A RST Look at Control Systems: ROBT303 Linear Control Theory With Lab

ROBT303 Linear Control Theory with Lab
A rst look at control systems

Tohid Alizadeh
Academic year 2015-2016
Tohid Alizadeh (NU)
1 / 33
Part I
Block diagrams
Tohid Alizadeh (NU)
2 / 33
Basic denitions
A block diagram is made up of signals, systems, summing points and branch
points
ure 5.2
mponents of a
k diagram for
Summing point (or summing junction). The plus or minus sign at each
ear, arrowhead indicates whether the associated signal is to be added or subtracted.
re 5.2
e-invariant
A branch
ponents
of a point (or picko point) is a point from which the signal from a block
em goes concurrently to other blocks or summing points
diagram for
ar,
invariant
m
Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright 2004 by John Wiley & Sons. All rights reserved.
Tohid Alizadeh (NU)
3 / 33
a. Cascaded
subsystems;
b. equivalent transfer
function
Transfer function of series and parallel connected blocks

Transfer function of blocks in series = product of transfer functions
Figure 5.5
Transfer function of blocks in parallel = sum of transfer functions
a. Parallel
subsystems;
b. equivalent
ransfer
unction

Tohid Alizadeh (NU)
4 / 33
Transfer function of feedback connected blocks
ntrol
is the most common form for control systems, and is often found in
many natural processes
Feedback
Figure 5.6
a. Feedback control
system;
b. simplified
Assuming
G1 (s ) = 1, model;
the closed-loop transfer function is given by
c. equivalent transfer C (s )
G (sControl
)
Systems Engineering, Fourth Edition by Norm
T (s ) =
=
Copyright 2004 by John Wiley & Sons. All right
function
R (s )
1 G (s )H (s )
Let's see now how we can obtain it
Tohid Alizadeh (NU)
5 / 33
Transfer function of feedback connected blocks (cont'ed)

Let's see now how we can obtain it
The output C (s ) and input R (s ) are related as follows:
k control
C (s ) = G (s )E (s ), E (s ) = R (s ) H (s )C (s )
Eliminating E (s ) from these equations gives
d model;
nt transferC (s ) = G (s )[R (s ) H (s )C (s )] C (s ) G (s )H (s )C (s ) = G (s )R (s )
C (s )
G (s )
by John
C (s ) (1 G (s )H (s ))Copyright
= G (s )R2004
(s )
T (sWiley
) = & Sons.=All rights reserved.
R (s )
1 G (s )H (s )
Tohid Alizadeh (NU)
6 / 33
Some tricks on moving blocks

Sometimes, reducing a block diagram to a single block is not immediate
A rst case is when we need to move a block to the right or to the left of a
summing junction
re 5.7
diagram
ra for summing
ons
alent forms for
ng a block
the left past a
ming junction;
the right past a
ming junction
In case (a), we move a block before a summing junction

In case (b), we move a block
afterEngineering,
a summing
junction
Control Systems
Fourth Edition
by Norman S. Nise
Tohid Alizadeh (NU)
7 / 33
Some tricks on moving blocks (cont'ed)

A second case is when we need to move a block to the right or to the left of a
branch point
Figure 5.8
Block diagram algebra
for pickoff points
equivalent forms for
moving a block
a. to the left past a
pickoff point;
b. to the right past a
pickoff point
In case (a), we move a block before a branch point

In case (b), we move a block after a branch point

Tohid Alizadeh (NU)
8 / 33
Some tricks on moving blocks (cont'ed)

Example 1
Reduce the following block diagrams to single transfer functions using (possibly)
series, parallel, and feedback rules, and some tricks when needed
Figure 5.9
Block
diagram
Figure 5.11
for
Block diagram for
Example5.1
Example 5.2

Tohid Alizadeh (NU)
9 / 33
Part II
Introduction to closed-loop control systems
Tohid Alizadeh (NU)
10 / 33
Block diagram of a linear control system

dh
Hp (s)
r0
G0t (s)
INPUT
c (s) u
G
CONTROLLER
Gp (s)
+
+
ACTUATOR
+ PROCESS
TRANSDUCER
+
+
Gt (s)
OUTPUT
TRANSDUCER
Ht (s)
nh
Tohid Alizadeh (NU)
11 / 33
Block diagram of a linear control system (cont'ed)

