Automatic control theory

A Course used for analyzing and designing a automatic control system

Chapter 1 Introduction
21 century information age, cybernetics(control theory), system approach and information theory , three science theory mainstay(supports) in 21 century.

1.1 Automatic control

A machine(or system) work by machine-self, not by manual operation.

1.2 Automatic control systems 1.2.1 examples 1) A water-level control system

* Operating principle * Feedback control

val ve

G ear assem y bl

+
f l oat

m or ot
M

W er pool at

am i f i er pl

Figure 1.1

Chapter 1 Introduction
Another example of the water-level control is shown in figure 1.2. * Operating principle * Feedback control
l ever w er at ent r ance W er exi t at Fi gur e 1. 2
cont ai ner t her m o m er et

f l oat

2) A temperature Control system

(shown in Fig.1.3)
+
ur e uf
am i f i er pl

* Operating principle * Feedback control(error)

ua=k( ur - uf )
M

G ear assem y bl Fi gur e 1. 3

Chapter 1 Introduction
3) A DC-Motor control system

+
ur e

U =k( ur - uf ) k

E
r egul at or t r i gger U ( Feedback) f r ect i f i er

ua

D C m or ot
M

l oad

t echom er et

Fi g. 1. 4

* Principle * Feedback control(error)

Chapter 1 Introduction
4) A servo (following) control system
ser vopot ent i om er et I nput T r out put T c l oad

Fig. 1.5

ser vom odul at or

ser vo m or ot

* principle * feedback(error)

ser vom echani sm

Chapter 1 Introduction
5) A feedback control system model of the family planning
(similar to the social, economic, and political realm(sphere or field))
excess pr ocr eat e Desi r e popul at i on

gover nm ent ( Fam l y pl anni ng com i t t ee) i m

+
soci et y Pol i cy or st at ut es

popul at i on

census

* principle * feedback(error)

Fig. 1.6

Chapter 1 Introduction
1.2.2 block diagram of control systems
The block diagram description for a control system : Convenience

x x3 + + e x2

Si gnal ( var i abl e)

xxx

Com ponent s ( devi ces)

x1

Adder s ( com i son) par e=x1+x3- x2 Fig. 1.7

Example:

Chapter 1 Introduction
val ve

For the Fig.1.1, The water level control system:

G ear assem y bl

+
f l oat

m or ot
M

W er pool at

am i f i er pl

Figure 1.1

resistance comparator Desired water level Input amplifier Error controller Motor

Actuator Gearing Valve Water container Process Float

Actual water level Output

Feedback signal

Fig. 1.8

measurement (Sensor)

Chapter 1 Introduction
For the Fig. 1.4, The DC-Motor control system
com at or par Desi r ed r ot at e speed n Ref er ence i nput ur Act uat or

e
Er ror

uk
Regul at or cont r ol l er Tr i gger

a
Rect i f i er

ua

DC m or ot Pr ocess

Act ual r ot at e speed n Out put n

Techom er et Feedback si gnal

uf
Fi g. 1. 9

m easurem ( Sensor) ent

Chapter 1 Introduction
1.2.3 Fundamental structure of control systems 1) Open loop control systems
Di st ur bance ( Noi se) I nput r( t ) Ref erence desi r ed out put Cont rol l er Cont rol si gnal Fi g. 1. 10 uk Act uat or Act uat i ng si gnal uact Process Out put c( t ) ( act ual out put )

Features: Only there is a forward action from the input to the output.

Chapter 1 Introduction
2) Closed loop (feedback) control systems
Di st ur bance ( Noi se) I nput r ( t ) Ref er ence desi r ed out put e( t ) = r ( t ) - b( t ) Cont r ol l er O put c( t ) ut ( act ual out put )

uk
Cont r ol si gnal

( +)
Feedback si gnal b( t )

Act uat or

uact
Act uat i ng si gnal

Pr ocess

m easur em ent
Fi g. 1. 11

Features: not only there is a forward action , also a backward action between the output and the input (measuring the output and comparing it with the input). 1) measuring the output (controlled variable) . 2) Feedback.

