Control System

EEE 401 (Part 1)

Dept. of EEE, BUBT
 Introduction

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.
 Why do we build control systems?
• Power amplification
Example: rotation of radar antenna
• Remote control
Example: robot in radioactive environment
• Convenience of input form
Example: temperature control by thermostat
• Compensation for disturbances
Example: cancellation of wind-force on antenna
 System Configuration
• Open-Loop

• Closed-Loop
 Laplace Transform Review

where 𝑠 = 𝜎 + 𝑗𝜔 (complex variable)

Laplace Transform Theorems
Example
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𝐾1 = 2
𝐾2 = −2
𝐾3 = −2
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Transfer Function
Example
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Electrical Network Transfer Functions
Example
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Op-Amp
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Translational Mechanical System
Example
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Rotational Mechanical System
Example
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System with Gears
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We want an equivalent system at 𝜃1 without gears.

For impedance reflection, use

Example
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Find 𝐺 𝑠 = 𝜃2 (𝑠)Τ𝑇(𝑠)

2 2 2 2
𝑁2 𝑁3 𝑁2 𝑁3
𝐽𝑒 = 𝐽2 + 𝐽1 + 𝐽3 𝐷𝑒 = 𝐷2 + 𝐷1 + 𝐷3
𝑁1 𝑁4 𝑁1 𝑁4
2 2 2 2
12 4 12 4
=1+2× + 16 × = 20 =2+1× + 32 × = 13
4 16 4 16
2 2
𝑁3 4
𝐾𝑒 = 𝐾 = 64 × =4
𝑁4 16
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𝑁2
∴ 𝐽𝑒 𝑠2 + 𝐷𝑒 𝑠 + 𝐾𝑒 𝜃2 𝑠 = 𝑇(𝑠) ∙
𝑁1
⟹ 20𝑠 2 + 13𝑠 + 4 𝜃2 𝑠 = 𝑇(𝑠) ∙ 3

𝜃2 𝑠 3
⟹ =
𝑇 𝑠 20𝑠 2 + 13𝑠 + 4

3
⟹𝐺 𝑠 =
20𝑠 2 + 13𝑠 + 4
State-Space Representation
Example
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State-Space Representation to Transfer Function
Example
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 Time Response
Output response = Forced response + Natural response
➢Forced response = Steady-state response or Particular solution
➢Natural response = Homogeneous solution

Poles: Values of the Laplace transform variable, s, that cause the

transfer function to become infinite
Zeros: Values of the Laplace transform variable, s, that cause the
transfer function to become zero
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Pole-Zero plot of System

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 1st-order System

Laplace transform of the step response,

1 1
= −
𝑠 𝑠+𝑎
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2.2
Rise Time, 𝑇𝑟 =
𝑎
[time for the waveform to go from
0.1 to 0.9 of its final value]

4
Settling Time, 𝑇𝑠 =
𝑎
[time for the response to reach,
and stay within, 2% of its final
value]
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Laplace transform of the step response,

𝑏
DC Gain, 𝐾 =
𝑎
(also known as “Steady-state Value”)

Step Response
 1st-order System with Zero
20 1
𝑠+
𝐺 𝑠 = 3 2
Case 1: Pole is nearer to imaginary axis
1
𝑠+
3
If input is step, 𝑅 𝑠 = 1Τ𝑠
20 1
𝑠+
∴ 𝐶 𝑠 = 𝑅 𝑠 ∙ 𝐺(𝑠) = 3 2
1
𝑠 𝑠+
3
10 10ൗ3
⟹ 𝐶(𝑠) = −
𝑠 1
𝑠+
3
10 −𝑡Τ3
∴ 𝑐 𝑡 = 10 − 𝑒
3
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40 1
𝑠+
𝐺 𝑠 = 3 2
Case 2: Zero is nearer to imaginary axis
2
𝑠+
3
If input is step, 𝑅 𝑠 = 1Τ𝑠
40 1
𝑠+
∴ 𝐶 𝑠 = 𝑅 𝑠 ∙ 𝐺(𝑠) = 3 2
2
𝑠 𝑠+
3
10 10ൗ3
⟹𝐶 𝑠 = +
𝑠 2
𝑠+
3
10 −2𝑡Τ3
∴ 𝑐 𝑡 = 10 + 𝑒
3
 2nd-order System

