Introduction

Chapter 1
Introduction

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 Introduction 1.1 System analysis and design

1.1 System analysis and design

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 Introduction 1.1 System analysis and design

Design procedure
Control problem 1
Assume that you are given a robot car. You are asked to design an automatic
controller for driving the car at a constant speed regardless of the road condition.
How many steps do you think to solve this problem?

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 Introduction 1.1 System analysis and design

Design procedure
Control problem 1

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 Introduction 1.1 System analysis and design

Design procedure
Control problem 1

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 Introduction 1.1 System analysis and design

Design procedure
Control problem 1

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 Introduction 1.1 System analysis and design

Design procedure
Control problem 1

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 Introduction 1.1 System analysis and design

Design procedure
Control problem 1

Inputs Outputs

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 Introduction 1.1 System analysis and design

Design procedure
Plant

Inputs Robot Outputs

car

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 Introduction 1.1 System analysis and design

Design procedure
Control without measurement

Speed set Speed Voltage Robot Real speed

(Expectation) controller car (Reality)

???
???
???

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 Introduction 1.1 System analysis and design

Design procedure
Control with measurements

Speed set Speed Voltage Robot Real speed

controller car
To where???

Speed
sensor

???
???
???

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 Introduction 1.1 System analysis and design

Design procedure
Control with measurements

Speed set Error Speed Voltage Robot Real speed

controller car
+ -

Speed
sensor

???
???
???

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 Introduction 1.1 System analysis and design

Design procedure
Control problem 1
What you should do? How many steps? Which ones?

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 Introduction 1.1 System analysis and design

Design procedure
Control problem 1
Step 1. ...
Step 2. ...
...
Step n. ...

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 Introduction 1.1 System analysis and design

Design procedure
Control problem 2
Assume that you are a CEO of a new company. It is required that your company
must produce at least 1000 products each month.
What you should do before running the company if you know nothing about the
company in advance?

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 Introduction 1.1 System analysis and design

Design procedure
Control problem 2

??? ??? ??? ???

CEO Company
+ -

???

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 Introduction 1.1 System analysis and design

Design procedure
Control problem 2

1000 Error Decision Products

CEO Company
prd/mon + -

Board
supervisor

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 Introduction 1.1 System analysis and design

Design procedure
Control problem 2
Step 1. ...
Step 2. ...
...
Step n. ...

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 Introduction 1.1 System analysis and design

Design procedure
General plant

Disturbances

Inputs Plant Outputs

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 Introduction 1.1 System analysis and design

Design procedure
General control system

Disturbances

Set point Error +

Controller Plant Outputs
+ - +

Sensors Noises

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 Introduction 1.1 System analysis and design

Design procedure
General question
There are how many steps on the process of control system design?

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 Introduction 1.1 System analysis and design

Design procedure

1. Study the system plant to be controlled and obtain initial information about
the control objectives.
2. Model the system and simplify the model if necessary
3. Analyze the resulting model determine its properties
4. Decide which variables are to be controlled controlled outputs
5. Decide on the measurements and manipulated variables what sensors and ac-
tuators will be used and where will they be placed.
6. Select the control configuration.
7. Decide on the type of controller to be used.
8. Decide on performance specifications based on the overall control objectives.
9. Design a controller.
10. Analyze the resulting controlled system to see if the specifications are satisfied
and if they are not satisfied modify the specifications or the type of controller.
11. Simulate the resulting controlled system either on a computer or a pilot plant.
12. Repeat from step 1 if necessary.
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 Introduction 1.1 System analysis and design

Design procedure

13. Choose hardware and software and implement the controller.

14. Test and validate the control system and tune the controller online if necessary.

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 Introduction 1.2 Dynamic systems

1.2 Dynamic systems

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 Introduction 1.2 Dynamic systems

Predator-prey models
Consider the ”natural” growth rate and the ”carrying capacity” of the environment.
Suppose that there are only 2 types of animals: the predator (foxes) and the prey
(rabbits). They form a simple food-chain where the predator species hunts the prey
species, while the prey grazes vegetation.
The growth rate of rabbits is positive for zero fox, but decreases with increasing of
foxes. Besides, the growth rate of foxes is negative for zero rabbit, but increases
with increasing of rabbits.

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 Introduction 1.2 Dynamic systems

Predator-prey models
Let y1 denote the number of rabbits (prey), let y2 denote the number of foxes
(predator). The population growth is described by

ẏ1 = α1 y1
ẏ2 = α2 y2

Here the growth rate α1 for rabbits is positive for y2 = 0, but decreases with
increasing y2 . The growth rate α2 for foxes is negative for y1 = 0, but increases
with increasing y1 .

