BAHIRDAR UNIVERSTY

BAHI DAR INSTITUTE OF TECHNOLOGY

DEPATEMET OF ELECTRO MECHANICAL ENGINEERING

BY CHALACHEW
MSC Robotics
Control Systems
Control system

A control system is a system, which provides the desired response by giving appropriate input.

Examples :
 Traffic lights control system
 washing machine
Open loop control systems
Control Systems can be classified as open loop control systems and closed loop control
systems based on the feedback path
open loop control systems, output is not fed-back to the input. So, the control action is independent
of the desired output
.

 An input is applied to a controller and it produces an actuating signal or controlling signal.

 This signal is given as an input to a plant or process which is to be controlled.
 So, the plant produces an output, which is controlled.
 The traffic lights control system which we discussed earlier is an example of an open loop control system.
Closed loop control systems
In closed loop control systems, output is fed back to the input. So, the control action
is dependent on the desired output.

 The error detector produces an error signal, which is

the difference between the input and the feedback signal.
 This feedback signal is obtained from the block
(feedback
elements) by considering the output of the overall system as
an input to this block.
 Instead of the direct input, the error signal is applied as an
input to a controller.
 So, the controller produces an actuating signal which controls
the plant.
 In this combination, the output of the control
system is adjusted automatically till we get the desired
response.
 Open Loop Control Systems Closed Loop Control Systems
Control action is independent of Control action is dependent of the
the desired output. desired output.
Feedback path is not present. Feedback path is present.
These are also called as non- These are also called as feedback
feedback control systems. control systems.
Easy to design. Difficult to design.
These are economical. These are costlier.
Inaccurate. Accurate.
 Examples of Control System Applications

Idle-speed control
Washing machine
Step motors
T0

T
TB

He
ate Robots
r

Home Cruise control

heating
system
Response of the system

Controlled Variable
Actuating signal
PLANT

Two types of mathematical tools:

1) Time Domain Analysis –
Time domain analysis examines the amplitude vs. time characteristics of a measuring signal.
2) Frequency Domain Analysis –
Frequency domain analysis replaces the measured signal with a group of sinusoids which,
when added together, produce a waveform equivalent to the original.
The relative amplitudes, frequencies, and phases of the sinusoids are examined.
Time Response of Control Systems

Time Domain Analysis

 In time-domain analysis the response of a dynamic system to an input is expressed as a function of time
c(t).
 It is possible to compute the time response of a system if the nature of input and the
mathematical model of the system are known.
 The time response of a system can be obtained by solving the differential eq. governing the
system.
 Alternatively, the response c(t) can be obtained from the transfer function of the system and
the input to the system
First Order Control System

First order of system is defined as first derivative with respect to time and second order of
system is second derivative with respect to time.

𝐾
Then general form of first order is G(S) =
𝑇𝑆+1
Where, K-Gain
T- Time constant
Step response of first order system

4 I
Step response of first order system
Step response of first order system
Time Response of Second Order Control System

The order of a control system is determined by the power of ‘s’ in the denominator of its transfer
function. If the power of s in the denominator of the transfer function of a control system is 2, then
the system is said to be second order control system. The general expression of the transfer function
of a second order control system is given as

Here, ζ and ωn are the damping ratio and natural frequency of the system
Time Domain Specifications
1. Delay time : It is the time required for the response to reach 50% of the final value in
first attempt.
2. Rise time : It is the time required to rise from 0 to 100% of the final value for the
under damped system.
3. Peak time : It is the time required for the response to reach the peak of time
response or the peak overshoot.
4. Settling time : It is the time required for the response to reach and stay within a specified
tolerance band ( 2% or 5%) of its final value.
5. Peak overshoot : It is the normalized difference between the time response peak and the
steady output and is defined as,
6. Steady-state error: It indicates the error between the actual output and desired output
as ‘t’ tends to infinity
Time domain Specifications

4/22/20
Poles and Zeros
Stability of the system

 STABILITY cab be judged by observing the time response curve. (Which is basically depends
on location of poles)
 Generally for a stable system oscillations must die out as early as possible or steady state should
be reached fast. (in time response curve)
 A measure of the tendency of a system response to return to zero after being disturbed
Stability of the system
 Stability of the system
1) Asymptotically stable:
Impulse response of the system should
reach zero when time approached to
infinity

2) Marginally stable:
Impulse response of the system
remains between 0 to  when time
approached to infinity

3) Un stable:
Impulse response of the system
reach infinity when time
approaches to infinity
Poles location and Stability

Considering on the natural response

definition of the stability:
1. Stable systems have closed-loop
transfer functions with poles only in
the left half of the s-plane (LHP)
2. If the closed-loop systems poles
are
in the right half of the s-plane (RHP),
or a positive real part of complex
poles, the system is unstable.
3. If pols of the closed loop transfer
functions are in imaginary axis with
out repeat, the system is marginally
stable
Poles location and Stability
Poles location and Stability
Example:
Example:
Stability analysis of Closed loop transfer function

