TT tye \ a 2020! Uttar Pradesh Public Service Commission Combined State Engineering Services Examination Assistant Engineer Mechanical Engineering Mechatronics and Robotics Well Illustrated Theory with Solved Examples and Practice Questions MADE EASY Publications Note: This book contains copyright subject mater MADE EASY Publications, New Deh. No part ofthis book may be reproduced, tore in avetrenlaitem or tansned in any form or by anytneane. laters ae able tobe legal prosecutedMechatronics and Robotics Contents UNIT TOPIC PAGE NO. 1. Microprocessor Microcontrllesand PLC... 3:78 2. Sensorand Other Devices 79-108 3. Actuatorsand Stepper MOtOrs oven 1093 4. Control Systems nnn nnn ete perenne 139-155 5. Robotics 156-180 2000Control Systems zmavSxmn 4.1 Introduction Control systems in an interdisciplinary field covering many areas of engineering and sciences. It is @ device that controls the behavior of other devices. It is working as an interconnection between connected components or related in such a manner as to give commands, or regulate other component or itsel. tis found in abundance in all sectors of industry, such as quality control of manufactured products, automatic assembly lines, machine-tool control, space technology, computer control, transportation systems, power systems, robotics, Micro-Electro-Mechanical Systems (MEMS), nanotechnology, and many others, The study and design of automatic control system is also a field known as control engineering. In the modem era, ithas become a part of everyday life. From simple device such as a toaster to complex systems like space shuttle control engineering plays a crucial role. The control system is a component that is added to other ‘components to increase system functionality and also to get the desired output from the system, The basic ingredients of a control system can be described by: 1. Objectives of control 2, Control-system components. 3, Results or outputs. Objectves—o] Control System |e Results Basic components of Control System The basic relationship among these three components is illustrated in Fig above. In more technical terms, the objectives can be identified with inputs, or actuating signals, and the results are also called outputs, or controlled variables. In general, the objective of the control system is to control the outputs in some prescribed manner by the inputs through the elements of the control system. 4.2. Characteristics of Control Systems A good control system must have the following characteristics: + Accuracy: It is the measurement tolerance of any instrument and it defines the limit of error that instrument can make in working condition. Itcan be improved by feedback element and the detector must be present in the control system, * Sensitivity: Control system parameter always varies with the surrounding conditions, internal disturbance or because of any other reason. Any good control system should be insensitive to such parameter and sensitive to input signals only. This change can be called as sensitivity. + Noise: An undesirable input signal is known as noise, a good control system should ignore these noise effects for better performance ‘+ Stability: Itis one of the most desirable characteristics of control system, for any bounded input the output must also be bounded, If the input is zero the output must also be zero and itis known as the stable system140 | Mechanical Engineering UPPSC-AE MADE EASY © Bandwidth: Bandwidth should be as large as possible for better frequency response of a control system © Speed: It is the time which system takes to reach stable condition. For a good control system, speed should be higher and have minimum transient period, ‘* Oscillation: For stability of the control system, it must have a minimum or constant oscillation 4.3 Examples of Control Systems Control systems find numerous and widespread applications from everyday life to extraordinary applications in science, industry, and society. Here are a few examples (@) Residential heating and air-conditioning systems controlled by a thermostat. (b) The speed control of an automobile. (6) Automatic traffic signal system at roadway intersections. (d) Control system which automatically turns on @ room lamp at dusk, and turns it off in daylight. (@) Automatic hot water heater. (9 Environmental test chamber temperature control system. (@)_Anautomatic positioning system for a missile launcher. (h) An automatic speed control for a field controlled DC motor. () The altitude control system of a typical space vehicle. () Automatic position control system of a high speed automated train system (&) Human heart using a pacemaker. (0 Anelevator position control system used in high rise multi-level buildings. 