PROCESS UNCERTAINTIES
dh
AND DISTURBANCES
Hp (s)
r0
G0t (s)
INPUT
c (s) u
G
CONTROLLER
Gp (s)
+
+
ACTUATOR
+ PROCESS
TRANSDUCER
+
+
Gt (s)
OUTPUT
TRANSDUCER
Ht (s)
nh
Tohid Alizadeh (NU)
NOISE ON
TRANSDUCER
12 / 33
Example: speed control of a DC motor

torque
disturbance
knob angular
reference
position
voltage
r0
voltage
control
difference
voltage
dh
motor
speed
POTENTIOMETER
PID
DC MOTOR
CONTROLLER
tachometer
output voltage
+
+
high-frequency
electrical noise
Tohid Alizadeh (NU)
nh
TACHOMETER
13 / 33
A look inside the DC motor

The DC motor is composed of an electrical subsystem and a mechanical
subsystem
Objective: move the disturbance term to make it act directly on the output
signal, through a block Hp (s )
torque
disturbance
dh
motor
control
speed
voltage
c
DC MOTOR
torque
disturbance
dh
control
voltage
k
R + sL
motor
speed
e ++
1
B + sJ
ELECTRICAL
MECHANICAL
SUBSYSTEM
SUBSYSTEM
k
Tohid Alizadeh (NU)
14 / 33
The DC motor is composed by an electrical subsystem and a mechanical

subsystem
signal, through a block Hp (s ) . . . moving dh after the mechanical system is not
enough
torque
disturbance
dh
torque
disturbance
motor
control
speed
voltage
dh
1
B + sJ
DC MOTOR
control
motor
voltage
k
(R + sL)(B + sJ)
+
+
speed
k
Tohid Alizadeh (NU)
15 / 33

The DC motor is composed by an electrical subsystem and a mechanical
subsystem
signal, through a block Hp (s ) . . . so, we use the superposition principle to move it
out
dh
Hp (s)
control
voltage
+
+
dh
c
motor
DC MOTOR
torque
disturbance
speed
R + sL
(R + sL)(B + sJ) + k 2
control
motor
voltage
Tohid Alizadeh (NU)
k
(R + sL)(B + sJ) + k 2
+
+
speed
16 / 33

The transducers have a very fast (BIBO stable!) dynamics: they can be usually
substituted by their DC gains, and approximated as static systems
To obtain a unit-feedback loop, eliminating the explicit presence of the output
transducer block, we move it twice after summing junctions
dh
Hp (s)
r0
G0t Gt 1
INPUT
c (s) u
Gt G
CONTROLLER
Gp (s)
+
+
ACTUATOR
+ PROCESS
TRANSDUCER
+
+
Gt 1 Ht (s)
nh
The reference r has the same measurement unit of the controlled output c
Tohid Alizadeh (NU)
17 / 33

We consider the disturbances n and d directly as output of the corresponding
blocks: we'll have to remember that these signals can be outputs of dynamical
systems
We dene an equivalent block diagram, moving the entry point of n, which is
now subtracted to the physical error e = r c , instead of being added to c
Including the eect of the output transducer in the controller block, we dene
Gc (s ) = Gt Gc (s ), so Gc (s ) is designed as if its input was the actual physical error
r
n
e +-
Gc (s)
CONTROLLER
Gp (s)
+
+
ACTUATOR
+ PROCESS
This scheme will be used from now on as the standard control loop
Tohid Alizadeh (NU)
18 / 33
Standard control loop of the DC motor

Assuming J = 0.01 kgm2 , B = 0.1 Nms, k = 0.01 Nm/A, R = 1 , L = 0.5 H,
the input-output model of the DC motor is
Gp (s ) =
0.01
0.005s 2 + 0.06s + 0.1001
Also, the transfer function from the load torque Dh (s ) to the motor speed C (s ) is
Hp (s ) =
0.5s + 1
0.005s 2 + 0.06s + 0.1001
The input and output transducer transfer functions are approximated with their
DC gains, as
Gt0 (s ) 0.06
V/degree, Gt (s ) 0.02 V/(rad/s)
If we consider the reference r in rad/s, we can convert the angle of the knob r 0
to r as r = Gt0 Gt1 r 0 = 3r 0 .
For instance, if the knob is positioned at r 0 = 20 , the corresponding reference
velocity is r = 60 rad/s, to which corresponds a voltage r = 1.2 V
Tohid Alizadeh (NU)
19 / 33
Standard control loop of the DC motor (cont'ed)

