped or
critically damped

Example: 01
Let,
G( s)

k
s ( s 2)

The close loop T.F.

C (s)
G( s)
k
k

R ( s ) 1 G ( s ) ( s 2s k ) ( s s1)( s s 2)

Rules for graphical construction of

the root locus plot

Example: 02
Draw the
approximate root
locus diagram for a
closed loop system
whose open loop
transfer function
T.F is
k
G ( s) H ( s)
( s 5)( s 10)
given sby
for 0 k

Addition of poles and zeros

Its not possible to satisfy all the performance
specification using a single parameter such as
system gain.
This requires the designer to add some form of
compensation to the basic control system
The compensators may be electrical circuits,
mechanical devices or electromechanical
devices that are add to the system to improve
its performance

Addition of poles and zeros(contd..)

The compensators may be add to either
forward or backward path.
The compensators have a transfer function
composed with poles and zeros.

Addition of poles and zeros(contd..)

example: 03
Construct a root locus plot from the
transfer function G(s)H(s) given by
G( s) H ( s)

k
s ( s p1 )

The examine how the locus by the addition

of one of the following to the original
transfer function
(i) simple pole (ii) multiple pole (iii) simple
zero

Root locus of example 03

(Adding a simple pole,

p1>p2)

(Adding a simple pole,

p2>p1)

(Addition of two simple

poles)

Addition of a simple zeros

Addition of a simple zeros

Additions of poles and zeros

Root locus plot of a control system can be
altered by the addition of poles and zeros.
The compensator basically is a device that
provide a transfer function consisting of
poles and zeros or both that can be chosen
to move the root locus contour of the
compensated system to the desired closed
loop pole configuration
N.B. the addition of a compensator is

Frequency domain
technique
Aircraft response to control or atmospheric inputs is
the steady state response to a sinusoidal input
If the input to a linear stable system is sinusoidal,
then after the transients have died out the response
of the system also will be sinusoidal of the same
frequency.
The response of the system is completely described
by the ratio of the output to input amplitude and the
phase difference over the frequency range from zero
to infinity.

Frequency domain
technique(contd..)
The magnitude and phase relationship
between the input and output signals is
called the frequency response of the
system
Transfer function of closed loop feedback
system can be written as

Frequency domain
technique(contd..)
The frequency response can be obtained
readily from the system transfer function
by replacing the Laplace variable s by i

In terms of magnitude and phase angle-

Frequency domain
technique(contd..)
The frequency response information can
be plotted in rectangular, polar or
logarithmic (Bode) plots

Gain and phase margin from root

locus
The gain and phase margin used to
determine the relative stability of a control
system using frequency response
techniques also can be determined from
the root locus plot.

Control system design

THANK YOU ALL