4.4 Controller Itis a system which can control the behavior of other devices or systems, There are a number of different standard types of control systems such as P, PD, Pl, and PID controllers, They are very common in the production of physical systems, however they have several drawbacks, 4.5 Compensator Itis a control system that regulates another system, this is done by conditioning the input or output to that system, Compensators are typically employed to correct a single design flaw, with the intention of applying effect on other aspects of the design in a minimal manner. There are a number of aifferent compensator units that can be employed to help fix certain system that are outside of a proper operating range The phase characteristics are necessary for compensation system, especially ifthe magnitude response is to remain constant. Occasionally, itis necessary to alter the phase characteristics of a given system, without altering the magnitude characteristics. To do this, we need to alter the frequency response in such a way that the phase response is altered, but the magnitude response is not altered, To do this, we implement a special varioty of controllers known as phase compensators. They are called compensators because they help to improve the phase response of the system. There are two general types of compensators: Lead Compensators and Lag ‘Compensators. If we combine the two types, we can got a special Lead-Lag Compensator system.MADE EASY Mechatronics and Robotics Control Systems 141 Publiestions 4.6 Control System Configuration There are two types of control system configurations: 1, Open loop control systems or non-feedback control systems. 2. Closed loop control systems or feedback control systems. 4.6.1 Open loop Systems ‘An open loop control system utilizes an actuating device to control the process directly without using feedback channel. A component ot process to be controlled can be represented by a block diagram as shown in, figure, The block can be investigated one at a time, the output of one block will be input to another block and we can use cause and effect reasoning, This will become complicated when it is connected in a closed loop system, because of interaction between different blocks, Input—a] Process | output () Process to be controlled Desired outpst—+| Actuating Device Process + Output (i) Open loop control system (Non feedback) Example: Electronic fan switch Reference input: When the fan switches on, a 230 V is applied. So reference input is 280 V signal Controller: The electronic voltage controller when turning the knob to the desired position, the voltage wil increase or decrease to an appropriate value. It can have a value like 230 V which is at maximum speed and 118 Vathalf speed and so on. Once we set the speed nothing need to be done, let there are three fans and you turn the knob at same amount but he speed is slightly different for every fan, This happens because of inappropriate settings, inconsistency in ball bearing performance, imperfect blade design which causes different amount of drag forces. So, an open loop system is one where we cannot correct the error of desired output and the actual output. Advantages: 1, Simple construction 2. Lowcost 3. Maintenance is easy 4, Stability is good sadvantages 1 Less Accuracy 2. Reliability is less 3. The change in output cannot be modified Other Examples: Electric hand dryer, Automatic washing machine, Bread toaster, Automatic tea or coffee maker, Light switches ete. 46.2. Closed Loop Systems A closed loop