The PID controller is designed as if its input was the speed error, and its output
the input voltage for the DC motor (we'll study how to design it)
Gc (s ) =
s 2 + 100s + 200
0.001s 2 + s
Then, if we implement it as an analog circuit, its transfer function (V/V) will be

Gc (s ) =
Gc ( s )
s 2 + 100s + 200
= 50
Gt
0.001s 2 + s
n
e +-
+
+
PID
DC MOTOR
CONTROLLER
Tohid Alizadeh (NU)
20 / 33
What do we ideally want?

r
n
e +-
Gc (s)
CONTROLLER
Gp (s)
+
+
ACTUATOR
+ PROCESS
Ideally, we would like that, for any reference r that we want to track, and for all
possible disturbances d and n,
We have perfect tracking, i.e. c r for all time instants
The system is insensitive to process disturbances, i.e. c r for all time
instants for any realization of d
The system is insensitive to measurement noise, i.e. c r for all
realizations of n
The value of u should always remain small, in order not to damage the
system
Unfortunately, this is impossible, so we must set less ambitious goals
Tohid Alizadeh (NU)
21 / 33
What can we obtain in practice?
Closed-loop stability: the closed-loop system must be BIBO stable, i.e., for any
bounded realization of r , d and n, it is required that c , u and e remain bounded
Tracking: given a reference r (e.g., step, ramp, sinusoid, etc.), we want to have
the smallest possible error e , both in transient and in steady state
Robustness: considering a constant reference, how can the controller keep the
error low also in the presence of disturbances n and d ?
Sensitivity: the controller is designed based on a nominal plant model, but the
output behavior should not be too sensitive to variations of systems parameters
Moderation of the control action: the control variable u should not exceed given
bounds, to avoid reaching saturation limits or damaging the system
Tohid Alizadeh (NU)
22 / 33
Part III
Steady-state analysis of open-loop control
systems
Tohid Alizadeh (NU)
23 / 33
Open-loop control: DC motor example

It is known that the steady-state speed css of the DC motor is proportional to
the steady-state value of the input voltage uss , since
Gp (s ) =
k
k
= css = Gp (0)uss =
u
(R + sL)(B + sJ ) + k 2
RB + k 2 ss
Therefore, thinking about a constant reference r, and dening K Gcol (0), it is

enough to use the following scheme
r
+
+
u
OPEN-LOOP
DC MOTOR
CONTROLLER
and set K , neglecting for now the presence of d , such that

css = r css = Gp (0)uss = Gp (0)K r K = 1/Gp (0) = (RB + k 2 )/k
In this way, the sensor is not necessary, which reduces the problems due to noisy
sensor outputs, and eliminates its cost from the project budget
So, who needs feedback controllers? But maybe it is not so easy as it seems. . .
Tohid Alizadeh (NU)
24 / 33
Open-loop control: stability

r
Gol
c (s)
Gp (s)
OPEN-LOOP
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Let us have a look at the general case, then we'll go back to the DC motor case
For open-loop control, we have
C (s ) = Gcol (s )Gp (s )R (s ) + D (s ) = L(s )R (s ) + D (s )
To have open-loop stability, the poles of both Gcol (s ) and Gp (s ) must be on the
left-hand plane
One should not even think of canceling unstable poles of Gp (s ) using positive
zeros. . . why? (think about two reasons)
As a consequence, one should not apply open-loop control to a system that is
not BIBO stable
Tohid Alizadeh (NU)
25 / 33
Open-loop control: tracking and robustness

r
Gol
c (s)
+
+
Gp (s)
OPEN-LOOP
ACTUATOR
CONTROLLER
+ PROCESS
The Laplace transform of the error is

E (s ) = R (s )C (s ) = R (s ) Gcol (s )Gp (s )R (s ) + D (s ) = 1 Gcol (s )Gp (s ) R (s )D (s )
In case of a constant known disturbance d and a constant reference r, we impose

lim e (t ) = slim
sE (s ) = lim s
t
0
s 0
1 KGp (0)
r

d
=
s
1 KGp (0) r d = 0
obtaining K = r d / Gp r , which becomes K = 1/Gp (0) in case d = 0

Usually, the open-loop controller is completely unaware of d (t ), and therefore no
disturbance compensation is possible (i.e., there is no robustness)
Tohid Alizadeh (NU)
26 / 33
Open-loop control: sensitivity

r
Gol
c (s)
Gp (s)
OPEN-LOOP
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Neglecting the presence of d , assume that the plant has a nominal DC gain
Gp Gp (0)
In practice, however, the DC gain is equal to Gp + Gp , due to the variation of

some internal parameter
The nominal DC gain of the open-loop system is L L(0), where
L(s ) =
C (s )
= Gcol (s )Gp (s )
R (s )
The practical DC gain of the open-loop system will be