Natural Frequency, 𝜔𝑛 = frequency of oscillation without damping

Damping Ratio, 𝜁 = exponential decay frequency / natural frequency

Pole Location:
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ζ Pole Location Step Response

𝜁=0

0<𝜁<1
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ζ Pole Location Step Response

𝜁=1

𝜁>1
Example
 Underdamped 2nd-order System
Laplace transform of the step response,

2nd-order (underdamped) step responses for damping ratio values

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Rise Time, 𝑇𝑟
[time for the waveform to go from 0.1
to 0.9 of its final value]

𝜋
Peak Time, 𝑇𝑝 =
𝜔𝑛 1 − 𝜁 2
[time to reach the first, or maximum,
peak]
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− 𝜁𝜋Τ 1−𝜁 2
Percent Overshoot, %𝑂𝑆 = 𝑒 × 100

4
Settling Time, 𝑇𝑠 = Evaluation of 𝑇𝑟
𝜁𝜔𝑛
[time for transient’s damped
oscillations to reach and stay
within ±2% of the steady-state
value]
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𝜔𝑑 = damped frequency of oscillation

𝜎𝑑 = exponential damping frequency
𝜁 = cos 𝜃
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𝜔𝑑 = damped frequency of oscillation

(imaginary part)
𝜎𝑑 = exponential damping frequency
(real part)
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1⟶2⟶3
Settling time is same.
Peak time decreases.
Overshoot increases.
Rise time decreases.

Settling time decreases.

Peak time is same.
Overshoot decreases.
Rise time increases.

Settling time decreases.

Peak time decreases.
Overshoot is same.
Rise time decreases.
Example

𝜔𝑛 = 10
𝜁 = 0.75
𝜋
𝑇𝑝 = = 0.48
𝜔𝑛 1 − 𝜁 2
− 𝜁𝜋Τ 1−𝜁 2
%𝑂𝑆 = 𝑒 × 100 = 2.83
4
𝑇𝑠 = = 0.53
𝜁𝜔𝑛
Normalized 𝑇𝑟 = 2.3 (from Table)
Normalized 𝑇𝑟
Actual 𝑇𝑟 = = 0.23
𝜔𝑛
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Find damping ratio, natural frequency, peak time, overshoot and settling
time for an underdamped 2nd-order system, if the poles are at −3 ± 𝑗7.

7 −1
𝜁 = cos 𝜃 = cos tan = 0.394
3
𝜔𝑛 = 72 + 32 = 7.616
𝜋 𝜋
𝑇𝑝 = = = 0.449
𝜔𝑑 7
− 𝜁𝜋Τ 1−𝜁 2
Overshoot = 𝑒 × 100 = 26%
4 4
𝑇𝑠 = = = 1.333
𝜎𝑑 3
 2nd-order Approximation from 3rd-order System
Complex pole at: −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2
Real pole at: −𝛼𝑟

Laplace transform of the step response,

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Rule of thumb: if the real

pole is five times farther
to the left than the
dominant poles
 Example
Determine the validity of a 2nd-order approximation for each of these
two transfer functions:
a. Complex poles at −2 ± 𝑗9.8
Real pole at −15
More than five-times further.
So, approximation will be valid.

b. Complex poles at −1 ± 𝑗9.4

Real pole at −4
Not more than five-times further.
So, approximation will be invalid.
 Effect of Adding a Zero

➢ If ‘a’ is very large, the Laplace

transform of the response is
approximately 𝑎𝐶(𝑠) , or a
scaled version of the original
response.
➢ If ‘a’ becomes smaller, the
derivative term contributes
more to the response and has a
greater effect.

Effect of adding a zero to a 2-pole system

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What if ‘a’ is negative?
The zero is in the right half-plane.
Nonminimum-phase system: response begins to turn toward the
opposite direction of the final value.
Pole-Zero Cancellation
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 Example
Determine the validity of a 2nd-order step-response approximation for
each transfer function shown below:

a.

b.