Chapter 1 Introduction
Notes: 1) Positive feedback; 2) Negative feedbackFeedback. 1.3 types of control systems
1) linear systems versus Nonlinear systems. 2) Time-invariant systems vs. Time-varying systems. 3) Continuous systems vs. Discrete (data) systems. 4) Constant input modulation vs. Servo control systems.

1.4 Basic performance requirements of control systems

1) Stability. 2) Accuracy (steady state performance). 3) Rapidness (instantaneous characteristic).

Chapter 1 Introduction
1.5 An outline of this text 1) Three parts: mathematical modeling; performance analysis ; compensation (design). 2) Three types of systems: linear continuous; nonlinear continuous; linear discrete. 3) three performances: stability, accuracy, rapidness. in all: to discuss the theoretical approaches of the control system analysis and design. 1.6 Control system design process
shown in Fig.1.12

Chapter 1 Introduction
1. Establish control goals 2. Identify the variables to control 3. Write the specifications for the variables 7. Optimize the parameters and analyze the performance Performance meet the specifications 6. Describe a controller and select key parameters to be adjusted

Performance does not 4. Establish the system configuration Meet the specifications Identify the actuator Finalize the design 5. Obtain a model of the process, the actuator and the sensor Fig.1.12

Chapter 1 Introduction
1.7 Sequential design example: disk drive read system A disk drive read system Shown in Fig.1.13
Rotation of arm Actuator motor Spindle Disk Track a Track b

Configuration Principle
Arm Head slider

Fig.1.13 A disk drive read system

Chapter 1 Introduction
Sequential design:
here we are concerned with the design steps 1,2,3, and 4 of Fig.1.12.

(1) Identify the control goal:

Position the reader head to read the date stored on a track on the disk.

(2) Identify the variables to control: the position of the read head. (3) Write the initial specification for the variables:
The disk rotates at a speed of between 1800 and 7200 rpm and the read head flies above the disk at a distance of less than 100 nm. The initial specification for the position accuracy to be controlled: 1 m (leas than 1 m ) and to be able to move the head from track a to track b within 50 ms, if possible.

Chapter 1 Introduction
(4) Establish an initial system configuration: It is obvious : we should propose a closed loop system , not a open loop system. An initial system configuration can be shown as in Fig.1.13.
Desired head position error Control device Actuator motor Read arm Actual head position

sensor
Fig.1.13 system configuration for disk drive

We will consider the design of the disk drive further in the aftermentioned chapters.

Chapter 1 Introduction
Exercise: E1.6, P1.3, P1.13

Chapter 2 mathematical models of systems

2.1 Introduction
2.1.1 Why
1) Easy to discuss the full possible types of the control systemsin terms of the systems mathematical characteristics. 2) The basis analyzing or designing the control systems. For example, we design a temperature Control system :
Input r(t)
Disturbance

e(t)= r(t)-b(t) (-)

Controller

uk
Control signal

Actuator

uac
Actuating signal

Output T(t)

Process

desired output temperature

actual output temperature

Feedback signalb(t)

temperature measurement
Fig. 2.1

The key designing the controller

how produce uk.

Chapter 2 mathematical models of systems

Different characteristic of the process different uk:
T(t)

T2 T1

uk uk11 uk12 uk21

p uk 11 For T1 p uk 12 p uk 21 For T1 p uk 22 ! g

2.1.2 What is Mathematical models of the control systems the mathematical relationships between the systems variables. 2.1.3 How get 1) theoretical approaches 2) experimental approaches 3) discrimination learning

Chapter 2 mathematical models of systems

2.1.4 types 1) Differential equations 2) Transfer function 3) Block diagram signal flow graph 4) State variables(modern control theory) 2.2 Input-output description of the physical systems differential equations The input-output descriptiondescription of the mathematical relationship between the output variable and the input variable of the physical systems. 2.2.1 Examples

