COURSE WORK

MODULE CODE : UFMFW7-15-3

MODULE TITLE : CONTROL SYSTEMS DESIGN
NAME : HPRS Siriwardana
UWE SUTDENT NUMBER : 24000818
SUBMISSION DATE : 20/07/2024

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CONTENT

1. Task …………………………………………………………………… Page 03

2. Introduction of Control System …………………………………… Page 04

3. Plant Performance of Control System ………..……………………. Page 05

4. Task calculation…………………………..…………………………… Page 08

5. Discussion …………………………….……………………………….. Page 20

6. References ……………...……………………………………………… page 21

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1. Task
a. Define a practical engineering plant which would feature similar dynamical behaviour to the
theoretical dynamics given in the plant description below. Briefly describe the operation of the
plant.
b. Draw two equivalent control system block diagrams, which features the output feedback and
the state feedback, respectively. Compare the similarity and difference.

c. Analyse the plant performance such stability, observability, controllability, and time response to
a unit step reference input.

d. Design a state feedback controller. (Specify the reasonable design criteria).

e. Design a corresponding observer and explain when it will be used.
f. Provide relevant performance data and analysis from your simulated studies.
g. Discuss the importance of computational experiments (Simulation studies).

Plant description :
A system plant is described as follows.

𝑌(𝑠) 1
= 𝑔(𝑠) = 2
𝑅(𝑠) 𝑠 + 𝑚𝑠 + 𝑛

6𝑡ℎ 𝑑𝑖𝑔𝑖𝑡 𝑜𝑓 𝑦𝑜𝑢𝑟 𝑟𝑒𝑔𝑖𝑠𝑡𝑟𝑎𝑡𝑖𝑜𝑛 𝑛𝑢𝑚𝑏𝑒𝑟

Where; 𝑚=
10
𝑛 = 𝑇ℎ𝑒 𝑙𝑎𝑠𝑡 𝑑𝑖𝑔𝑖𝑡 𝑜𝑓 𝑦𝑜𝑢𝑟 𝑟𝑒𝑔𝑖𝑠𝑡𝑟𝑎𝑡𝑖𝑜𝑛 𝑛𝑢𝑚𝑏𝑒𝑟

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2.0 Introduction of Control System
A control system, which provides the desired response by controlling the output. The block
diagram of a control system is shown in the following figure.

Control System can be classified based on the Feedback Path

01. Open Loop Control System – This system does not feedback its output into its input. So, the
control action is independent of the desired output.

02. Closed Loop Control System – The output of this system is fed back into the input. So,
the control action is dependent on the desired output

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3.0 Plant Performance of Control System

3.1 Analysis of the Stability

The position of the closed loop poles in the s plan can be used to determine the stability of a
linear closed loop system.
1. Stable System: If all the roots of the characteristic equation lie on the left half of
the 'S' plane then the system is said to be a stable system.
2. Marginally Stable System: If all the roots of the system lie on the imaginary axis
of the 'S' plane then the system is said to be marginally stable.
3. Unstable System: If all the roots of the system lie on the right half of the 'S' plane then it
says that the system is unstable.

There are several methods to analyze the stability of control systems

3.1.1 Routh- Hurwitz Criterion Method

This method is the one necessary and one sufficient requirement for stability is the stability criteria.
When a control system fails to satisfy the required criteria, it might be considered unstable. It is
possible for the control system to be stable even though it satisfies the required requirement. Thus,
it may be determined whether or not the control system is stable by using the necessary condition.

The most linear system transfer function is given below

Where the a's and b’s are constants and m < n It is the first necessary step to factorize the
denominator polynomial A(s) to find the transfer function poles before evaluating the system
stability This process is very time consuming for a polynomial of degree greater than second.

The procedure to use Routh's criterion is as follows: i. Use this form to write the denominator
polynomial

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ii. Construct Routh’s Array

Where coefficients 𝑏1 ,𝑏2 ,𝑏3 and so on, are evaluated as follows

The evaluation of the b will be continued until the remaining ones are all zero. The same pattern
of cross multiplying the coefficients of two previous rows is followed in evaluating the c's, d's, e's,
and so on. This process is continued until the 𝑛 𝑡ℎ row has been completed. The complete array of
the coefficient is triangular.