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 Introduction 1.2 Dynamic systems

Predator-prey models
Let

α1 = 1 − 0.01y2
α2 = −1 + 0.02y1

We obtain the following system of ODEs

ẏ1 = (1 − 0.01y2 )y1

ẏ2 = (−1 + 0.02y1 )y2

or

ẏ1 = y1 − 0.01y1 y2
ẏ2 = −y2 + 0.02y2 y1

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 Introduction 1.2 Dynamic systems

Predator-prey models

t0 = 0;
tfinal = 15;
y0 = [20; 20];
[t,y] = ode23(@lotka,[t0 tfinal],y0);

figure(1)
plot(t,y)
title('Predator/Prey populations over time')
xlabel('Time')
ylabel('Population')
legend('Prey','Predators','Location','North')
grid on;

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 Introduction 1.2 Dynamic systems

Predator-prey models

Predator/Prey populations over time

350
Prey
300 Predators

250
Population

200

150

100

50

0
0 5 10 15
Time

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 Introduction 1.2 Dynamic systems

Predator-prey models

figure(2)
plot(y(:,1),y(:,2))
title('Phase plane Plot')
xlabel('Prey population')
ylabel('Predator population')
grid on;

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 Introduction 1.2 Dynamic systems

Predator-prey models

Phase plane Plot

350

300
Predator population

250

200

150

100

50

0
0 50 100 150 200
Prey population

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 Introduction 1.2 Dynamic systems

Systems and system components

System component: A component is a single functioning unit of a system.

Systems: A system is a combination of components acting together to perform
a specific objective.
System dynamic: A system is called dynamic if its present output depends
on past input. If its current output depends only on current input, the system
is known as static. The output of a static system remains constant if the input
does not change. The output changes only when the input changes. In a
dynamic system, the output changes with time if the system is not in a state
of equilibrium.

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 Introduction 1.2 Dynamic systems

Systems and system components

Linear differential equations: Linear differential equations may be classified

as linear, time-invariant differential equations and linear, time varying differen-
tial equations.
A linear, time-invariant differential equation is an equation in which a depen-
dent variable and its derivatives appear as linear combinations. An example of
such an equation is
d2 x dx
2
+5 + 10x = 0
dt dt
Since the coefficients of all terms are constant, a linear, time-invariant differ-
ential equation is also called a linear, constant-coefficient differential equation.
It is important to remember that, in order to be linear, the equation must
contain no powers or other functions or products of the dependent variables or
its derivatives.

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 Introduction 1.2 Dynamic systems

Systems and system components

L Note
In the case of a linear, time-varying differential equation, the dependent variable
and its derivatives appear as linear combinations, but a coefficient or coefficients of
terms may involve the independent variable. For example:

d2 x
+ (1 − cos2t)x = 0
dt2

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 Introduction 1.2 Dynamic systems

Systems and system components

Nonlinear differential equations: A differential equation is called nonlinear

if it is not linear. For example:

d2 x dx
+ (x2 − 1) +x=0
dt2 2 dt
d x dx
+ + x + x3 = sinωt
dt2 dt

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 Introduction 1.2 Dynamic systems

Systems and system components

Linear systems: For linear systems, the equations that constitute the model
are linear. The most important property of linear systems is that the principle
of superposition is applicable.
Nonlinear systems: For nonlinear systems, the equations that constitute the
model are nonlinear. The most important characteristic is that the principle of
superposition is not applicable. In general, procedures for finding the solutions
of problems involving such systems are extremely complicated.

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 Introduction 1.2 Mathematical modeling of dynamical systems

1.2 Mathematical modeling of dynamical systems

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 Introduction 1.2 Mathematical modeling of dynamical systems

Mathematical models
Any attempt to design a system must begin with a prediction of its performance
before the system itself can be designed in detail or actually built. Such prediction
is based on a mathematical description of the system’s dynamic characteristics.
This mathematical description is called a mathematical model. For many physical
systems, useful mathematical models are described in terms of differential equations.

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 Introduction 1.2 Mathematical modeling of dynamical systems

Simplicity of mathematical model

In attempting to build a mathematical model, a compromise must be made between
the simplicity of the model and the accuracy of the results of the analysis. In
determining a reasonably simplified model, we must decide which physical variables
and relationships are negligible and which are crucial to the accuracy of the model.
The model is an approximate mathematical description of the physical system; it
is not the physical system itself. In reality, no mathematical model can represent
any physical component or system precisely. Approximations and assumptions are
always involved. Such approximations and assumptions restrict the range of validity
of the mathematical model.

