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Linear System Theory

This document provides an overview of linear system theory and related concepts. It discusses topics like optimal control theory, robust control, adaptive control, transfer functions, stability analysis, and methods for calculating transfer functions including differential, transform, mesh, and node analysis. It also defines basic terminologies used in control systems like controlled variables, manipulated variables, plants, systems, disturbances, feedback and feedforward paths, and compensators. Examples provided include an automatic aircraft landing system, a satellite model, and a servomotor system model. Engineering design process and steps in control problem and system design are also summarized.

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Sajid Khan
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© © All Rights Reserved
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Download as PPTX, PDF, TXT or read online on Scribd
23 views

Linear System Theory

This document provides an overview of linear system theory and related concepts. It discusses topics like optimal control theory, robust control, adaptive control, transfer functions, stability analysis, and methods for calculating transfer functions including differential, transform, mesh, and node analysis. It also defines basic terminologies used in control systems like controlled variables, manipulated variables, plants, systems, disturbances, feedback and feedforward paths, and compensators. Examples provided include an automatic aircraft landing system, a satellite model, and a servomotor system model. Engineering design process and steps in control problem and system design are also summarized.

Uploaded by

Sajid Khan
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Lecture 2

Linear System Theory

Atif ullah khan


Department of Electronics
Course Description
Transition of classical control system to modern control system by
introducing state space representation
• Optimal control theory, an extension of the calculus of variations, is a
mathematical optimization method for deriving control policies

• In control theory, robust control is an approach to controller design


that explicitly deals with uncertainty. Robust control methods are
designed to function properly provided that uncertain parameters or
disturbances are found within some (typically compact) set.
• Adaptive control is an active field in the design of control
systems to deal with uncertainties.

• Adaptive control is roughly divided into two categories:


direct and indirect.
Indirect methods estimate the parameters in the plant and
further use the estimated model information to adjust the
controller.

• Direct methods are ones wherein the estimated parameters


are those directly used in the adaptive controller.
Difference..?
• Adaptive control is the control method used by a controller which
must adapt to a controlled system with parameters which vary, or
are initially uncertain. For example, as an aircraft flies, its mass
will slowly decrease as a result of fuel consumption; a control law
is needed that adapts itself to such changing conditions.
• Adaptive control does not need a priori information about the
bounds on these uncertain or time-varying parameters
• Robust control guarantees that if the changes are within given
bounds the control law need not be changed, while adaptive
control is concerned with control law changing themselves.

Adaptive controller’s has ability to adjust itself to handle unknown


model uncertainties.
Course description
This course covers:
• Linear spaces and operators
• Mathematical descriptions of linear systems
• Controllability and observability
• Canonical forms
• State feedback and state estimators
• Stability
Transfer Function Importance:
The transfer function of a control system is defined as the ratio of
the Laplace transform of the output variable to Laplace transform of
the input .variable assuming all initial conditions to be zero.

Properties of Transfer Function:


(1)The transfer function does not depend on the input.
(2)Stability can be found by characteristic equation
(3)T.F cannot be defined for non-linear functions.
Advantages of Transfer Function:

(1)T.F is the mathematical model and it gives the gain of the system.

(2) Poles and Zeros can be determined by T.F. Both play a very
important role in system response.

(3) Stability analysis can be determined by T.F


Limitation of Transfer Function:

(1) T.F can be defined for linear system only.

(2) Initial condition loose their importance as T.F does take into
account the effect of initial conditions

(3) No interference can be drawn about physical structure of the


system from its transfer function
Stability???????
• A system is stable if its impulse response approaches zero as time
approaches infinity.

OR

• A system is stable if every bounded input produces a bounded


output.
Objectives of stability analysis
The objectives of stability analysis is the determination of the following

(1) The degree or extent of system stability

(2)The steady state performance

(3) The transient response


Important Table(Only for Linear Components)
Methods for calculating Transfer Function

• Differential Method.

• Transform Method.

• Nodal Analysis.

• Mesh Analysis.
Differential Method.
• Example:
Differential Method.
• Solution:
Transform Method.
• Problem:
Transform Method.
• Input Equation

• Output Equation
Transform Method.
Taking Laplace
Mesh Analysis
• Problem: Calculate transfer function of I2 w.r.t source voltage
Mesh Analysis
Mesh Analysis
Node Analysis
• Problem:
Node Analysis
• Nodal Equations: Current equation
Node Analysis:
• Transfer Function:
Finding Transfer Function of Non-linear
Electrical Circuit
Non-linear Electrical Circuit
Non-linear Electrical Circuit
•.

• At t= zero
Vr = 20 Volts and Ir=14.78 Amp.
• In Equilibrium Condition
Non-linear Electrical Circuit

• Applying Taylor series on non-linear component only:


Non-linear Electrical Circuit
Non-linear Electrical Circuit
• For Output Equation:

• Now Equating both input and output equations


Related work
• Topic 2.5 Modern Control System by Richards C.Dorf
Lecture 3:
Basic Terminologies
 Controlled Variable:
The controlled variable is the quantity or condition that is measured
and controlled.

 Manipulated Variable:
The manipulated variable is the quantity or condition that is varied by
the controller so as to affect the value of the controlled variable

34
Basic Terminologies
 Plants:
It may be a piece of equipment, perhaps just a set of machine parts
functioning together, the purpose of which is to perform a particular
operation.
 Systems:
A system is a combination of components that act together and
perform a certain objective:

35
Basic Terminologies
 Disturbances:
A disturbance is a signal that tends to adversely affect the value of the
output of a system.
 If a disturbance is generated within the system, it is called internal.
 External disturbance is generated outside the system and act as an
input.

36
Basic Terminologies
 Feed back Path:
Reverse path that connects output to input.
 Feed forward Path:
Forward path that connects input to output.
 Compensator:
Equipment responsible of correcting perceived signal

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Open loop System
 Feed forward systems are called open loop systems.

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Close Loop System
 Feedback systems are called close loop systems.

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Multi loop feedback System

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Multi variable Control system

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Case 1: Automatic Aircraft Landing System

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Automatic Aircraft Landing System

43
Corresponding Block Diagram

44
ENGINEERING DESIGN
• Engineering design is the central task of the engineer. It is a complex
process in which both creativity and analysis play major roles.
• Design is the process of conceiving or inventing the forms, parts, and
details of a system to achieve a specified purpose.

45
Three steps
• Establishment of goals and variables to be controlled.
• System definition and modeling.
• Control system design and integrated system simulation and analysis

46
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The Control Problem
To Design the Controller
• Disturbance rejection
• Steady state error
• Transient Response
• Sensitivity to parameter changes
• Choosing required sensors
• Choosing required actuators
• To get desired output criteria
• To reduce inaccuracies in the mathematical model

48
Satellite Model

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Servomotor System Model

50
Servomotor System Model

51

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