Chapter 2 mathematical models of systems

Example 2.1 : A passive circuit

define: input we have

ur

output

uc

ur

i
C

uc

Ri  L

du di  uc ! ur i ! C c dt dt d 2uc duc LC 2  RC  uc ! ur dt dt

duc L d 2uc make : RC ! T 1 ! T 2 T1T2 2  T1  uc ! ur dt R dt

Chapter 2 mathematical models of systems

Example 2.2 : A mechanism Define: input F k F output y. We have:
d2y dy F  ky  f !m 2 dt d t d2y dy m 2 f  ky ! F dt dt

m
y
f

If we make : we have :

f ! T1, k d2y

m ! T2 f

dy 1 T1T2  T1 y! F 2 dt k dt

Compare with example 2.1: uc y; ur F

analogous systems

Chapter 2 mathematical models of systems

Example 2.3 : An operational amplifier (Op-amp) circuit
R 2 i2 ur R i1 1 R 1 C R 4 R 3 i3

Input
uc ! R3i3 

ur

output

uc

1 (i3  i2 )dt  R4 (i3  i2 )......(1) C ur i2 ! i1 !  ...........................................( 2) R1 uc 1 i3 ! (uc  R2i2 ).....................................( 3) R3

(2) (3); (2) (1); (3) (1)

dur duc R2  R3 R2 R3  uc !  R (  R4 )C  ur R4C 1 dt dt R2  R3

R2 R3  R4 )C ! X ( R2  R3

make : R4C ! T ; we have : T

R2  R3 ! k; R1

duc dur  uc ! k (X  ur ) dt dt

Chapter 2 mathematical models of systems

Example 2.4 :
R a

A DC motor
La
( J1, f 1)

ua

ia
M

w 1

( J2, f 2)

w 2

( J3, f 3)

w 3

M f

Input

ua

output

i1
1

i2

dia La  Raia  Ea ! ua ....(1) dt M ! Cmia .........................(2) Ea ! Ce[1.........................(3) d[1 M M !J  f [1.....(4) dt

(4)

(2)

(1) and (3)

(1):

La J yy La f Ra J y R f [1  ( ) [1  ( a  1)[1  CeCm CeCm CeCm CeCm L 1 R ! ua  a M  a M Ce CeCm CeCm

y

Chapter 2 mathematical models of systems

J ! J1  2  2 2 ......equivalent moment of inertia i1 i1 i2 f2 f3 here : f ! f1  2  2 2 ......equivalent friction coefficient i1 i1 i2 Mf M! ..........................equivalent torque i1i2 (can be derived from : [1 ! i1[2 ! i1i2[3 ) Make: Te ! La ............electric - magnetic time - constant Ra
Ra J Tm ! .......mechanical - electric time - constant CeCm Tf ! Ra f ....... friction - electric time - constant CeCm

J2

J3

Chapter 2 mathematical models of systems

The differential equation description of the DC motor is:
yy TeTm [1  (TeT f y  Tm ) [1  (T f y

 1)[1

1 1 ! ua  (TeTm M  Tm M ) Ce J
Assume the motor idle: Mf = 0, and neglect the friction: f = 0, we have:

d[ 1 TeTm  Tm [ ! ua 2 dt Ce dt

d 2[

Chapter 2 mathematical models of systems

Example 2.5 :
+
ur R 1 R 2

A DC-Motor control system

R 3 R 3 D C m or ot ua uk t r i gger
M

R 1 U f

w l oad
r ect i f i er
M

t echom er et

Input
uk !

ur Output

; neglect the friction:

R2 (ur  u f ) ! k1 (ur  u f )........................................(1) R1 ua ! k2uk ......................(3)

y

u f ! E[ .....................(2) d 2[

d[ 1 1  Tm [ ! ua  (TeTm M  Tm M )......(4) TeTm 2 dt Ce J dt

Chapter 2 mathematical models of systems

2 1 3 4 we have

d[ 1 )[ ! k k 1 u  Tm (T M  M )  (1  k1k2E C TeTm 2  Tm 1 2 r e e J dt Ce dt
2.2.2 steps to obtain the input-output description (differential equation) of control systems 1) Determine the output and input variables of the control systems. 2) Write the differential equations of each systems components in terms of the physical laws of the components. * necessary assumption and neglect. * proper approximation.