control system uses a measurement of the output and feedback of this signal to compare it with the desired output. The system can be easily spotted by seeing its block relation, it does not always maintain only relation from one block head to another block tail it also has relation from different blocks as shown in Fig. given below of closed loop feedback control system. Since the increasing complexity of the system is under control and the optimum performance of feedback system has grown it in past few decades.142 | Mechanical Engineering UPPSC-AE MADE EASY 47 ested ouput response CComparson Ccontoter Process put Closed loop control system (feedback system) ‘Advantages: 1. Closed loop control is more accurate, even in the case of non-linearity, 2. Highly accurate because the error of output can be modified by feedback signal 3. Range of Bandwidth is large. 4. Less sensitive to disturbance and noise. 5. Less sensitive to the characteristics and parameter variations. Disadvantages: 4. The cost is high 2. Designis complicated. 3. More maintenance required, which further increases the cost. 4. Overall gain reduces due to feedback. Comparison between Open Loop and Close Loop Control Systems Table Open Leap Sater lone Loop System 1. Solongas ie calbraton is | 7. Oupto feedback the cloveioo good. open coo sysiem system fe more accurate 2. Orgarizaionis simple and | 2. Complicated and cut easy o construc Generally stable in operation | 3. Stablity depends on system components 4. Ifnon-ineatity is present 4. Comparatively the performance 's better system operation degenaralas | than open-loop system if ner-lineaiy is ms [7 Example-4.1_ Match List-! (Physical action or activity) with List-II (Category of system) and select the correct code: List-! Human respiration system Pointing of an object with a finger ‘Aman driving a car A thermostatically controlled room heater List I Man-made control system Natural including biological control system Control system whose components are both man-made and natural pomp euMADE EASY Mechatronics and Robotics Control Systems 143 Codes: A BC D (7) 22 3 4 ) 3 1 2 4 () 3 2 2 38 @ 2 1 38 8 Solution: (a) mus [7 Example-42 If the initial conditions for a system are inherently zero, what does it physically mean? (a) The system is at rest but stores energy (b) The system is working but does not store energy (c) The system is at rest or no energy is stored in any of i (d) The system is working with zero reference input Solution: (c) A system with zero initial conditions is said to be at rest since there is no stored energy. part ms Example-4.3 What are the properties of linear systems which are not valid for non- linear systems? Explain each briefly? Solution: + Linear systems satisly properties of superposition and homogeneity. Any system that does not satisly these properties is nonlinear. Property of superposition: When the output corresponding to Vy is Va and the output corresponding to Vir, is Vay then the output corresponding to AV + BVey iS AVauy + DVae, Property of homogeneity: It states that for a given input x in the domain of the function fand for any real number k Ak) = Kile) + Linear systems have one equilibrium point at the origin. Non-linear systems may have many equilibrium points. 4.8 Mathematical Modelling of Physical Systems 4.8.1. Mechanical Systems All mechanical systems are divided into two parts: 1. Mechanical Translational System: Input = Force (F), Output = Linear displacement (x) of Linear velocity (v) The three ideal elements are144 | Mechanical Engineering UPPSC-AE MADE EASY (2) Mass Element: (b) — DamperElement: where a or Fa fly-y)- ah 7 where ve (© Spring Element: ke ms where 4 % Consider, 7809 2. Mechanical Rotational System Input = Torque (3), Output = Angular displacement (0) or Angular velocity () The three ideal elements are (2) Inertial Element: _ ve aes at 7 do J o atMADE EASY Mechatronics and Robotics Control Systems 145 (b) Torsional Damper Element: where, fhm bay or where, (0 Torsional Spring Eleme or ro6 Consider, ome y\. (iy K i 4.8.2 Electrical Systems 1, Series RLC Circuit: Applying KVL init s fiat = Vy R o ac dq but