CCE 405 - Control Systems

CCE 405 B – Control Bio-systems

Section A
Introduction

Michel Owayjan, M.E.

American University of Science & Technology

Basic Concepts of Control Systems

 Introduction
 Control Systems: Definitions and Example
 Basic Features of Control Systems
 Configurations of Control Systems
 Analysis and Design Objectives
 Example – Case Study
 The Design Process
 Brief Review of Linear 2nd-order Differential Equations
 The Control Systems Engineering

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Introduction
o Control Systems are playing an important role in the
development of modern technology.

o Control systems (automatically controlled systems) that we

can create:
 Automobile, Home heating system, Rockets fire,
Robotic systems, Automatic assembly systems

o Control systems also exist in nature:

 The pancreas automatically regulates our blood sugar.

o Nonphysical world:
 Automatic Control of a student performance.

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Control Systems: Definition
A control system consists of subsystems and processes (or plants)
assembled for the purpose of obtaining a desired output with
desired performance, given a specified input.

Fig. 1.1 - Simplified description of

a control system

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Example #1 – Elevator
The fourth-floor button is pressed on the first floor, the elevator
rises with a speed and accuracy designed for passenger comfort.

o Performance

Fig. 1.2- Elevator

response curve

o Two major measures of performance:

 Transient response
 Steady-state error

o How does the transient response affect passenger comfort?

and passenger patience?
o How does the steady-state error affect passenger safety?
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Basic Features of Control Systems
o Power amplification. Radar antenna
A large amount of required power for output rotation can be
obtained from a low-power rotation at input.
o Remote control. Remote or dangerous locations
A remote-controlled robot arm can be used to pick up material in a
radioactive environment.
o Convenience of input form. Temperature control system
Provides convenience by changing the form of the input (the input is
a position on a thermostat)
o Compensation for disturbances. Yield correct output even with
a disturbance. Antenna system
If wind forces an antenna from its commanded position, the system
must be able to detect disturbances and correct the antenna’s
position. Here the input will not change.
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System Configurations

Internal architecture

Two major configurations of control systems:

o Open loop
o Closed loop

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Open-loop Systems

Fig. 1.6(a) - Block diagram of an

open-loop control system

o Cannot compensate for disturbances

o Simply commanded by the input
o Not intelligent enough

If we want the controller to take action and nullify the effect

of disturbance, we must provide it with information about the
disturbance.
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Closed-loop (Feedback control) Systems

Fig. 1.6(b) - Block diagram of a

closed-loop control system

o Compares the output response to the input

o If there is any difference between the two responses, the
system drives the plant.
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Analysis and Design Objectives
o Analysis: determining the system’s performance.
o Design: creating or changing the system’s performance.

A control system is dynamic: it responds to an input by

undergoing a transient response before reaching a steady-state
response.

Main objectives (considerations)

o Produce the desired transient response
o Reduce the steady-state error
o Achieve stability

Other concerns:
o Cost
o Sensitivity of system performance to changes in parameters
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First Objective – Transient Response
Example of elevator:
o A slow transient response makes passengers impatient
o An excessively fast response makes them uncomfortable
o If the elevator oscillates about the arrival floor more than a
second, a disconcerting feeling can result

In our study
o We establish quantitative definitions for transient response
o We then analyze the system for its existing transient response
o Finally, we adjust parameters or design components to yield a
desired transient response.