d 2[

Chapter 2 mathematical models of systems

3) dispel the intermediate(across) variables to get the input-output description which only contains the output and input variables. 4) Formalize the input-output equation to be the standard form: Input variable on the right of the input-output equation . Output variable on the left of the input-output equation. Writing polynomial according to the falling-power order. 2.2.3 General form of the input-output equation of the linear control systemsA nth-order differential equation: Suppose: input r output y
y ( n )  a1 y ( n 1)  a2 y ( n  2)   an 1 y (1)  an y ! b0r ( m )  b1r ( m 1)  b2 r ( m  2)   bm 1r (1)  bm r.........n u m

Chapter 2 mathematical models of systems

2.3 Linearization of the nonlinear components 2.3.1 what is nonlinearity The output is not linearly vary with the linear variation of the systems (or components) input nonlinear systems (or components). 2.3.2 How do the linearization Suppose: y = f(r) The Taylor series expansion about the operating point r0 is:
f ( r ) ! f ( r0 )  f
(1)

f ( 2 ) ( r0 ) f ( 3) ( r0 ) 2 ( r0 )( r  r0 )  ( r  r0 )  ( r  r0 )3  2! 3!

} f ( r0 )  f (1) ( r0 )( r  r0 )

make : (y ! f ( r )  f ( r0 ) and : (r ! r  r0

wehave : (y } f ' ( r0 ) (r ............linearization equation

Chapter 2 mathematical models of systems

Examples: Example 2.6 : Elasticity equation

F ( x ) ! kxE

suppose : k ! 12.65; E ! 1.1;

operating point x0 ! 0.25

F ' ( x ) ! kExE 1 F ' ( x0 ) ! 12.65 v 1.1 v 0.250.1 ! 12.11

we have : that is :

F ( x )  F ( x0 ) } 12.11( x  x0 ) F } 12.11(x..............linearization equation

Example 2.7 : Fluxograph equation

Q( p) ! k p
Q Flux; p pressure difference

Chapter 2 mathematical models of systems

because : Q ' ( p ) ! k 2 p

k thus : (Q } (p...........linearization equation 2 p0

2.4 Transfer function Another form of the input-output(external) description of control systems, different from the differential equations. 2.4.1 definition Transfer function: The ratio of the Laplace transform of the output variable to the Laplace transform of the input variable,with all initial condition assumed to be zero and for the linear systems, that is:

Chapter 2 mathematical models of systems

C ( s) R( s ) C(s) Laplace transform of the output variable R(s) Laplace transform of the input variable G(s) transfer function Notes: * Only for the linear and stationary(constant parameter) systems. * Zero initial conditions. * Dependent on the configuration and the coefficients of the systems, independent on the input and output variables. G( s) ! 2.4.2 How to obtain the transfer function of a system 1) If the impulse response g(t) is known

Chapter 2 mathematical models of systems

We have: Because:
C ( s) G(s) ! , if r (t ) ! H (t ) R( s ) ! 1 R( s )

G ( s ) ! L?g ( t )A

Then:

G ( s ) ! C ( s ) ! L?g (t )A

Example 2.8 :

g (t ) ! 5  3e

 2t

5 3 2( s  5) G(s) !  ! s s  2 s ( s  2)

2) If the output response c(t) and the input r(t) are known We have: L?c(t )A G( s) ! L?r (t )A

Chapter 2 mathematical models of systems

Example 2.9:
1 r (t ) ! 1(t ) R(s) ! ........Unit step function s 1 1 3 3t c(t ) ! 1  e C ( s) !  ! s s  3 s( s  3) .........Unit step response

Then:

C ( s ) 3 s( s  3) 3 G( s) ! ! ! R( s ) 1s s3

3) If the input-output differential equation is known Assume: zero initial conditions; Make: Laplace transform of the differential equation; Deduce: G(s)=C(s)/R(s).

