ME2142/ME2142E Feedback Control Systems

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Reference Text(1) Control Systems Engineering 5
th
Edition
by Norman S Nise. John Wiley & Sons

ReferenceText(2) Modern Control Engineering by K Ogata. Prentice Hall


IVLE: https://ivle.nus.edu.sg

Website for this first half:
http://guppy.mpe.nus.edu.sg/~mpepooan/FBControl/welcome.htm
ME2142/ME2142E
Feedback Control Systems
First half: Professor POO Aun Neow
(mpepooan@nus.edu.sg)
Second half: Professor V Subramaniam
(mpesubra@nus.edu.sg)
ME2142/ME2142E Feedback Control Systems
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Expected Course Outcomes
Upon successful completion, student should be
able to
1) derive dynamic models of simple physical systems, and
obtain the transfer functions for these systems.
2) determine the transient response of first- and second-order
systems and relate these to the roots of the systems
characteristic equations.
3) understand the concepts of system stability and determine the
stability of a system using tools such as Rouths stability
criterion and the Root Locus method.
4) understand steady-state error characteristics of control
systems
5) determine the frequency response of physical systems and
represent these graphically in Bode and Nyquist plots.
ME2142/ME2142E Feedback Control Systems
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Expected Course Outcomes
. . .
6) determine the stability of physical systems through the
frequency response using the Nyquist stability criterion.
7) determine relative stability measures such as gain and phase
margins and translate these values in terms of transient
response.
8) conduct simple experiments to determine the transient and
frequency response characteristics of feedback control
systems.
ME2142/ME2142E Feedback Control Systems
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Module Components
This module comprises
1) 12/13 weeks of lectures, 3 hours per week
2) 6 tutorial classes
3) 2 laboratory experiments
i) Frequency Response
ii) Speed/Position Control of a DC Motor
Final Grades:
1) Final exam:- 70% (Closed book with one A4 sheet allowed)
2) Lab experiments/reports:=-15%
3) Assignments/Test:- 15%
ME2142/ME2142E Feedback Control Systems
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Lesson Plan

Week

Topics
Recommended
Readings
Ref 1 Ref 2
1 Introduction 1 1
1 Review of Laplace Transform and Applications 2 2
2
Mathematical Modelling and Transfer Functions of
Physical Systems
2 3,4
2,3 Block Diagrams Algebra 5 3
3,4
System (Transient) Response Analysis; Steady-State
Characteristics; Computer Tools (Matlab/Octave)
4 5
4,5 System stability. 6 5
5 Control Actions; System Compensation 9 5
6 Root Locus Analysis 8 6
7-13
Frequency Response Analysis; Control Systems
Design
13 Revision clinics All All
ME2142/ME2142E Feedback Control Systems
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Lesson Plan

Week

Topics
Recommended
Readings
Ref 1 Ref 2
1 Introduction 1 1
1 Review of Laplace Transform and Applications 2 2
2
Mathematical Modelling and Transfer Functions of
Physical Systems
2 3,4
2,3 Block Diagrams Algebra 5 3
3,4
System (Transient) Response Analysis; ; Computer
Tools (Matlab/Octave)
4 5
4 Steady-State Characteristics. 7 5
5 System stability. 6 5
5,6 System Compensation: Control Actions 9 5
7 Root Locus Analysis 8 6
8-13
Frequency Response Analysis; Control Systems
Design
13 Revision clinics All All
ME2142/ME2142E Feedback Control Systems
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Introduction and Basic Concepts
ME2142/ME2142E Feedback Control Systems
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A control system is an interconnection of
components that will provide a desired system
response or output response.

What is a control System?
The study of control systems is a study of
dynamic systems. A static system needs no
control.
Examples of controlled outputs: temperature,
humidity, position, speed, pressure, direction,
liquid level, altitude.
And also: sugar level in humans, inflation,
unemployment rates, traffic congestion.