i-f he ®) e o a= fiat Fa, pda 9 129.9449 _y, il a’ at om (iil) 2. Parallel RLC Circuit: Apply! c@ oj a ‘ e g where V = node voltage y. 2 ot where, 6 = Magnetic fiux do, too (vy de Rat L Duaity Cau, Rot. R146 | Mechanical Engineering UPPSC-AE MADE EASY 4.8.3 Analogy ‘On comparing equations (i) (i), il) and (iv), Foree, Torque, Voltage, Current Analogy can be developed as follows: Mechanical Electrical TTransaton | Rotaton | Force-votage analogy | Force-curent analogy ' 7 v ji “ J L c D D R 1 k k 1c uw ‘ ° a ¢ Here, f—> Force, M—> Mass, D -» Damping coefficient, k >» Spring coefficient, x +> Displacement, T— Torque, J > Moment of inertia, @ > Angular displacement, NOTE: From the two analogies itis clear that mass and spring elements are energy storing elements. ms [7 Example-4.4 Consider the following mechanical system shown in the diagram: k, K, m | Ow rr 8 a, Ke _— bey Which one of the following circuits shows the correct force-current analogous electrical circuit for the mechanical diagram shown above? Solution: Nodal diagram Mechanical system —x» Force current analog Mass (M) Capacitance (©) Damper (8) Conductance (18) Spring coofficint (K) Inductance curtent(1/L) Mechanical network is shown below: i] ie] BK, my e BMADE EASY Mechatronics and Robotics Control Systems 147 4.9 Nodal Method for Writing ‘* Number of nodes = Number of displacements. * Take an adcitional node which is a reference node. * Connect the mass and inertial mass elements always between the principle node and reference node, * Connect the spring and damping elements either between the principle nodes or between principle nodes and reference depending on their position, © Obtain the nodal diagram and write the describing differential equations at each node. cea ‘+ One mass clement = order of differential equation = 2 L ‘Two mass element => order of differential equation = 4 nmass element => order of cifferential equation = 2n ‘+ Apoint or node between damper and spring must be taken as a s(dlsplacemert) displacement. ‘+ Each mass must be taken as a displacement. ‘+ Mass or inertial mass elements and spring elements are known as consecutive elements because they are analogous to inductor/capacitor in electrical analogy. ferential Equation of Complex Mecha al System [EINE [77 txempic-45 Obtain the mathematical system equations and ite corresponding ‘mechanical circuit diagram of the following mechanical system. ‘eI 7 Ald es ! Tan . Solution: dx, ax Ae = x2) Atnode ny: KGET Ka +My + Kelas x) + SE) 9 dx, dls —x) Atnode x, My + Kelsay Now, mechanical circuit diagram can be drawn either from given system diagram or from these sy equations as wel TOO ¥ a a Mechanical circuit diagram14g | Mechanical Engineering UPPSC-AE MADE EASY Example - 4.6 Find the transfer function relating displacements y and x for the mechanical system of given figure Solu From the mechanical circuit diagram the equations for the system are y d Mekyst ty ea thy tha Ai) da 2 r-y) = 0 Geen = Ab (id) Assuming initial conditions as zero and taking Laplace transform on both sides of equation (i), hsY(s) + KY(s) + fs[Y(s)— X(s)] = 0 Aili) From equation (ii), the required transfer function is y f . A Ms)__ fs is a Xs) ~ [G+6)s+K] (s+ 4 K 0) aA hth) where, Ty= $ and 7, = 4 ma (7 Example - 4.7 Derive an expression for the transfer function X,(s)/X,(s) for the mechanical system given below: At node x,, a Koka + Kyltq x) +429 - x) = 0 + KGie =) + 49-8) Using Laplace transform, Ke Xo(8) + Ki(Xols) — Xi(s)) +h Xo(s)— Xi(S)) On solving, Xo(s) hstKy His) AS+K+K,MADE EASY Mechatronics and Robotics Control Systems 149 4.10 Control Signal The control signal or manipulated variable is the quantity or condition that is varied by the controller so as to affect the value of the controlled variable. The controlled variable is the quantity or condition thatis measured or controlled. Normally the controlled variables the output of the system. Whereas control means measuring the value of controlled variable of the system and applying the control signal to the system to correct or limit deviation of the measured value from the desired value, In some automatic control