Chapter 2 mathematical models of systems

Example 2.10:

2 c ( t )  3 c ( t )  4c ( t ) ! 5 r ( t )  6r ( t )

yy

2 s 2C ( s )  3sC ( s )  4C ( s ) ! 5sR( s )  6 R ( s ) C(s) 5s  6 G(s) ! ! 2 R(s) 2 s  3s  4

4) For a circuit * Transform a circuit into a operator circuit. * Deduce the C(s)/R(s) in terms of the circuits theory.

Chapter 2 mathematical models of systems

Example 2.11: For a electric circuit:
R1 ur C1 R2 C2 uc ur ( s) R1 1/ C1s R2 1/ C2s uc( s)

1 1 1 // ( R2  ) sC2 sC1 sC2 U c ( s) ! U r ( s) 1 1 1 R2  R1  // ( R2  ) sC2 sC1 sC2 T1T2 s  (T1  T2  T12 ) s  1 U ( s) 1 G( s) ! c ! U r ( s ) T1T2 s 2  (T1  T2  T12 ) s  1 here : T1 ! R1C1; T2 ! R2C2; T12 ! R1C2 ! 1
2

U r ( s)

Chapter 2 mathematical models of systems

Example 2.12: For a op-amp circuit
R2 C R2 1/ Cs

ur R1
R1

uc

ur R1
R1

uc

1 R2  U c ( s) sC !  R2Cs  1 G ( s) ! ! U r ( s) R1 R1Cs 1 ! k (1  )..................PI-Controller Xs here : k ! R2 ; X ! R2C...... Integral time constant R1

Chapter 2 mathematical models of systems

5) For a control system Write the differential equations of the control system, and Assume zero initial conditions; Make Laplace transformation, transform the differential equations into the relevant algebraic equations; Deduce: G(s)=C(s)/R(s). Example 2.13 the DC-Motor control system in Example 2.5
+
ur R 1 R2 R3 R 3 D C m or ot ua uk t r i gger U f r ect i f i er
M

R1

w l oad

t echom er et

Chapter 2 mathematical models of systems

In Example 2.5, we have written down the differential equations as: R2 (ur  u f ) ! k1(ur  u f )..................................(1) uk ! R1 u f ! E[ ....................(2) ua ! k2uk ...................(3)
d[ 1 Tm TeTm 2  Tm [ ! ua  (Te M  M )......(4) dt Ce J dt Make Laplace transformation, we have:
U k ( s ) ! k1[U r ( s )  U f ( s )]...................................................(1) U f ( s ) ! E;( s )...............(2)
2

d 2[

U a ( s ) ! k2U k ( s )..............(3)

1 TeTm s  Tm (TeTm s  Tm s  1);( s ) ! U a ( s)  M ( s )......(4) Ce J

Chapter 2 mathematical models of systems

(2) (1)
2

(3)

(4), we have:

1 1 TeTm s  Tm [TeTm s  Tm s  (1  k1k2E )];( s ) ! k1k2 U r ( s)  M ( s) Ce Ce J k1k2 1 ;( s ) Ce G ( s) ! ! U r ( s) T T s 2  T s  (1  k k E 1 ) 1 2 e m m Ce

La ...........electric  magnetic time - constant here : Te ! Ra

Ra J ......mechanical  electric time - constant Tm ! CeCm

Chapter 2 mathematical models of systems

2.5 Transfer function of the typical elements of linear systems A linear system can be regarded as the composing of several typical elements, which are: 2.5.1 Proportioning element Relationship between the input and output variables:

c(t ) ! kr (t )
C ( s) G( s) ! !k Transfer function: R( s ) Block diagram representation and unit step response:
R s) (
r( t ) 1 t

C s) ( k k
t C t) (

Examples: amplifier, gear train, tachometer

Chapter 2 mathematical models of systems

2.5.2 Integrating element Relationship between the input and output variables:

1 C( s) ! G( s) ! Transfer function: R( s ) TI s Block diagram representation and unit step response:

R( s)
r( t )

1 c(t ) ! r (t )dt..........TI : integral time constant TI

0

1 TI s

C( s)

Examples: Integrating circuit, integrating motor, integrating wheel

t

1
t

C( t )