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 Introduction 1.2 Mathematical modeling of dynamical systems

Mass damper spring system

 Example 1.1
Consider the mechanical system shown below. The displacement y of the mass m is
measured from the equilibrium position, b is the damper constant and k the spring
constant. In this system, the external force F (t) is the input and y is the output.
Find mathematical model of the system.

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 Introduction 1.2 Mathematical modeling of dynamical systems

Mass damper spring system

Solution:
The system equation is
mÿ + bẏ + ky = u
and the block diagram is as follows

+ + + +

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 Introduction 1.2 Mathematical modeling of dynamical systems

Magnetic-ball suspension system

 Example 1.2
Let us consider the magnetic-ball suspension system

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 Introduction 1.2 Mathematical modeling of dynamical systems

Magnetic-ball suspension system

The dynamic equations of the system are

d2 x(t) ki2 (t)

M = Mg −
dt2 x(t)
di(t)
v(t) = Ri(t) + L
dt

x(t) is the ball position (m),

v(t) is input voltage (V),
i(t) is winding current (A),
R is winding resistance = 1Ω,
L is winding inductance = 0.01H,
M is the ball mass = 1.0kg,
k is the proportional constant = 1.0,
g is the gravitational acceleration = 32.2m/sec2 .

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 Introduction 1.2 Mathematical modeling of dynamical systems

Separately excited DC machine

 Example 1.3
The electrical behavior of a separately excited DC machine can be expressed by the
following equation:
dia
va = ea + Ra ia + La
dt
where ea = Km Φn is the back-electromotive force (EMF), Φ is the machine excited
field flux, Te = Km Φia is the electrical torque, TL is the load torque, va is the
terminal voltage, Ra is the armature resistance, La is the armature inductance, ia
is the armature current, respectively.
The mechanical behavior of the separately excited DC machine is described by the
following equation:
dn 1
= (Te − TL )
dt 2πJ
where n is the rotor speed, J is the inertial torque of the machine, respectively.

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 Introduction 1.3 Analysis and design of dynamical systems

1.3 Analysis and design of dynamical systems

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 Introduction 1.3 Analysis and design of dynamical systems

System analysis
Since any system is made up of components, analysis must start by developing a
mathematical model for each component and combining all the models in order
to build a model of the complete system. Once the latter model is obtained, the
analysis may be formulated in such a way that system parameters in the model are
varied to produce a number of solutions. One then compares these solutions and
interprets and applies the results to the basic task.

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 Introduction 1.3 Analysis and design of dynamical systems

System design
System design refers to the process of finding a system that accomplishes a given
task. In general, the design procedure is not straightforward and will require trial
and error.

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 Introduction 1.3 Analysis and design of dynamical systems

Synthesis
Synthesis is the use of an explicit procedure to find a system that will perform in a
specified way. Here the desired system characteristics are postulated at the outset,
and then various mathematical techniques are used to synthesize a system having
those characteristics. Generally, such a procedure is completely mathematical from
the start to the end of the design process.

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 Introduction 1.3 Analysis and design of dynamical systems

Implementation
Implementation can mean different things in different industries. In control engi-
neering, the word implementation usually refers to the action that one must follow
in order to make something actually happen such as installing new hardware, soft-
ware, or application.

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 Introduction 1.3 Analysis and design of dynamical systems

Implementation
Implementation can mean different things in different industries. In control engi-
neering, the word implementation usually refers to the action that one must follow
in order to make something actually happen such as installing new hardware, soft-
ware, or application.

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 Introduction An example of system analysis and design

1.5 An example of system analysis and design

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 Introduction An example of system analysis and design

DC motor control
Problem formulation
Design a proportional speed controller for a DC motor with angular angle θ, moment
of inertia J = 0.1(Kg/m2 ), friction coefficient B = 0.05, armature resistance
Ra = 1.32(Ω), armature inductance La = 0.15(H), torque coefficient Km = 0.1,
electromotive coefficient Ke = 0.1, electromotive force em = Ke dθdt (V ).

+
M
-

+ -

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 Introduction An example of system analysis and design

DC motor control
Step 1. Study the system plant to be controlled and obtain initial information
about the control objectives.

DC motor is an electro-mechanical system.

In order to control the speed of the motor, the voltage that is applied to its
terminals should be regulated.
Motor parameters and performance?
...