systems, control signals are altered to make the controlled variable correspond to the desired value (as in servomechanism, stabilization systems, and programmed control) or achieve some ‘optimum or extreme value (as in optimal control systems and selt-aligning systems). In other automatic contro systems, the control signal depends on the control law and is determined by the characteristics of the controlled object and the nature of commands and disturbances acting on the automatic control system. Control signals may be applied in single-capacity or multiple-capacity systems. In the latter, each control signal may influence one or several controlled variables, which makes controlling the object more difficult. Thus, ‘one of the most important problems to be solved in the design of automatic control systems is the lessening ot elimination of the effect of the control signal on all but the desired controlled variable. 4.11 Controllability {the internal states of the system is changing from one value to another value in a finite time by a finite input then we can say that the system is controllable. Otherwise it is uncontrollable. For lI™ Order System: =(B ABl 2 Iflggl=0 => Then systemis called uncontrollable system Itlggl#0 => Then systems controllable. Where, X() = Axtt) + 0) Mt) = Cxlt) where, Ais system mattix, Bis input matrix and Cis output matrix For lll" Order System: (ee) = (A°B AB APB g {lgjcl=0 = Systemis uncontrollable {l0gl#0 =» Systemis controllable. 4.12 Observability { the internal states of the system are able to evaluate from the output of the system at anytime then we can say that the system is observable For ll" Order System: ()= (CP AC y.2 For ll" Order System: (1=[CT ACT ARCA, 5 if 10,1 = 0, then the system is non-observable. { ldgl #0, then the system is observable.Qa az as Mechanical Engineering Student's Assignment UPPSC-AE Publications ‘A mechanical system consists of two mass spring-friction systems as shown in the given figure. The order of the transfer function Xs) Fs) © hy (hie. mf k JB mo few (1 (b) 2 () 3 (d) 4 The desing eaatonotamass-dange pita system is given by 20s. oss hore (teen 8 sting on he syrom and xls th pacer of he ase The suady stat daplacerentcoespondng to a force of 2N is given by (a) 0.25m (b) 05m (c) 2m (d) 4m ‘The transfer function for the system shown belowis i Log, n @ at & fo Ms? + Bs + B,s Ms + Bs+ Bs © 88 w Bs Ms=(B,+8,) “Ms? +(B,+B,)s a4 as Which of the following is an example of an open- loop system? (@) Household refrigerator (b) Respiratory system of an animal (6) Stabilization of air pressure entering into a mask (d) Execution of a program by a computers Consider the following systems: z K | a6 — 1 2 yw Len 1 Ro +i 2 Ovo ze 8 3 | mw Len 4 Qw gr ze Which of these systems can be modelled by diferent equation a’ y(o ay(t) 1 TH a MO + at) =a0 (@) tana2 ) tana3 (c) 2and4 (@) t.2ana4MADE EASY ae a7 Qs Publications Mechatronics and Robotics Find the transfer function relating displacements ¥ and Xfor the mechanical system of he given figure. Hs) @) Fe) Hs) ‘X(s) x) X(s) Ys) Xe) &) (o) (he b)sy+K As) (heb )o)+K K 4(s) (hb )e)+K AS) Fe)+K as Match List-1 with List-Il anc select the correct answer using the codes given below the lists: List- pomp List-II Pere Codes: A (a) (b) © () Which of the following are the characteristics of closed loop systems? It does not compensate for disturbances Linear device AC servo systems Large power to weight ratio. Pneumatic systems c 2 2 1 1 Hydraulic actuator Flapper valve Potentiometer error detector Dumb-bell rotor nnasg a10 2. Itreduces the sensitivity of plant-parameter variations 3. Itdoes not involve output measurements Control Systems | 454 4. Ithas the ability to control the system nsient response Selectthe correct answer using the codes given below (@) tana4 (b) 2and4 (©) tand3 (a) 2and3 Consider the following statements regarding advantages of closed loop negative feedback control systems over open loop systems 4. The overall reliability of the closed loop system is more than that of open loop system 2. The transient response in a closed loop system decays more quickly than in open loop system 