ME2142/ME2142E Feedback Control Systems
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In order for a system to be controllable, there
must be a cause-effect relationship, i.e. there
must be some input that can be changed to cause
changes to the output parameter to be controlled.
What is a control System?
Process or Plant
(Source of energy)
Controlling/actuating
input,
Output
(chemical process, machine, industrial
process, economic process)
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Example:
Controlling/actuating
input,
Source of energy:
leg power
Output:
Direction of
bicycle
Process or Plant
(Source of energy)
Controlling/actuating
input,
Output
(chemical process, machine, industrial
process, economic process)
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Open-loop control Systems
In an open-loop control system, no feedback from the output is used
to control, meaning to adjust the input to, the system.
Based on value of the output that is desired, the controller adjusts
the input to the plant to achieve this.
Control will only work well if plant is highly predictable and there is no
internal or external disturbances. Generally used only when good
control performance is not required.
Examples: An electric bread toaster. Temperature control of a simple
water heater for the shower.
Plant
or
Process
Desired output
response
Output
Controller
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Example: Open-Loop Control
Riding with
eyes closed
ME2142/ME2142E Feedback Control Systems
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Example: Water heating system
Heating
gas
valve
Controller
Desired: Keep temperature
of liquid at certain value
Open-Loop Control
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Closed-loop feedback control System
The sensor measures the actual value of the output, Y, compares
this with the desired value, R, and computes the error, E. Based on
this error E, the controller generates the input, U, to the plant so as
to bring Y to the desired value R.
Plant
U
Y
Controller
Sensor
R
E
Feedback
+
-
R Set-point or Reference Input E Error
U Plant input Y Controlled Variable
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Example: Closed-Loop Control
Brain compute
Eyes sense
Arms steer
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Example: Water heating system
Heating
gas
valve
Thermometer
Closed-Loop Control
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Generally used when good control performance is required.
Accurate control can be achieved even in the presence of plant
variations, and/or internal or external disturbances. Any such
disturbance will affect the output Y and reflected back in the error E.
This will cause the plant input U to change so as to correct for the
disturbance.
Can become unstable. Stability becomes an important consideration.
Plant
U
Y
Controller
Sensor
R
E
Feedback
+
-
Closed-loop feedback control System
ME2142/ME2142E Feedback Control Systems
in air planes
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Examples of control Systems
in ships
in CNC machines
in manufacturing
processes
in Azimo
Humanoid robot

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Application Examples
In cruise missiles

In battle tanks
Drones -
unmanned
aerial vehicles
In robot warriors
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Example: Open-loop vs Closed Loop
A walking man
Process of Walking:
Desired output: a point where you want to be.
Controller: the brain
Plant or process: the legs
Open-loop control:
Walking with your eyes closed.
Closed-loop feedback control:
Walking with your eyes open.
The eyes sensed the actual output, where you
are and where you are heading, computes the
error in position and in direction, and issues
commands to the plant, meaning the legs, to
move in such a way so as to reduce the error.
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Example: Open-loop vs Closed Loop
Dropping a Bomb:
Objective of dropping a bomb
from a height is to hit a target
below.
Desired output: Target below
Plant or process: the bomb with
its control fins
Open-loop Control or dumb bombs
The controller, meaning the pilot or bombardier, needs to
estimate his own height, velocity, distance to target, wind
conditions, and characteristics of bomb to decide when and
where to release the bomb. Often, hundreds of bombs are
needed to hit a specific target.
Photo courtesy U.S. Air Force
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Example: Open-loop vs Closed Loop
Dropping a Bomb:
Objective of dropping a bomb
from a height is to hit a target
below.
Desired output: Target below
Plant or process: the bomb with
its control fins
Closed-loop Control or smart bombs
Sensors are incorporated into the bomb to give feedback on
its actual position relative to the target. The error
information is then used to steer the bomb, using its control
fins, to the target. Result: one target only needs one
bomb.
Sensors: TV, Infrared, laser guided, or GPS.
See also: http://science.howstuffworks.com/smart-bomb1.htm
ME2142/ME2142E Feedback Control Systems
Autonomous Transport Vehicles for
Mobility on Demand
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Study of control Systems
Given a control system, y = f(r,t)

meaning that y is not only a function of r, but also varies with time t.