Routh-Hurwitz (Routh, 1905) criterion is used to know how many closed-loop

system poles are in the LHP, in the RHP, and on the jw-axis.
Routh criterion technique gives the number of poles in each section of the s-
plane, but does not give their coordinates.
Frequency response
 linear time-invariant (LTI) systems have the extremely important property that
if the input to the system is sinusoidal, then the steady-state output will also
be sinusoidal at the same frequency
 but, with different magnitude and phase.
 These magnitude and phase differences are a function of the frequency
and comprise the frequency response of the system.
Bode plot
Bode plot parameter:
Gain cross-over frequency: [gc]
The frequency at which the gain magnitude of open
loop transfer function is 0dB is called gain cross-over frequency
Phase cross-over frequency: [pc]
The frequency at which the phase angle of open loop
transfer function is -180˚ is called the phase cross-over frequency
Gain Margin: [kg]
The gain margin is defined as the value of gain, to be added
to system, in order to bring the system to the verge of instability.
Phase margin: [γ]
The phase margin is defined as the additional phase lag to be
added at the gain cross over frequency in order to bring the system to
the verge of instability.
Stability analysis with Bode plot

g<p – Stable system g>p – Un Stable system g= p – Marginally Stable system
Root Locus

 Root locus technique in control system is easy to

implement as compared to other methods.
 With the help of root locus we can easily predict the
performance of the whole system.
 Root locus provides the better way to indicate the
parameters.
 Basic Control action
What we want the
System We want to
system to be
control
Command Variable / Controlled Variable
Set point Actuating signal
Error Term
+ PLANT
-
How do we generate this
So we get what we want here

Requirements: Feed back signal

 Less rise time
 Settling time
 Damping ratio
 Gain margin
 S.S error
Lead/ Lag compensator

Necessary of Compensation
 In order to obtain the desired performance of the system, we use compensating networks.
 Compensating networks are applied to the system in the form of feed forward path gain adjustment.
 Compensate a unstable system to make it stable.
 A compensating network is used to minimize overshoot.
 These compensating networks increase the steady state accuracy of the system. An important point to
be noted here is that the increase in the steady state accuracy brings instability to the system.
 Compensating networks also introduces poles and zeros in the system thereby causes changes in the
transfer function of the system. Due to this, performance specifications of the system change.
 Lead Compensator Lag compensator
The lead compensator adds The lag compensator adds
positive phase to the system over negative phase to the system over
the specified frequency. the specified frequency.
A system which has one pole and one A system which has one dominating
dominating zero (the zero which is pole and one zero (the pole which is
closer to the origin than all over closer to the origin) is known as lag
zeros is known as dominating zero.) is network.
known as lead network.

General form of LEAD compensator General form of Lag compensator

𝑆+𝑤𝑧 𝑆+𝑤𝑧
wp>wz wz>wp
𝑆+𝑤𝑝 𝑆+𝑤𝑝
Dominating zero drags the root locus Dominating pole drags the root
further left half plane locus further right side
To solve Compensator problem

Centroid = ∑(𝑃𝑜𝑙𝑒𝑠) − ∑(𝑍𝑒𝑟𝑜𝑠)

𝑁 𝑃 −𝑁(𝑍)

To be a part of root locus:

Sum of angles of poles – Sum of angles of zeros = 180°
Example:

Design a compensator for the given system transfer function. The required dominated pole
should be -32i
1
G(S) = (𝑆+1)(𝑆+3)
Example:

How to convert damping ratio and Natural frequency in to pole location.

Desire pole location = -n  jn 1 − ²

1
that
Design a lead compensator for the system given by the transfer function G(S) (𝑆+1)

= will provide a damping ration ≥0.5 and ≥7 rad/sec

PID controller

 Proportional-Integral-Derivative (PID) control is the most common control algorithm used in

industry
 PID algorithm consists of three basic coefficients; proportional, integral and derivative which
are varied to get optimal response.
 The basic idea behind a PID controller is to read a sensor, then compute the desired
actuator
output by calculating proportional, integral, and derivative responses and summing those
three components to compute the output.
With out PID Controller With PID Controller
Proportional Gain[Kp]

 Proportional or P- controller gives output which is proportional to current error e (t).

 It compares desired or set point with actual value or feedback process value.
 The resulting error is multiplied with proportional constant to get the output.
 If the error value is zero, then this controller output is zero.
Integral Gain[Ki]
 Due to limitation of p-controller where there always exists an
offset between the process variable and set point, I-
controller is needed, which provides necessary action
to eliminate the steady state error.
 It integrates the error over a period of time until error value
reaches to zero.
 It holds the value to final control device at which
error becomes zero.
 Integral control decreases its output when negative error takes
place.
 It limits the speed of response and affects stability of the
system.
 Speed of the response is increased by decreasing integral gain
Ki.
For most of the cases, PI controller is used particularly
where high speed response is not required.
Derivative Gain [Kd]
 I-controller doesn’t have the capability to predict the future behavior of error.
 So it reacts normally once the set point is changed.
 D-controller overcomes this problem by anticipating future behavior of the error.
 Its output depends on rate of change of error with respect to time, multiplied by derivative constant.
 It gives the kick start for the output thereby increasing system response.
 Increasing the derivative gain increases speed of response.
Effect of PID controller gains

 By combining these three controllers, we can get the desired response for the system.
 The general effects of each controller parameter (kp,ki,kd ) on a closed-loop system are
summarized in the table below.
 Note, these guidelines hold in many cases, but not all.
 If you truly want to know the effect of tuning the individual gains, you will have to do
more analysis, or will have to perform testing on the actual system.