D(s)

R(s) +
C(s)
+
-
Controller + Plant

MA3005: Control Theory

Assistant Professor Guo Zhan Lum

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 Teaching Plan (Part I)
LAMS and Live Short Review Lectures
Week Lecture Topics Tutorial
1 Introduction to Systems and Laplace Transformation
2 Mathematical Modelling of Dynamic Systems 1
3 Mathematical Modelling of Mechanical Systems 2
4 Response and Stability 3
5 First-Order and Second-Order Systems 4
6 Transient Response 5
7 Basic Control Actions (Quiz Week)

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 Block Diagrams

Control Signal

Transfer Function

Objectives
• Understand the relationship between control signals and transfer functions
• Simplify the block diagrams
• Establish the relationship between the input and output control signals

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 General Rules
1. Multiply

𝐺1 𝐺2 𝐺1 𝐺2

𝐴 𝐴𝐺1 𝐺2
𝐺1 𝐺2

2. Summation

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 General Rules
3. Pre-Multiply (G) -> Post-Multiply (G)
AH AH
𝐻 𝐻/G
AG A
𝐺 𝐺
A AG

A A+B G(A+B) A AG G(A+B)

G G

B
BG
G
B
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 General Rules
4. Post-Multiply (G) -> Pre-Multiply (G)

AGH AGH
𝐻 𝐺𝐻

𝐺 𝐺
A AG A AG

A+B/G
A AG+B
A AG AG+B G
G
B/G
B
1/G
B

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 General Rules
5. Closed-loop R – CH E(G)

R(s) E(s) C(s)

G(s)
CH
H(s)
EG = C
(R – CH)G = C, RG = C(1+HG)
𝐶 𝐺
=
𝑅 1 + 𝐺𝐻
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 General Rules
5. Closed-loop R – CH E(G)

R(s) E(s) C(s)

G(s)
CH
H(s)

R(s) 𝐺 C(s)
1 + 𝐺𝐻
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 Example I
Aim: Establish the relationship between Y(s) and X(s)

X A AX
𝑌 = 𝐴𝑋 + 𝐵𝑋 + 𝐶𝑋
X X BX Y
B + 𝑌 = 𝐴+𝐵+𝐶 𝑋

CX 𝑌
X C =𝐴+𝐵+𝐶
𝑋

X(s) Y(s)
𝐴+𝐵+𝐶

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 Example II (PYP April 2014)
Question 3B: Simplify the system and find C/R (7 marks)

R C
+
- G1 +
- G2 G3

H1

H2

R C
+
- +
- G1 G2 G3

H1
𝐻2
𝐺1

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 Example II (PYP April 2014)
Question 3B: Simplify the system and find C/R (7 marks)

R C
+
- +
- G1 G2 G3

H1
𝐻2
𝐺1

R C
+
- +
- G1 G2 G3

H1
𝐻2
𝐺1

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 Example II (PYP April 2014)
Question 3B: Simplify the system and find C/R (7 marks)

R C
+
- +
- G1 G2 G3

H1
𝐻2
𝐺1

R 𝐺1 𝐺2 C
+
- G3
1+𝐺1 𝐺2 𝐻1
𝐶 𝐺
G =
𝑅 1 + 𝐺𝐻
𝐻2
𝐺1
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H 12
 Example III (PYP April 2015)
Question 3A: Simplify the system and find C/R (6 marks)

R - C
+
- 𝐺1 + G2 +
- 𝐺3 G4

𝐻1 𝐻2

1
𝐺4
R - C
+
- 𝐺1 + G2 +
- 𝐺3 G4

𝐻1 𝐻2

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 Example III (PYP April 2015)
Question 3A: Simplify the system and find C/R (6 marks)
1
𝐺4
R - 𝐺3 𝐺4
+
- 𝐺1 + G2
1 + 𝐺3 𝐺4 𝐻2 C
𝐻1

1
𝐺4
R - C
+
- 𝐺1 + G2 +
- 𝐺3 G4

𝐻1 𝐻2

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 Example III (PYP April 2015)
Question 3A: Simplify the system and find C/R (6 marks)
1
𝐺4
R - 𝐺3 𝐺4
+
- 𝐺1 + G2
1 + 𝐺3 𝐺4 𝐻2 C
𝐻1

1
𝐺1 𝐺4
R - 𝐺3 𝐺4
+
- + 𝐺1 G2
1 + 𝐺3 𝐺4 𝐻2 C
𝐻1

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 Example III (PYP April 2015)
Question 3A: Simplify the system and find C/R (6 marks)
1
𝐺1 𝐺4
R - 𝐺3 𝐺4
+ +
- 𝐺1 G2
1 + 𝐺3 𝐺4 𝐻2 C
𝐻1

1
𝐺1 𝐺4
R - 𝐺3 𝐺4
+
- + 𝐺1 G2
1 + 𝐺3 𝐺4 𝐻2 C
𝐻1

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 Example III (PYP April 2015)
Question 3A: Simplify the system and find C/R (6 marks)
1
𝐺1 𝐺4
R - 𝐺3 𝐺4
+ +
- 𝐺1 G2
1 + 𝐺3 𝐺4 𝐻2 C
𝐻1

H 1
𝐺1 𝐺4

R - 𝐺1 𝐺2 𝐺3 𝐺4 𝐶 𝐺
+
1 + 𝐺1 𝐺2 𝐻1 1 + 𝐺3 𝐺4 𝐻2 C =
𝑅 1 + 𝐺𝐻
G
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 Summary

▪ Analysis of block diagrams

❖ Manipulate control signals and transfer functions
❖ Establish basic rules
❖ Simplify the block diagrams

▪ Concepts are demonstrated via three examples

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