3. Inan open loop system, closing of the loop increases the overall gain of the system 4. In the closed loop system, the effect of variation of component parameters on its performance is reduced Which of these statoments are correct? (@) 1and2 (b) tand3 (©) 1,2and4 —(d) Sanda Check the controllability and observability for the following system [2 Spo [tpesvei oe (@) not controllable, not observable (b) controllable but not observable (©) controllable, observable (d) not controllable but observable Check controllability and observability «(8 sb-[} ye[t o]x -20 -9f**|1 (@) notcontrollable, not observable (b) controllable, observable (©) controllable but not observable (d) not controllable but observable Q.12 Consider a second order system whose state space representation is of the form X= AX +BU, If-x,(t) = x,(0) then system is (@) controllable (b)_uncontrollatsle (©) observable (d)_unstableMechanical Engineering 152 05 the following statement is true? {@) The system is controllable but unstable. (b) The system is uncontrollable and unstable. (©) The systems controllable and stable. (d) The system is uncontrollable and stable. .13 For the system xl seo which of Q.14 Consider the system xo-[5 po-[z foo at =fa, oi) xt The conditions for complete state controllability and complete observabilily are (@) d,#0, b, #0, b, and d, can be anything (©) d, #0, d, #0, b, and b, canbe anything (¢) 6, #0, b, #0, d, and d, canbe anything (@) 6,0, d, #0, b, and d, canbe anything as ir x ‘ then 1. system is observable 2. systemis contolable 3. system i not observable 4. systems not controllable Which ofthe above statements are correct? (@) tand2 (b) 2ana3 (©) tana (6) Sanaa s}eo[ fe ae vats nx ofan Q.16 The state space representation of a system is given by 1 oo] ft ay ‘ i She [e [i] * The system is {@) both controllable as well as observable (6) contolable but not observable (©) Observable but not controllable (6) Neither controllable nor observable Q.17 A good control system has {@) high accuracy (0) high sensitivity (0) large range bandwith (0) all of the above UPPSC-AE Publications Q.18 Advantage of open loop system (@) high accuracy (6) high reliability, (6) low cost and simple in construction (@) all of the above Q.19 The performance of controller depends upon (@) Efficiency of controller algorithm (b) Sensor performance (©) Actuatorperformance (@) Allthe above Q.20 Which statements are true about loop system? 1. Regulatory mechanism is generally provided by closed loop control system. 2. Open loop control system can make error equal to zero at steady state in the absence of disturbance. (@) t only (6) Both 1 and 2 (b) 2only (@) None of these Q.21 Which is correct for proportional controller? dett) at (b) Kel) + Py (a) ky +P + ©) Keath fata +k, 8 + 3 fi (a Kfeat+m 0 Q.22 Which of the following contraller can results zero steady state error? (a) Proportional contr (6) Integral controller (c) Derivative controller (@) None of these ler Q.28 Which of the following controller can be called as “Anticipatory controller"? (@) Proportional controller (b) Integral controller (c) Derivative controller (@) None of theseMADE EASY Q.24 A system is said to be completely observable (a) ifevery state x(t,) cannot completely identified by measurement of output y(t) over a finite time interval. (0) ifevery state x(t.) can be completely identitied by measurement of output y(t) over a finite time interval. (6) Both (a) and (b) are correct (6) None of the above Q.25 A state variable description of a single-input single-output linear system is given by i = Ax(t) + Bu) Y(t) = Cx(t) 1 il a-|j] ana t - 2 0f lo The system is (a) Controllable (0) Observable (c) Both controllable and absorbable (@) None of these as vx-[) 2haJe were A= [ 1 where bis unknown constant. This system is {@) uncontrollable for b= 1 (0) uncontrollable for b= 0 (6) uncontrollable for all value of b (2) controllable for all value of b Q.27 Negative feedback in a closed loop control system does not (@) reduce the overall gain (0) reduce bandwith (c) improve disturbance rejection (@) reduce sensitivity to parameter variation Q.28 The transfer function