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Second Objective – Steady-State Response
o This response resembles the input
o It is usually what remains after the transients have decayed to
zero.
o Example: Elevator stopped at the fourth floor
o We are interested in the accuracy of the steady state response
(the elevator must be level enough for the passengers to exit)

In our study
o We define steady-state errors quantitatively
o Analyze a system's steady-state error
o Then we design corrective action to reduce the steady-state
error

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Linear 2nd-Order Differential Equations
In general, a linear 2nd-order differential equation with constant
coefficients has the following form
𝑎𝑥 + 𝑏𝑥 + 𝑐𝑥 = 𝐹(𝑡)
o 𝑎, 𝑏 and 𝑐 are real constants
o 𝑡 is the independent variable Terminology used in
o 𝑥(t) is the unknown function differential equations
o 𝐹(𝑡) is a function of time

Total solution: 𝑥 𝑡 = 𝑥ℎ 𝑡 + 𝑥𝑝 (𝑡)

Particular solution, can be
obtained using the method
of undetermined
Homogeneous solution, coefficients
solution to 𝑎𝑥 + 𝑏𝑥American
+ 𝑐𝑥 University
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Natural and Forced Response

𝑎𝑥 + 𝑏𝑥 + 𝑐𝑥 = 𝐹(𝑡)
o 𝑎, 𝑏 and 𝑐 are proper system’s parameters
o 𝑡 is the time variable Terminology used in
o 𝑥(t) is the output control
o 𝐹(𝑡) is the forcing function or input

Total solution: 𝑥 𝑡 = 𝑥ℎ 𝑡 + 𝑥𝑝 (𝑡)

Forced response

o Natural response
o Solution to 𝑎 𝑥 + 𝑏 𝑥 + 𝑐 𝑥 = 0
o Depends only on system’s parameters
o Does not depend on the forcing function
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CCE 405 – Michel Owayjan – Fall 2015-2016
Third Objective – Stability
Total solution: 𝑥 𝑡 = 𝑥ℎ 𝑡 + 𝑥𝑝 (𝑡)
Forced response

Natural response
solution of 𝑎𝑥 + 𝑏𝑥 + 𝑐𝑥 = 0
Depends only on system’s parameters
Does not depend on the forcing function

The system is stable if the natural response dies out after a certain
time, namely is after a certain time we will have 𝑥 𝑡 = 𝑥𝑝 (𝑡)

Thus, if the system is stable

𝑥ℎ 𝑡 − is the transient response
𝑥𝑝 𝑡 − is the steady-state response
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Third Objective – Stability
o Discussion of transient response and steady-state error is of
meaningless if the system does not have stability.

o Natural response describes the way the system dissipates or

acquires energy. The form or nature of this response is
dependent only on the system, not the input.

o On the other hand, the form or nature of the forced response is

dependent on the input.

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Third Objective – Stability
o For a control system to be useful, the natural response must
 eventually approach zero, thus leaving only the forced
response
 or oscillate

o Instability occurs when the natural response grows without

bound rather than diminish to zero or oscillate.

o As a result the system is no longer controlled.

o Instability, could lead to self-destruction of the physical device

if limit stops are not part of the design.

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Third Objective – Stability
o Conclusion: Only when the system is stable, the natural
response is called the transient response and the forced
response is called the steady-state response.

o Control systems must be designed to be stable.

o So, their natural response must decay to zero as time

approaches infinity, or oscillate.

o If the system is stable, the proper transient response and

steady-state error characteristics can be designed.

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Robust Design and Cost
o System parameters are considered constant during the design
for transient response, steady-state errors, and stability.
o Nevertheless, they change over time when the actual system is
built.
o Thus, the performance of the system also changes over time
and will not be consistent with your design.

 So, the engineer wants to create a robust design so that the

system will not be sensitive to parameter changes. This
concept is discussed in chapters 7-8 and then can be used to
test a system for robustness.

 A control systems engineer may also think of the cost of its

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Case Study – Antenna Azimuth Position Control
The purpose of this system is to have the azimuth angle output of
the antenna, 𝜃𝑜 (𝑡), follow the input angle of the potentiometer,
𝜃𝑖 (𝑡).

Fig. 1.9(a) – System concept

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Case Study – Antenna Azimuth Position Control

Fig. 1.9(b) –
Detailed layout

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Antenna Azimuth – How the System Works?
o The input command is an angular
displacement.
o The potentiometer converts the angular
displacement into a voltage.
o Similarly, the output angular displacement
is converted to a voltage by the
potentiometer in the feedback path.