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iii. Examine the signs of the first column of the Routh’s array The requirement that every element
in the Routh array's first column have the same sign is adequate. This indicates that every member
in the Routh array's first column needs to be either positive.

3.2 Controllability and Observability

Observability and controllability are two important concepts in control theory, particularly in the
context of designing and analyzing control systems. They relate to the ability to observe the state
of a system and the ability to control the system to a desired state, respectively.
3.2.1 Controllability
Controllability refers to the ability to move the system from any initial state to any desired final
state within a finite time by applying suitable inputs. The system is stated to be controlled when
the specific regulated input is utilized to generate the desired output. It is the capacity to manage
the system's condition. The Kalman’s test can be used to determine if the system is controllable.
Suppose we have a linear time-invariant system with nth order multiple inputs, then the state
equation is given as

𝑥̇ = 𝐴𝑋(𝑡) + 𝐵𝑈(𝑡)
A is a matrix of order 𝑛 × 𝑛
X(t) is the state vector of order 𝑛 × 1
U(t) is a vector of order 𝑚 × 1 where m is the number of inputs Basically, for a control system to
state controllable, the necessary condition is that the rank of the composite matrix 𝑄𝑐 is n
The composite matrix 𝑄𝑐 is given as:

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The value of the determinant of 𝑄𝑐 shows whether the system is controllable or not. If its value is
non-zero, system is completely controllable.
3.2.2 Observability When input is given to a control system, its observability refers to its capacity
to ascertain its internal states by monitoring its output over a limited period of time. We can check
the observability of a control system by using Kalman’s test.

4.0 Task
a. Description the Plant
According to the system plant's description, the plant as follows:

𝑌(𝑠) 1
= 𝑔(𝑠) = 2
𝑅(𝑠) 𝑠 + 0.8𝑠 + 8
8
Where; 𝑚 = 10 10 = 0.8 𝑎𝑛𝑑 𝑛 = 8

A single-degree-of-freedom mass-spring-damper system might be a useful engineering plant that

displays dynamical behavior comparable to this second-order system. In mechanical engineering,
this approach is frequently utilized and has the ability to represent a variety of physical systems.
• The force applied by the spring is proportional to the mass's displacement from its equilibrium
position. This force is given by Hooke's Law: 𝐹𝑠 = 𝑘𝑥. Where “𝑘" is the spring constant and "𝑥"
is the displacement.
• The damper provides a force proportional to the velocity of the mass. This force is given by the
damping coefficient multiplied by the velocity: 𝐹𝑠 = 𝑘𝑥̇, where "𝑘" is the damping coefficient and
𝑥̇ is the velocity.

Inertia:

Damping:

Spring: 𝐹𝑠 = 𝑘x

It is second-order differential equation:

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b. The Output and State Feedback Control Diagram
The output feedback controller block diagram is shown as follows.

The State feedback control block diagram is shown as follows.

Plant output measurements are the input used by output feedback control systems. By doing so, it
achieves closed loop control by taking into consideration the plant control system's final output.
Measurements of internal states are used as the feedback in state feedback control systems.

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When making appropriate adjustments to the controller input, it takes into consideration the
internal plant characteristics.
Similarities:
• Both use feedback from the system's output.
• They both produce closed-loop systems.
• Both are often used in state space representation
Differences:
• The output feedback estimates the state from the outcome, state feedback has direct access to the
full state.
• The output feedback creates the controller using the output and estimated states, state feedback
creates it using the state
• Since state feedback contains more information, it usually delivers better performance.

C. Analyze the Plant performance

My register no 24000818
𝑌(𝑠) 1
= 𝑔(𝑠) = 2
𝑅(𝑠) 𝑠 + 0.8𝑠 + 8

Routh’s Array

𝑠𝑛 𝑎0 = 1 𝑎2 = 8 𝑎4 = 0
𝑠 𝑛−1 𝑎1 = 0.8 𝑎3 = 0 𝑎5 = 0
𝑠 𝑛−2 𝑏1 = 8 𝑏2 = 0 𝑏3 = 0
𝑠 𝑛−3 𝑐1 = 0 𝑐2 = 0 𝑐3 = 0
𝑠 𝑛−4 𝑑1 = 0 𝑑2 = 0 𝑑3 = 0

Calculation

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According to above calculation

1. The polynomial coefficients A(s) are positive

2. The first column of Routh’s array values are positive
Therefore, the system is stable.

Controllability
We can construct the state-space representation:
0 1
A =[
−8 −0.8
] B= [ 01 ] C=[ 1 0 ]

QC =[B AB]

AB=[
0 1
−8 −0.8
] [ 01 ] = [ −0.8
0
]
0 1
Therefore Qc =[B AB]= [ ]
1 −0.8
There are two non-zero rows in this case, and the rank (QC) is equal to 2. Therefore, system is
controllable.