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 Introduction An example of system analysis and design

DC motor control
Step 2. Model the system and simplify the model if necessary.
The torque equation (Chapter 2)
d2 θ(t) dθ(t)
J +B = Km ia (t)
dt2 dt
The voltage equation (Chapter 2)
dia (t)
vs (t) = Ra ia (t) + La + em (t)
dt
The motor transfer function is (Chapter 3, 4)
Ω(s) Km
Gm (s) = =
Vs (s) (La s + Ra )(Js + B) + Ke Km
where Ω(s) = sΘ(s), Θ(s) = L[θ(t)].
1
⇒ Gm (s) =
0.15s2 + 1.395s + 0.76
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 Introduction An example of system analysis and design

DC motor control
Step 3. Analyze the resulting model determine its properties.

It is a dynamical second order system.

It is a linear one.
These aspects will be presented on Chapter 5 and 6.

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 Introduction An example of system analysis and design

DC motor control
Step 4. Decide which variables are to be controlled outputs.
The controlled output is the motor angular speed (single output).

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 Introduction An example of system analysis and design

DC motor control
Step 5. Decide on the measurements and manipulated variables what sen-
sors and actuators will be used and where will they be placed.
A velocity sensor should be used to measure the angular speed of the motor. It
should be installed on the shaft.

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 Introduction An example of system analysis and design

DC motor control
Step 6. Select the control configuration.

+
-
Controller DC motor

One-loop control configuration.

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 Introduction An example of system analysis and design

DC motor control
Step 7. Decide on the type of controller to be used.
Test with Proportional controller (P).

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 Introduction An example of system analysis and design

DC motor control
Step 8. Decide on performance specifications based on the overall control
objectives.

The setting time is about 1s.

The overshoot should not exceed 20%.
The steady-state error is zero.

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 Introduction An example of system analysis and design

DC motor control
Step 9. Design a controller.
When the proportional controller Kp = 12.4 is applied to the closed-loop system
(Chapter 7).

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 Introduction An example of system analysis and design

DC motor control
Step 10. Analyze the resulting controlled system to see if the specifications
are satisfied and if they are not satisfied modify the specifications or the
type of controller.
The steady-state error is (Chapter 7)
1 1
ess = b0
= 1 = 0.058
1 + Kp a0 1 + 12.4 0.76

This means that the steady-state output is

yss = 1 − ess = 0.942

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 Introduction An example of system analysis and design

DC motor control

Step response
1.2

0.8
Magnitude

0.6

0.4

0.2

0
0 0.5 1 1.5 2
Times (s)

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 Introduction An example of system analysis and design

DC motor control

Remark 1.1
The steady-state is not satisfied.
Less oscillations.

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 Introduction An example of system analysis and design

DC motor control
When the proportional controller Kp = 200.0 is applied to the closed-loop system
the steady-state error is
1 1
ess = = 1 = 0.0038
1 + Kp ab00 1 + 200 0.76

This means that the steady-state output is

yss = 1 − ess = 0.996

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 Introduction An example of system analysis and design

DC motor control

Step response
2

1.5
Magnitude

0.5

0
0 0.5 1 1.5 2
Times (s)

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 Introduction An example of system analysis and design

DC motor control

Remark 1.2
The steady-state is small.
More oscillations.
One can now test with another type of the controller.

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 Introduction An example of system analysis and design

DC motor control
Test with PID controller (Kp = 12.4, Ki = 25, Kd = 1.54) (Chapter 7).

Step response

1.2

1
Magnitude

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5
Times (s)

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 Introduction An example of system analysis and design

DC motor control

Remark 1.3
The steady-state is zero.
No oscillation.

The design is accepted.

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 Introduction An example of system analysis and design

DC motor control
Step 11. Simulate the resulting controlled system either on a computer or
a pilot plant.

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 Introduction An example of system analysis and design

DC motor control
Matlab code:

Code (DCM control PID01.m)

J = 0.1;
B = 0.05;
Km = 0.1;
Ke = 0.1;
Ra = 1.32;
La = 0.15;
num = Km;
den = [(J*La) ((J*Ra)+(La*B)) ((B*Ra)+Km*Ke)];

Kp = 12.4;
Ki = 25;
Kd = 1.54;

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 Introduction An example of system analysis and design

DC motor control

Code
numc = [Kd, Kp, Ki];
denc = [1 0];
numa = conv(num,numc);
dena = conv(den,denc);
[numac,denac] = cloop(numa,dena);
sysac = tf(numac,denac);
figure(1);
bode(sysac)
grid on
figure(2);
step(numac,denac)
grid on

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 Introduction An example of system analysis and design

DC motor control
Step 12. Repeat from step 1 if necessary.
It is not necessary.

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 Introduction An example of system analysis and design

DC motor control
Step 13. Choose hardware and software and implement the controller.
You can choose them yourself.

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 Introduction An example of system analysis and design

DC motor control
Step 14. Test and validate the control system and tune the controller online
if necessary.
You can test it yourself.

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