POWE342
Control Systems I
Open and closed- Mathematical Feedback System Stability Root locus PID Working with MATLAB
loop systems Model
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
1
Course Overview
Introduction to control systems, control system components, transfer
function, block diagram, signal flow graph, time domain analysis of control
systems, Routh-Hurwitz stability criteria, relative stability of feedback,
control system, root locus analysis, root locus design, frequency response
analysis, Nyquist criterion of stability. MATLAB / SIMULINK is used in class
assignment and lab to simulate and analyze feedback control systems.
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
2
2nd Chapter
Expected Duration: 3hrs
Mathematical models of systems and Transfer functions
• Representing a system using mathematical equations
• Laplace transform
• Poles and Zeros
• System Blocks Diagram Reduction
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
3
Chapter 02
Important Laplace Transform Pairs
f(t) F(s) f(t) F(s)
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
4
Chapter 02
Transfer Function
The transfer function of a linear system is defined as the ratio of the Laplace transform of the output variable to the
Laplace transform of the input variable, with all initial conditions assumed to be zero
The transfer function of a system (or element) represents the relationship describing the dynamics of the system
under consideration
The transfer function of the spring-mass-damper system:
𝑀𝑠 2 𝑌 𝑠 + 𝑏𝑠𝑌 𝑠 + 𝑘𝑌 𝑠 = R(s)
Then the transfer function is:
𝑂𝑈𝑇𝑃𝑈𝑇 𝑌(𝑠) 1
=𝐺 𝑠 = =
𝐼𝑁𝑃𝑈𝑇 𝑅(𝑠) 𝑀𝑠 2 + 𝑏𝑠 + 𝑘
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
5
Chapter 02
Poles and Zeros (1st Order)
Consider this transfer function:
(𝑠 + 3)
𝑌 𝑠 = 𝑦0
(𝑠 + 1)(𝑠 + 2)
The denominator polynomial, when set equal to zero, is called the characteristic equation because the roots of this
equation determine the character of the time response.
The roots of this characteristic equation are also called the poles of the system
The roots of the numerator polynomial are called the zeros of the system 𝑗ω
𝜎
-3 -2 -1
𝑝𝑜𝑙𝑒𝑠
zeros
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
6
Chapter 02
Steady-State Value (1 st Order)
Solving and Determining the Steady State Value (Final Position)
(𝑠 + 3)
𝑌 𝑠 = 𝑦0
(𝑠 + 1)(𝑠 + 2)
Expanding the equation in a partial fraction expansion, we obtain
𝑘1 𝑘2
𝑌 𝑠 = +
𝑠+1 𝑠+2
𝑠+3 𝑠+3
where: 𝑘1 = ቤ =2 and 𝑘2 = ቤ = −1
𝑠 + 2 𝑠=−1 𝑠 + 1 𝑠=−2
2 −1
The inverse Laplace transform is then: 𝑦 𝑡 = ℒ −1 + ℒ −1 = 2𝑒 −𝑡 − 𝑒 −2𝑡
𝑠+1 𝑠+2
Finally, it is usually desired to determine the steady-state or final value of the response of y(t):
lim 𝑦 𝑡 = lim 𝑠. 𝑌 𝑠 then for this example the steady state value will be, lim 𝑦 𝑡 = lim 𝑠. 𝑌 𝑠 = 0
𝑡→∞ 𝑠→0 𝑡→∞ 𝑠→0
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
7
Chapter 02
Poles and Zeros (2nd Order)
Consider this transfer function:
𝑏
𝑠+ 𝑠 + 2𝜁ω𝑛
𝑌 𝑠 = 𝑀 𝑦0 = 𝑦0
𝑏 𝑘 𝑠 2 + 2𝜁ω𝑛 𝑠 + ω𝑛 2
𝑠2 + 𝑠+
𝑀 𝑀
where 𝜁 is the dimensionless damping ratio and ω𝑛 is the natural frequency of the system
The roots of the characteristic equation are:
𝑠1,2 = −𝜁ω𝑛 ±ω𝑛 𝜁 2 − 1 where in this case: ω𝑛 = 𝑘/𝑀
𝑏
𝜁= 𝜁 > 1 roots are real, the system is overdamped
2 𝑘𝑀
𝜁 = 1 roots are real & repeated, the system is critical
damped
𝜁< 1 roots are complex, the system is underdamped
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
8
Chapter 02
Damping
The effect of damping on a system
𝜁>1 𝜁=1 𝜁<1
roots are real roots are real & repeated roots are complex
the system is overdamped the system is critical damped the system is underdamped
𝑗ω 𝑗ω 𝑗ω
Ѳ = 𝑐𝑜𝑠 −1 𝜁 𝑗ω𝑛 𝜁 2 − 1
−𝜁ω𝑛 −ω𝑛 𝜁 2 − 1
ω𝑛
𝜎 𝜎 𝜎
-2𝜁ω𝑛 -2𝜁ω𝑛 -𝜁ω𝑛 -2𝜁ω𝑛 -𝜁ω𝑛
ω𝑛
−𝜁ω𝑛 +ω𝑛 𝜁2 −1 -𝑗ω𝑛 𝜁 2 − 1
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
9
Chapter 02
Damping
The effect of damping on a system
𝜁>1 𝜁=1 𝜁<1
roots are real roots are real & repeated roots are complex
the system is overdamped the system is critical damped the system is underdamped
𝑗ω 𝑗ω 𝑗ω
Ѳ = 𝑐𝑜𝑠 −1 𝜁 𝑗ω𝑛 𝜁 2 − 1
−𝜁ω𝑛 −ω𝑛 𝜁 2 − 1
ω𝑛
𝜎 𝜎 𝜎
-𝜁ω𝑛 -2𝜁ω𝑛 -𝜁ω𝑛 -2𝜁ω𝑛 -𝜁ω𝑛
ω𝑛
−𝜁ω𝑛 +ω𝑛 𝜁2 −1 -𝑗ω𝑛 𝜁 2 − 1
𝑓(𝑡) 𝑓(𝑡) 𝑓(𝑡)
𝑡 𝑡 𝑡
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
10
Chapter 02
Characteristics of a System Based on the Roots
𝑗ω
Faster Stability Faster un-Stability
Higher
frequency
Higher
frequency
Stability Un-Stability
Un-Damped
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
11
Chapter 02
Damping
The effect of damping on a system
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
12
Chapter 02
Types of Testing Signals
T S
Impulse 1 1
𝟏
Step 1
𝒔
𝟏
Ramp (velocity) t
𝒔𝟐
𝟏
Parabola (acceleration) 𝒕𝟐
𝒔𝟑
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
13
Chapter 02
Example
Solve and determine the s.s. value of this transfer function:
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
14
Chapter 02
Example (Solution)
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
15
Chapter 02
System Block Diagrams Reduction
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
16
Chapter 02
System Block Diagrams Reduction (Example)
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
17
Chapter 02
Exercise
Represent the following system in on block diagram
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
18
Chapter 02
References
Modern Control Systems, Bishop, 12th edition
Textbook Link
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
19
Q&A
Slide BREAK
www.bau.edu.lb
yousef.ajrah@bau.edu.lb
07 985 080 Ext.3403
20