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Observability
Q0=[CT ATCT ]

𝟎 −𝟖 𝟏
AT= AND CT=
𝟏 −𝟎. 𝟖 𝟎
The following are the transpose matrices,

ATCT= [𝟎𝟏 −𝟖
−𝟎. 𝟖
] *[ 𝟏𝟎 ] = [ 𝟎𝟏]
Q0=[CT ATCT ]

Q0 = [ 𝟏𝟎 ] [ 𝟎𝟏] =1
Q0≠ 0
Since Qo ≠ 0, this system is observable.
Analysis the Time Response Time response analysis for a unit step input: Given that,

𝟏
G(S)=
𝑺𝟐 +𝟎.𝟖𝑺+𝟖.
𝟏 𝟏
G(S)= *
𝑺 +𝟎.𝟖𝑺+𝟖.
𝟐 𝑺

The roots can be found using the quadratic formula

−𝑏±√𝑏2 −4𝑎𝑐
S=
2𝑎

a=1 , b=0.8 , c=8

−0.8±√0.82 −32
s=
2
S1= -0.4+2.8i and S2= -0.4-2.8i
1
G(s)=
s(s+0.4-0.28i)(s+0.4+2.8i)

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By using partial fractions, it can be derived that,
A B C
G(s)= + +
S S+0.4-2.8i S+0.4+2.8i
1
When S=0 A= 8
1
When S= (-0.4+2.8i) B = -15.68-2.24i
1
When S=(-0.4-2.8i) C = -15.68+2.24i

Using the inverse Laplace transform of above equation

1 1 1
y(t) = 8 + e(-0.4+2.8i) + e(-0.4-2.8i)
-15.68-2.24i -15.68+2.24i

Unit step response

Design a state feedback controller

0 1
A=[ ] C=[ 1 0]
-8 -0.8

B= [01] D=0

Fs- state feedback gain system

∆(𝑠) = 𝑑𝑒𝑡{[𝑆𝐼 − 𝐹𝑠 ]̅ }

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 1 0 0 1
∆(𝑠) = 𝑑𝑒t{[s[ ]-[ ]]}
0 1 f1 -8 f2 -0.8
s -1
∆(𝑠) = 𝑑𝑒t {[ ]}
8-f1 s + 0.8-f2

∆(𝑠) = S ( S + 0.8 -f2 )+( 8-f1)

∆(𝑠) = S2+(0.8-f2) S + ( 8-f1 )
𝑠 2 + 2ζ𝜔𝑛𝑠 + 𝜔 𝑛2 = 𝑆 2 + (0.8 − 𝑓2 )𝑠 + (8 − 𝑓1 )

In order to design a controller, the equation can be created by changing the un-damped natural frequency
𝜔𝑛 and damping ratio 𝜁 of closed loop system. With 5% overshoot and less than 2 seconds for 95% settling
time with the system
𝑡𝑠 = 2 , 𝑃𝑂 = 0.05

Damping Ratio:

Then,

S2+2 (0.69) (2.17) S+ ( 2.17 )2 = S2 + (0.8-f2) S+(8-F1)

f1 = 3.3
f2 = -2.19
thus ,

)+( )(3.3 -2.19)]-1[ ]}]-1

0 1 0 0
H=-[{(1 0)[(
-8 -0.8 1 1
H= 4.76
The sate feedback controller equation: 𝑢(𝑡) = [3.3 −2.19]𝑥(𝑡) + (4.76)𝑣(𝑡)

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Observer design
S 0 0 1 N
𝑆𝐼 − (𝐴 − 𝑁𝐶)] =[ ] - [ ] -[ 1 ][1 0]
0 S -8 -0.8 N2