of a system refers to {@) ratio of Laplace transform of input to Laplace transform of output (©) ratio of Laplace transform of output to Laplace transform of input (@) product of Laplace transform of output and Laplace transform of input (d) summation of Laplace transform of output and Laplace transform of input Mechatronics and Robotics Control Systems Se y=[b ox 153 1 where bis unknown constant. This system is (@) observable for all value of b (b) unobservable for all value of b (©) observable for all non-zero value of b (d) unobservable for all non-zero value of b 1 a.29 x-() Q.80 Consider the system with state equation X%) fo 1 ox] fo XpJ=]o 0 1 |x. |+foju Xa] [-6 11 -6llxs} [+ (@) Controllable (©) Both (a) and (b) (b) Uncontrollatsle (8) None of above Q.31 Which of the following are the basic building block elements for a mechanical system where forces and straight line displacements are involved without any rotation? 1. Spring 2. Dashpot 3. Mass 4, Moment of inertia Select the correct answer using the code given below (@) 1,2and4 (b) 1,8and4 (©) 2,3.and4 (@) 1, 2and3 Q.32 For the control signal to change at a rate proportional to the error signal, the robotic controller must employ (@) integral control (b) proportional-plus-integral contro! (©) proportional-plus-derivative control (d) proportional-plus-integral-plus-derivative control > ANSWER KEY / STUDENTS. 1. (d) 2) 3. (d) 4. (a) 5. (a) 6. (a) 7. (0) 8. (b) 9. (c) 10. (a) 11. (b) 12. (b) 13. (b) 14. (a) 15. (d) (0 17%) Hl) 1) WE 21. (b) 22. (b) 23. (c) 24, (b) 25. (a) 26. (b) 27. (c) 28. (b) 29. (c) 30. (a) 31. (d) 32. (a)154 | Mechanical Engineering UPPSC-AE MADE EASY Bw HINTS & SOLUTIONS / ,SIURENTS. t + Integral contralier: k Je()at +P 3 Be ‘A.good control system should have * Integral controller can results zero steady state () high accuracy error (i) high sensitiveness ‘* Derivative controller called anticipatory (ii) canignore undesirable noise controller. (iv) stable ie (¥) minimum or constant oscillation ‘* Derivative controller are often called as me anticipatory controle. ‘Open loop system elt) Advantage: * Derivative controller: ky “F—+ Po () Simple construction + PID controller are called universal controller. (i) Low cost (iil) Easy maintenance Ew (iv) stability of good A system is said to be completely observable, if .dvantage: every state x(t,) can be completely identified by (i) Less accuracy measurement of output (1) over a finite time (i) Less reliable interval (ii) Change in output cannot be modified (a) me a Performance of controller depends upon efficiency a-[} 4] 5-[¥] c-[t -1 of controller algoitnm, It does not depend upon actuator performance and sensor performance 1 poy op separate O41 Be = (8 aoi=($ a Regulatory mechanism i.o., feedback are generally provided in closed loop system. * All steady state in absence of disturbance, open loop control system can make zero error. ae [ ' ‘ Proportional controller : ky@() + Bp [ Al 1 oj [e ao]-|! 1 ett, a1 a 1 lal =o j He l= PID controller Keath [act +k 20 p, fence, lal 3 lagl Hence, 1Q,| # 080 (controllable) [3] ' Integral controller: k; felt) dt +P 2 Derivative controller : ky so unobservableMADE EASY Ee af abet] Controllability matrix = [8 AB] 1 2]fo]_f2 von [ aie 02 lag -[ sree Controllable for any value of ‘b Bo Transfer function of a systemis defined as ratio of Laplace transform of output to Laplace transform of input. Bo Observabilty condition Q= {[c ac la, | = 2b?-0 = (26%) Observable for all non-zero value of‘ Mechatronics and Robotics Control Systems | 55 (a) Condition for controllability o 1.0 0 a=|0 0 1|,6={0 6-11 6 1 0 1 ojfo] fo ap=|0 0 1/fo}=|14 -6 -11 -6|| 1] |-6 o 1 ofo 1 o] fo 1 0 o 0 1ffo o t-}o 0 4 6-11 -6f-6 -11 6} [6 -11 -6 0 14 Oyfo) ft #B=|0 0 1]/0]=|-6 6 -11 -6}|-6} [25 oo 4 Q=]o 1 -6 1 6 25 lag #0 $0, sytem’ completely convolable Be Given that the control signal to change at a rate proportional to the error signal it means d qe (MMA = ECO AK) = K, [E(t AM() = change of control signal (controller cutout) E(t) = Error signal As the change of control signal is proportional to the integral of error, it represents “Integral controller