Fig. 1.9(d) –
Functional block
diagram

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Antenna Azimuth – How the System Works?
o The motor is driven only when the
output and the input do not match.

o The greater the difference between the

input and the output, the larger the
motor input voltage, and the faster the
motor will turn.

Fig. 1.9(d) –
Functional block
diagram

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The Design Process
o System parameters are considered constant during the design
for transient response, steady-state errors, and stability.

Step 4: Develop a mathematical model: Block Diagram

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American University of Science & Technology
CCE 405 – Dr. Semaan Amine – Fall 2013-2014
Solving 2nd-Order Differential Equations –
Classical Method
Forced response
𝑎𝑥 + 𝑏𝑥 + 𝑐𝑥 = 𝐹(𝑡)
o Two real roots: 𝑟1 and 𝑟2
 𝑥 𝑡 = 𝐴𝑒 𝑟1 𝑡 + 𝐵𝑒 𝑟2 𝑡
𝑎𝑥 + 𝑏𝑥 + 𝑐𝑥 = 0
o Double real root: 𝑟1
Characteristic equation  𝑥 𝑡 = 𝐴𝑒 𝑟1 𝑡 + 𝐵𝑡𝑒 𝑟1 𝑡
𝑎𝑟 2 + 𝑏𝑟 + 𝑐 = 0
o Two conjugate complex roots: 𝛼 ± 𝑖𝛽
 𝑥 𝑡 = 𝑒 𝛼𝑡 𝐴 cos 𝛽𝑡 + 𝐵 sin 𝛽𝑡
roots
o Note: if 𝑏 = 0, we obtain two pure
imaginary roots: ±𝑖𝛾
Natural response  𝑥 𝑡 = 𝐴 cos 𝛾𝑡 + 𝐵 sin 𝛾𝑡
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Applications – Typical Mechanical System
Undamped system: 𝑚 𝑥 + 𝑘 𝑥 = 0
𝑘 𝑘
𝑥 𝑡 = 𝐴 cos 𝑡 + 𝐵 sin 𝑡
𝑚 𝑚

𝑥 𝑡 = 𝐶 cos 𝜔0 𝑡 − 𝛼

Note: m and k
must be positive
for the results to
be applicable

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Applications – Typical Mechanical System
Damped system: 𝑚 𝑥 + 𝑐 𝑥 + 𝑘 𝑥 = 0
Note: m, k and c are assumed positive

o Two real roots: 𝑟1 and 𝑟2 (over damped)

 𝑥 𝑡 = 𝐴𝑒 𝑟1 𝑡 + 𝐵𝑒 𝑟2 𝑡

o Double real root: 𝑟1 (critically damped)

 𝑥 𝑡 = 𝐴𝑒 𝑟1 𝑡 + 𝐵𝑡𝑒 𝑟1 𝑡

o Two conjugate complex roots: 𝛼 ± 𝑖𝛽

(underdamped)
 𝑥 𝑡 = 𝑒 𝛼𝑡 𝐴 cos 𝛽𝑡 + 𝐵 sin 𝛽𝑡
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Natural Response Plot
Note: m, k and c are assumed as positive

Underdamped Critically overdamped undamped

damped
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Mechanical – Electrical Analogy

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RLC Circuits

Differentiation of both sides yields :

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RLC Circuits

Differentiation of both sides yields :

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The Control Systems Engineering
o Control systems engineering cuts across numerous disciplines
and numerous functions within those disciplines.

o The control engineer can be found at the top level of large

projects, engaged at the conceptual phase in determining or
implementing overall system requirements.

o After completing this control systems course, you will be able

to see how your previous studies fit into the large picture. Your
amplifier course or vibrations course will take on new meaning
as you begin to see the role design work plays as part of
product development.

o Understand the interconnection between different disciplines

of engineering and sciences to build a system
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