L + L = K Gp + Gp = K Gp + K Gp = L + K Gp
The gain change is therefore L = K Gp

Tohid Alizadeh (NU)
27 / 33
Open-loop control: sensitivity (cont'ed)

r
Gol
c (s)
Gp (s)
OPEN-LOOP
ACTUATOR
CONTROLLER
+ PROCESS
+
+
The sensitivity Sol of the transfer function L(s ), obtained applying an open-loop
control law to the plant described by G (s ), is dened as the ratio of the
fractional change L/L to the fractional change Gp /Gp :
/L
Gp
L
L
Sol
=
Gp / Gp
L Gp
Since L = K Gp and L = K Gp , then

Sol =
K Gp Gp
=1
K Gp Gp
Therefore, a fractional change in Gp causes the same fractional change in L

Tohid Alizadeh (NU)
28 / 33
Open-loop control: back to the DC motor example

We test now the open-loop controller that we design for the DC motor
In case no disturbances are present, and the parameters are exactly as in the
model, the performance will be good. Here is the output for a unit step
reference (reference goes from 0 to 1 rad/s)
Openloop control: step response for nominal model with no load torque
1
0.9
0.8
0.7
c(t)
0.6
0.5
0.4
0.3
0.2
0.1
0
0.5
1.5
2
t
2.5
3.5
However, in real life things are dierent than expected

Tohid Alizadeh (NU)
29 / 33
Open-loop control: back to the DC motor example

Let's see what happens if, during the same step response, a constant load torque
dh (t ) of 0.025 N starts acting after 2 s, and acts on the system as the output
of block Hp (s ) (on the left)
It is known that the armature resistance in electrical motors increases as the
temperature increases, and in extreme cases it can become twice the nominal
value
Here is what happens if no load torque acts on the system, but the armature
resistance R is 20% larger than its nominal value (on the right)
Openloop control: step response for nominal model with load torque
Openloop control: step response for perturbed model with no load torque
0.9
0.9
0.8
0.8
0.7
0.7
0.6
0.6
c(t)
c(t)
0.5
0.5
0.4
0.4
0.3
0.3
0.2
0.2
0.1
0.1
0
0.5
Tohid Alizadeh (NU)
1.5
2
t
2.5
3.5
0.5
1.5
2
t
2.5
3.5
30 / 33
Design of open-loop controllers: example

Example 2
Given the following open-loop control system
du
r s + 1 u ++
s + 10
10
s+1
OPEN-LOOP
ACTUATOR
CONTROLLER
+ PROCESS
(a) Compute the time response of c (t ) for t 0, assuming c (0) = 0, if a reference

r (t ) = 3step(t ) is applied to the system. Assume that du (t ) = 0, for all t 0.
Will the steady-state value coincide with the desired one?
(b) Compute the time response of c (t ) for t 0 keeping the assumptions of case
(a), except that du (t ) = step(t ). What about the steady-state value now?
(c) Again, compute the time response of c (t ) for t 0 keeping the assumptions of
case (a), but this time change the parameter on the numerator of Gp (s ) from 10
to 11. Is this what you would expect from sensitivity theory?
Tohid Alizadeh (NU)
31 / 33
A general concept
To obtain high-performance control systems, we need a strong theoretical

background
The theory of open-loop control is straightforward, however the assumption on
perfect model and no (or known) disturbances is never met
Instead, we want a theory that still works if things are dierent than expected
(to a certain extent)
There's nothing more practical than a

good theory (Albert Einstein)
Tohid Alizadeh (NU)
32 / 33
A general concept
To obtain high-performance control systems, we need a strong theoretical

background
The theory of open-loop control is straightforward, however the assumption on
perfect model and no (or known) disturbances is never met
Instead, we want a theory that still works if things are dierent than expected
(to a certain extent): this is feedback control
There's nothing more practical than a

good theory (Albert Einstein)
Tohid Alizadeh (NU)
BUT
In theory, theory and practice are the same.

In practice, theyre not (Yogi Berra)
33 / 33

A RST Look at Control Systems: ROBT303 Linear Control Theory With Lab

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

A RST Look at Control Systems: ROBT303 Linear Control Theory With Lab

Uploaded by

Copyright:

Available Formats

ROBT303 Linear Control Theory with Lab