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ME-314 Control Systems: Lecture 1: Introduction

This document provides an introduction to the ME-314 Control Systems course, including key topics that will be covered such as open-loop and closed-loop control systems, state-variable representation, and modeling and simulation of linear time-invariant dynamic systems using state-space methods. Modern control theory based on state-space representation is emphasized. Key definitions are provided for concepts like plant, process, controller, state variables, and state-space representation equations.

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Mudassar Khalid
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93 views

ME-314 Control Systems: Lecture 1: Introduction

This document provides an introduction to the ME-314 Control Systems course, including key topics that will be covered such as open-loop and closed-loop control systems, state-variable representation, and modeling and simulation of linear time-invariant dynamic systems using state-space methods. Modern control theory based on state-space representation is emphasized. Key definitions are provided for concepts like plant, process, controller, state variables, and state-space representation equations.

Uploaded by

Mudassar Khalid
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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ME-314 Control Systems

Lecture 1: Introduction
Instructor Name: Zain Shami
Books
Text Book:
• Control Systems Engineering by Norman S. Nise
Reference Book:
• Modern Control System, By Richard C. Dorf, Prentice Hall.
• Automatic Control Systems, By B. C. Kuo, F. Golnaraghi
Introduction
• The automatic control of dynamic systems plays a vital role in every
facet of modern life ranging from household appliances to important
scientific and engineering applications
• This includes applications such as automatic washers and dryers,
microwave ovens, chemical processing plants, automobiles, space-
vehicle systems, missile guidance systems, aircraft auto-piloting
systems and robotic systems
System
• A system is defined as a combination of components that act together
to perform a certain objective
• A system may also be imagined as an isolated part of the universe,
which is of interest to us
• Other parts of the universe that interact with the system are known
as system environment or neighboring systems
Dynamic System &

When the time rate of change of a system is significant, then the


system is referred to as a dynamic system.
System Variables
• Every system interacts with its environment through two groups of
variables.
• The variables in the first group originate outside the system and are
not directly dependent on what happens inside the system. These
variables are called input variables or simply inputs.
• The other group involves variables generated by the system as it
interacts with the environment. These variables are called output
variables or simply outputs
State Variables
• In describing a system itself, a complete set of variables called state
variables is needed
• The state variables constitute the minimum set of linearly
independent system variables necessary to describe the state of the
system completely at any given instant of time
• Provided the initial state and the input variables have all been
specified the state variables then describe from instant to instant the
behavior or response of the system
• The solution of the state space equations forms the basis of the
modern control theory used for system analysis
Modern Control theory
• The modern control theory based on time-domain approach using
state variable descriptions came into prominence in the late 1960s
with the advent of fast computers.
• Prior to that, the classical control theory based on frequency-domain
approach used transfer function techniques to solve the control
theory problems. It dates back to 1930s.
System Analysis
• Generally, the main objective of the system analysis is to predict the
relevant performance characteristics of the system operating under
specified environmental conditions subject to specified physical laws
• Such physical laws are universally expressed in the form of mathematical
models
• These mathematical models are usually so complicated that their analytical
closed form or exact solutions are simply impossible except under ideal
simplifying assumptions
• This calls for numerical simulation of the mathematical models on fast
digital computers to evolve a predictive or functional design also referred
to as Computer Aided Engineering (Modeling and Simulation is its soul)
Classification of Dynamic Systems
• The term system usually implies a system model, that is, a
mathematical representation of the physical system
• Systems can be classified according to the type of equations
describing them
• If a system can be described exactly in terms of differential or integral
equations, then the system is called deterministic
• A system is called stochastic if it can be described in terms of
probabilities using random numbers
• We will only discuss deterministic systems
Classification of Dynamic Systems (Continued)
Definitions
• A system or a portion of a system that is to be controlled is called the
plant or process
• It is affected by applied signals, called inputs, and produces signals of
particular interest, called outputs
• A Controller is used to produce a desired behavior of the plant
• Sometimes a plant and process can be different e.g. a chemical
process being the process and a boiler being the plant
Open-loop Control System

• Open-loop control system is one in which the control action is


independent of the output
• An example of Open-loop control systems is traffic control system
Closed-Loop Control System

• A closed-loop control system is one in which the control action is


dependent on the output
• The closed-loop control systems are more commonly called the
feedback control systems
• The output is usually compared with a reference input
Example of Closed-Loop Control Systems
• Automatic Clothes Dryer

The sensor would monitor the actual dryness of the clothes and compare it with (or subtract it
from) the input reference which is the desired set point. Any error signal (error = required dryness –
actual dryness) created is amplified by the controller, and the controller output makes the
necessary correction to the heating system to reduce any error. For example if the clothes are too
wet the controller may increase the temperature or drying time to compensate. Likewise, if the
clothes are nearly dry it may reduce the temperature or stop the process so as not to overheat or
burn the clothes, etc.
Definitions
• A control system that can detect changes in the plant perimeters and
make necessary adjustments is called an adaptive control system
• Robust Control or robustness implies the maintenance of adequate
stability margins or other performance levels in spite of model errors
or model simplifications
State-variable Form
• A Complete state-variable model consists of two sets of equations,
the state or plant equations and the output equations. For the most
general case, the state equations have the form
State-variable Form (Continued)
• And the output equations have the form

• The equations may be expressed more compactly as two vector


equations
State-variable Form (Continued)
• And, f and g are vector-valued functions, which may generally be non-
linear
• For linear systems the state equations have the form

• And the output equations have the form


State-variable Form (Continued)
• Where the coefficients are groups of time-dependent parameters.
The linear model is expressed more compactly as the two linear
vector equations

• Where the vectors x, u and y are the same as in the general case. The
matrices are defined as follows
State-variable Form (Continued)
• For a linear, time-invariant (LTI) model, all these matrices are constant
so that
Methods for Linear Systems Analysis
• There are two fundamental approaches to the analysis of LTI system:
oTransform Methods
oState-variable or State-space Methods
• The transform methods use rational functions obtained from Laplace
and z-transformations of the system I/O equations
• The transform methods make the basis of the classical control theory
• These methods are limited to Single Input Single Output (SISO) and
linear time-invariant systems
Methods for Linear Systems Analysis
(Continued)
• The state-variable or state-space methods use the vector state and
output equations directly and make the basis of the modern control
theory
• The state-space methods have several advantages over transform
methods
• In addition to dealing with LTI systems directly and effectively, the
state-space methods are more naturally extended to the study of
linear time-varying, non-linear and multiple-input multiple-output
(MIMO) systems
• The state-space method is better suited for computer simulation as it
permits adaptation from numerical linear algebra
Modelling and Simulation of LTI Dynamic
Systems in State-Space Representation
• An LTI dynamic system may generally be represented by an nth order
ordinary differential equation where n is also referred to as the order
of the system
• The nth order differential equation may equivalently be expressed as
n first-order simultaneous equations that define the state-space
representation of the nth order system
• As seen before the state-space representation is
State-space

• Eq (1) is called state equation and the vector x, the state vector,
contains the state variables as its elements
• Eq (2) is called the output equation, this equation is used to calculate
any other system variables that define the output
Rules for state-space representation
• A minimum number of state variables must be selected as
components of the state vector (This minimum number of state
variables is sufficient to describe completely the state of the system)
• The component of the state vector must be linearly independent
Question
• Find the state space representation of the electrical circuit shown in
Fig 1.

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