S + N1 1
=[ ]
8 + N2 S + 0.8
Using the matrix's determinant,
𝑠 2 + (0.8 + 𝑁1 )𝑠 + 0.8𝑁1 + 𝑁2 + 8
This is equal to the characteristic equation obtained by design criteria.
𝑠 2 + (0.8 + 𝑁1 )𝑠 + 0.8𝑁1 + 𝑁2 + 8= 𝑠 2 + 3𝑠 + 4.7
N1=2.2
N2=-5.06
0 1 2.2
[𝐿] = [𝐴 − 𝑁𝐶] =[ ] –[ ][1 0]
-8 -0.8 -5.06
-2.2 1
=[ ]
-2.94 -0.8
0
[𝑀] = [𝐵 − 𝑁𝐷] = [ ] ; 𝐵𝑒𝑐𝑎𝑢𝑠𝑒 𝐷 = 0
1
Corresponding observer equation we can be written as follows,
𝑥(𝑡) = 𝐿𝑥(𝑡) + 𝑀𝑢(𝑡) + 𝑁𝑦(𝑡)

-2.2 1 0 2.2
=[ ]X(t)+[ ]U(t)+[ ]Y(t)
-2.94 -0.8 1 −5.06

f. Performance data and analysis Initially, a state feedback controller was simulated based on the provided
description of the plant MATLAB simulations are shown as below

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Based on the step response given below, the output of this system has a long settling time and never
reaches unity gain,

The state feedback controller with suitable design requirements was simulated as the second step.

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The predicted step response with approximately unity gain was achieved, as seen below, as the chosen
design requirement was 5% overshoot and settling time smaller than 2 seconds Because of the
approximations used in the computations, there are noticeable variations.

In the last step, a simulated version of the designed equivalent observer was also used to confirm that the
observer is performing as intended.

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Below is a comparison between the actual and estimated answers from observers. When the
corresponding actual response and the estimated response are similar, it can be concluded that the
observer is operating as intended to record the internal states of the plant.

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5. Discussion

Computational experiments are invaluable across various fields, enabling the modeling of complex
systems, forecasting of results, and exploration of possibilities in a controlled environment. These
experiments are often conducted through simulation studies using MATLAB. Such simulations
are crucial in engineering, data analysis, and scientific research, allowing scientists to test ideas,
optimize designs, and evaluate hypotheses without the limitations of practical tests.

MATLAB is particularly significant for these studies due to its extensive library of methods,
powerful computational capabilities, and user-friendly interface. These features facilitate the
creation and execution of simulations. Researchers can analyze large datasets, assess algorithm
performance, and visualize outcomes using MATLAB's simulation tools. This enhances decision-
making processes and accelerates innovation across disciplines, making MATLAB an ideal
software for simulation purposes.

The coursework includes a control system design and a simulation consultant report, providing a
comprehensive approach to understanding and controlling the given plant system. I determined all
the gain values using state feedback equations and then created a plant block diagram in Simulink.
Initially, the simulator graph did not display correctly due to insufficient sampling time. I extended
the sample time and continued to run the application until it functioned properly.

Afterward, analyzing the system and other functions, such as the estimated response for X2,
became straightforward with the use of references. Using MATLAB to simulate control systems
and other operations provided valuable experience.

The experience and knowledge I gained from this coursework allowed me to practically understand
the significance of computational experiments and their influence on technological research and
development.

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6.Reference list

Mohammed, I. and Ahmed, N. (n.d.). Control Systems -Introduction. [online] Available at:
https://mnourgwad.github.io/CSE302/lectures/lecNote1Introduction.pdf [Accessed 21 Jul.
2024].

Murat Efe, D. (n.d.). CONTROL SYSTEMS WEEK 3. [online] Available at:

https://acikders.ankara.edu.tr/pluginfile.php/19198/mod_resource/content/1/Week%203.pdf
[Accessed 21 Jul. 2024].

SlideShare. (2020). Pid controller bp ganthia. [online] Available at:

https://www.slideshare.net/slideshow/pid-controller-bp-ganthia-240589488/240589488
[Accessed 21 Jul. 2024].

www.tutorialspoint.com. (n.d.). MATLAB Simulink - Quick Guide. [online] Available at:

https://www.tutorialspoint.com/matlab_simulink/matlab_simulink_quick_guide.htm [Accessed
21 Jul. 2024].

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