If y = f(r) then the system is not a dynamic system but is static.
Plant
U Y
Controller
Sensor
R
E
Feedback
+
-
Study of control systems is the study of the
dynamics of the system.
The response of the controlled variable Y to
any input R depends upon the dynamics of
the Plant, Controller, and the Sensor or
Feedback.
To mathematically describe the dynamic behavior of the control
system and its components, differential equations are used.
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Linear and Non-linear Systems
A system is linear if it satisfy the properties of superposition
and homogeneity/scaling.
A system is non-linear if it is not linear.
Consider a system which has the responses to any two
arbitrary inputs u
1
(t) and u
2
(t) as
y
1
(t) = f(u
1
(t)) and y
2
(t) = f(u
2
(t))
Property of Superposition is satisfied if the output for a
combined input of u
1
(t) and u
2
(t) is
y
3
= f(u
1
(t) + u
2
(t)) = y
1
(t) + y
2
(t)
Property of homogeneity is satisfied if
y
3
= f(Ku
1
(t)) = Ky
1
(t)
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Linear and Non-linear Systems
Consider a system which has the responses to any two
arbitrary inputs u
1
(t) and u
2
(t) as
y
1
(t) = f(u
1
(t))) and y
2
(t) = f(u
2
(t))
A system is linear if the properties of superposition and
homogeneity are satisfied.

The above system will be linear if the following is satisfied
y
3
= f(K
1
u
1
(t) + K
2
u
2
(t)) = K
1
y
1
(t) + K
2
y
2
(t)
In general, real physical systems are non-linear if the
operating range is very large, However, if operation is
considered only about some operating point, and the range of
operation is sufficiently small, most systems can be
considered to be linear.
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Which of the following systems are linear?
(i) F = Kx (ii) y = x
2
(iii) y = mx + b
For any constants A and B and any two inputs x
1
and x
2
,
(i) F
1
= f(x
1
) = Kx
1
and F
2
= f(x
2
) = Kx
2

Also, F
3
= f(Ax
1
+Bx
2
) = K(Ax
1
+Bx
2
) = AKx
1
+BKx
2
= AF
1
+ BF
2
Thus properties of superposition and homogeneity is met. Thus linear.
Linear and Non-linear Systems
Examples:
(ii)
And (not homogenous)
Also, (superposition violated)
Thus system is not linear or non-linear.
2
( ) y f x x
2
( ) ( ) f Ax Ax Ay
2 2 2
1 2 1 2 1 2 1 2
( ) ( ) ( ) ( ) f x x x x f x f x x x
(iii)
And (not homogenous)
System is not linear. Can be shown that superposition also violated.
( ) y f x mx b
( ) ( ) ( ) ( ) f Ax m Ax b Af x A mx b
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Linear Approximation of Systems
Any non-linear system can be linearised about some
operating point and can be considered to be linear within a
small operating region about that point
For a any function with
We can use the Taylor Series expansion about some
operating point, x
0
, and have


For small variations about the operating point, second and
higher-order terms in can be neglected. Then
or which is linear.



( ) y f x
0
0
2 2
0 0
0
2
( ) ( )
( ) ...
1! 2!
x x
x x
x x x x df d f
y f x
dx dx

0
( ) x x
0 0
( ) y f x
0 0
( ) y y m x x y m x
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Linear Approximation of Systems
Example:

Mg
L
For the pendulum shown in the figure, the
restoring torque due to gravity is given by


Derive the linearised equation about the
operating point .
sin T MgL
0
Solution:

Since with ,
0 0 0
0
sin
( ) cos(0)( )
d
T T MgL MgL
d

0
0 T
T MgL
0
0