TI

Chapter 2 mathematical models of systems

2.5.3 Differentiating element Relationship between the input and output variables:

dr (t ) c(t ) ! TD dt
C ( s) Transfer function: G( s) ! ! TD s R( s ) Block diagram representation and unit step response:

R( s)
r( t )

TDs
t

C( s)
C( t )

Examples: differentiating amplifier, differential valve, differential condenser

t

TD

Chapter 2 mathematical models of systems

2.5.4 Inertial element Relationship between the input and output variables:

dc(t ) T  c(t ) ! kr (t ) dt
C ( s) k Transfer function: G( s) ! ! R( s ) Ts  1 Block diagram representation and unit step response: R( s)
r( t )

k Ts  1

C( s)
C( t )

Examples: inertia wheel, inertial load (such as temperature system)

t

1
t

k
T

Chapter 2 mathematical models of systems

2.5.5 Oscillating element Relationship between the input and output variables:

d 2c(t ) dc(t ) 2  2^T  c(t ) ! kr (t ) T dt dt 2

G( s) !

0 ^

1
1

C ( s) k ! 2 2 Transfer function: R( s) T s  2^Ts  1 Block diagram representation and unit step response:
R s) (
r( t )

0 ^

1 T 2 s 2  2^Ts  1 k
t

C s) (
C( t )

Examples: oscillator, oscillating table, oscillating circuit

t

Chapter 2 mathematical models of systems

2.5.6 Delay element Relationship between the input and output variables:

c(t ) ! kr (t  X )
C ( s) Transfer function: G( s) ! ! ke Xs R( s) Block diagram representation and unit step response:
R( s)
r( t )

ke Xs k
t

C( s)
C( t )

Examples: gap effect of gear mechanism, threshold voltage of transistors

t

Chapter 2 mathematical models of systems

2.6 block diagram models (dynamic) Portray the control systems by the block diagram models more intuitively than the transfer function or differential equation models. 2.6.1 Block diagram representation of the control systems
Si gnal ( var i abl e)

X( s)

C ponent om ( devi ce)

G s) (

X3( s)
A dder ( com i son) par E( s) =x1( s) +x3( s) - x2( s)

X1( s)

+ -

E( s)

Examples:

X2( s)

Chapter 2 mathematical models of systems

Example 2.14 For the DC motor in Example 2.4 In Example 2.4, we have written down the differential equations as: dia La  Ra ia  Ea ! ua ....(1) M ! Cmia .........................( 2) dt d[ Ea ! Ce[ .........................(3) M  M ! J  f [ .....( 4) dt Make Laplace transformation, we have: U a ( s)  Ea ( s ) La sI a ( s)  Ra I a ( s)  Ea ( s) ! U a ( s) I a ( s ) ! .............(5) La s  Ra
M ( s ) ! Cm I a ( s)......................................................................................(6) Ea ( s ) ! Ce;( s).......................................................................................(7) 1 M ( s )  M ( s ) ! J s;( s )  f ;( s) ;( s) ! [ M ( s )  M ( s)]......(8) Js  f

Chapter 2 mathematical models of systems

Draw block diagram in terms of the equations (5)
M (s )
Ua( s)

(8):
;(s )

1 La s  Ra

I a( s)

Cm

M s) (

1 Js  f

Ea( s)

Ce
M (s)

Consider the Motor as a whole:

1 (TeTm s  Tm ) J TeTm s 2  (Tm  TeT f )s  T f  1

Ua( s)

1 Ce TeTm s 2  (Tm  TeT f ) s  T f  1

;(s )

Chapter 2 mathematical models of systems

Example 2.15 The water level control system in Fig 1.8:
1 Ce
Xs

k1 TeTm s2  Tm s  1
Desi r ed w er l evel at I nput hi e

k2 e s

k3 T1s  1

k4 T2 s  1

am i f i er pl

ua

M or ot

G i ng ear

Feedback si gnal hf Fl oat

Act ual w er l evel at Q W er Out put h at Val ve cont ai ner

Tm (Te s  1) J  M ( s) 2 TeTm s  Tm s  1

Chapter 2 mathematical models of systems

The block diagram model is: