Lecture Notes

Fundamentals of Control Systems

Instructor: Dr. Huynh Thai Hoang

Department of Automatic Control
Faculty of Electrical & Electronics Engineering
Ho Chi Minh City University of Technology
Email: hthoang@hcmut.edu.vn
huynhthaihoang@yahoo.com
Homepage: www4.hcmut.edu.vn/~hthoang/

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1

 Course objectives

 This course iis about

Thi b the
h analysis
l i anddddesign
i off
control systems with emphasis on modeling, state
variable representation
representation, computer solutions
solutions,
modern design principles.

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 2

 Course outline

 Ch t 1:
Chapter 1 Introduction
I t d ti
 Chapter 2: Mathematical model of continuous systems
 Chapter 3: System dynamics
 Chapter 4: Analysis of system stability
 Chapter 5: Performances of control systems
 Chapter 6: Design of control systems
 Chapter 7: Mathematical model of continuous systems
 Chapter 8: Analysis of discrete control systems
 Chapter 9: Design of discrete control systems

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 Textbook

 Textbook:
T tb k Katsuhiko
K t hik Otaga,
Ot M d
Modern C t l Engineering,
Control E i i
3rd ed., Prentice Hall

 Reference:
 Franklin, Powell, and Emami-Naeini, Feedback Control
of Dynamic Systems,
Systems 6th ed.,
ed Prentice Hall,
Hall 2009
 Farid Golnaraghi and Benjamin C. Kuo, Automatic
Control Systems, 9th ed., 2009, Prentice Hall.
 Richard
Ri h d C.C Dorf
D f andd Robert
R b t H.
H Bishop,
Bi h M d
Modern C t l
Control
Systems, 11th ed, Peason.

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 4

 Learning outcomes
 Explain the concepts of open
open-loop
loop and closed-loop
closed loop control systems
 Describe continuous and discrete control systems using transfer function
and state space model
 Calculate the equivalent transfer function of control systems using block
diagram and signal flow graph
 Analyze the dynamics of control systems in time domain and frequency
domain
 Analyze the stability of control systems
 Analyze the transient and steady-state performances of control systems
 Analyze the controllability and observerbility of control systems
 Design lead-lag compensator using root locus and frequency response
 Design PID controller using frequency response, Zeigler-Nichols method
 D i state
Design t t ffeedback
db k controller
t ll usingi polel placement
l t method
th d
 Use teamwork and comunication skills in collaborating course design
projects
 Use modern software in analysis and design control systems

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 5

 Grading

 Class participation:
Cl ti i ti 10%
 Homework: 20%
 Midterm exam: 20%

 Project presentation: 20%

 Final exam: 30%

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 6

 How to learn the course???
( ) After 2 weeks we
(*)
tend to remember…
10% of what we read Reading
20% of what we hear Hearing words
30% of what we see Looking at pictures
Watching a movie
50% of what we Looking at an exhibit
see and hear Watching a demostration PASSIVE
Seeing
S i it ddone on llocation
ti
70% of what Participating in a discussion
we say ACTIVE
Given a talk
90% of what Doing a dramatic presentation
we say Simulating the real experience
and do Doing the real thing
(*) Edgar Dale, “Audio-Visual Methods in Teching,” Holt, Rinehart and Winston
6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 7
 Active learning

 “Learning is not a spectator sport. Students do not learn

much just by sitting in class listening to teachers,
memorizing prepackaged assignments
assignments, and spitting out
answers. They must talk about what they are learning, write
about it,
it relate it to past experiences,
experiences apply it to their daily
lives. They must make what they learn part of themselves.”

Chickering, A & Gamson, Z. F. (March 1987). Seven principles for good practice. AAHE Bulletin 39: 3-7.

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 8

 What is active learning?

 “Active Learning is, in short, anything that students do in a

classroom other than merely passively listening to an
instructor's
instructor s lecture.
lecture This includes everything from listening
practices which help the students to absorb what they hear,
to short writing exercises in which students react to lecture
material, to complex group exercises in which students
apply course material to "real life" situations and/or to new
problems. “

Paulson & Faust, California State University, Los Angeles,

http://www.calstatela.edu/dept/chem/chem2/Active/index.htm

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 9

 Chapter
p 1

INTRODUCTION

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 Topics

 Whatt is
Wh i control
t l system?
t ?
 Control principles
 Components of control systems
 Examples of control systems
 Review
e e o of co
complex
p e variables
a ab es a
and
d Laplace
ap ace ttransform
a so

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 11

 What is control system?
?

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 Exercise

Find examples of control systems?

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 Exercise
Explain how a control system works?

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 Example of a control process

 Objective is to keep moving at constant speed.

 Activities in controlling the car:
1 reading
1. di velocimeter
l i t
2. deciding to increase or decrease speed
3. actingg on the g
gas ppedal

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 Definition of control concept

Control
C t l is
i the
th process off getting
tti i f
information,
ti
processing information and making decision, and
acting
ti on a system
t so that
th t the
th system
t reponses as
desired.

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 Control loop

Desired
speed Car speed
+_

Measured
speed

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 Components of a control system

R(s) E(s) Y(s)

+_ C(s) G(s)

H(s)
Yfb(s)

Notation:
C(s): controller R(s): setpoint
G( ) plant
G(s): l t Y( ) controlled
Y(s): t ll d output
t t
H(s): sensor Yfb(s): feedback signal
E( ) control
E(s): t l error

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 A simple level control system

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 Level control system in industry

LC

LV

LT
Liquid tank

LC: Level Controller

LT: Level Transmitter
LV Level
LV: L l valve
l

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 Speed control of steam engine

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 Why control?

 I
Increase productivity
d ti it
 Increase quality
 Increase economic benefit

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 Plants
 Very diverse
 Class of systems:
 Electrical

 Mechanical

 Thermal
Th l
 Fluid

 Chemistry
Ch i t
 Real systems consist of different kind of basic systems.

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 Sensors
 Temperature sensor
 Position sensor
 V l it sensor
Velocity
 Accelocity sensor
 Distant sensor
 Flow sensor
 Level sensor
 Pressure sensor
 Force sensor
 Color sensor
 ...
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 Controllers

 M h i l controller
Mechanical ll
 Electrical controller
 Analog controller
 Digital controller
 Microcontroller, DSP based control
 Computer based control
 Programmable Logic Controller (PLC)

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 Basic problems in control

 System Analysis
 System Design
 System Identification

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 Control schemes

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 Open--loop control
Open

n(t)

r(t) u(t) y(t)

Controller Plant

 Feedforward control
 Control without feedback information

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 Closed--loop control
Closed

n(t)

r(t) e(t)
(t) u(t)
(t) y(t)
Controller Plant

ym(t)

Sensor

 Feedback control
 Need to measure system output

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 Feedback and feedforward control

FF control n(t)

r(t) e(t) y(t)

 FB control ++ Plant
ym(t)

Sensor

 This combined control scheme is widely used in

i d t
industry

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 Hierachy control

 Decentralized control
 Distributed
Di t ib t d control
t l

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 Hierachy control
Example: SCADA (Supervisory Control And Data Acquisition)

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 Beer making process

Chiết chai

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 Control system clasification

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 Control system classification

 Continuous
C i system: All signals
i l iin the
h system are continous.
i
Discrete system: There exists discrete signals in the system
 Linear system: The system satisfies the superposition
principle.
Nonlinear system:
y The system
y don’t satisfies the
superposition principle.
 Time Invariant System: Parameters of the system don’t
change over time
time.
Time Varying System: Parameters of the system change over
time.
 SISO system: Single Input Single Output system
MIMO system: Multi-Input Multi-Output system

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 History of control theory

 Classical control
 Modern control
 Intelligent control

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 Classical control
 Mathematic models used in analysis and design control
systems are transfer functions.
 Features:
 Simple, easy to understand
 Advantages: easy to apply to analysis and design SISO
li
linear ti
time – invariant
i i t system.
t
 Frequency domain techniques.
 Analysis and design techniques:
 Root locus.
 Frequency
q y response:
p Nyquist,
yq , Bode.
 Controllers:
 Lead – lag controllers
 PID (Proportional – Integral – Derivative)

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 37

 Modern control
 Mathematical model used
sed in anal
analysis
sis and design is mainl
mainly the
state-space equation.
 Features:
 Can be applied to nonlinear systems, time varying
systems,
y multiple
p input-
p multiplep output
p system.
y
 Time domain technique
 Analysis and design method:
 Optimal control.
 Adaptive control.
 Robust Control
 Controller:
 State feedback controller
6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 38
 Intelligent control

 In principle, mathematic models are not required in design

intelligent control system.
 F t
Features:
 Simulate / emulate biological intelligence system.
 The controller is capable of processing uncertain
information, learning, and handling large amounts of data
 Intelligent control techniques:
 Fuzzy Control
 Neural Networks
 Genetic Algorithm
…

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 Course objective

 The course Fundamental

Th F d l off C
Controll S
Systems mainly
i l
presents the classic method for analysis and design
of SISO linear time invariant systems.
 The knowledge gained from the course help student
to analyze and design control systems at the
executive level.

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 40

 Related courses

 To be
T b able
bl to
t d
design
i ththe control
t l system
t att th
the
implementation level, in addition to knowledge of
automatic control theory
theory, a designer needs to master the
relevant knowledge, such as:
 Circuits,
Circuits Electronic circuits
 Industrial Measurement
 Digital system,
system Microprocessor
 Computer based control system, ...

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 41

 Applications of control systems

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 Applications of control theory
Feedback control can be found in many applications:
 Production system: cement plants, sugar mills, ....
 Industrial
dust a p processes:
ocesses te
temperature,
pe atu e, flow,
o ,ppressure,
essu e, speed, ...
 Mechatronics: robot arms, computer numerical control
(CNC), ...
 Information systems
 Power generation and transmission
 Transportation systems:
s stems cars,
cars trains,
trains aircraft,
aircraft spacecraft,
spacecraft ...
 Military equipments
 Measurement
 Home appliances: air conditioners, televisions, refrigerators,
washing machines, cameras, rice cookers, ...
 Medical equipments

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 43

 Temperature control

 Temperature control plays an important role in many

manufacturing systems: production of cement, ceramic tiles,
pulp and paper,
paper rubber and plastic,
plastic oil and gas,
gas food and
beverage,…

Cement factory Paper factory

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 Examples of temperature control

 Agricultural
A i lt l product
d t drying
d i system
t ( ff
(coffee, cashew
h nut,
t
black pepper,…)

Agricultural product drying system

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 45
 Block diagram of a temperature control system

Differential Power Heater

Controller amplifier
p
amplifier

Measurement

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 46

 Temperature controller and user interface
VCC
4.7k 4.7k 4.7k 4.7k
Q1 Q2 Q3 Q4

1k 1k
A1015 1k A1015 A1015 1k A1015
PORTD<5> PORTD<4> PORTD<6> PORTD<7>

D6

7
LED 7DOAN
LED_7DOAN

VCC1

VCC2

VCC3

VCC4
DOT
. . . .
G
D

C
E

A
F
10

12

11
8

2
A
B
C
D
E
VCC F
G
DOT VCC

SW5 10k
10k

PIC16F877A
1 33 DOT
MCLR*/VPP RB0/INT 34 A SW4
2 RB1 35 B
V_sensor RA0/AN0 RB2 C
3 36
4 RA1/AN1 RB3/PGM 37 D SW4
5 RA2/AN2/VREF-/CVREF RB4 38 E
VREF+ RA3/AN3/VREF+ RB5 F
6 39
7 RA4/T0CKI/C1OUT RB6/PGC 40 G
RA5/AN4/SS*/C2OUT RB7/PGD SW3
15 19 SW4
16 RC0/T1OSO/T1CKI RD0/PSP0 20 SW3
17 RC1/T1OSI/CCP2 RD1/PSP1 21 SW2 SW3
PORTC<2> RC2/CCP1 RD2/PSP2 SW1
18 22
23 RC3/SCK/SCL RD3/PSP3 27
RC4/SDI/SDA RD4/PSP4 PORTD<4>
24 28
RC5/SDO RD5/PSP5 PORTD<5>
25 29 SW2
RC6/TX/CK RD6/PSP6 PORTD<6>
26 30
RC7/RX/DT RD7/PSP7 PORTD<7>
C16
13 SW2
OSC1/CLKIN 8
33p RE0/RD*/AN5
10MHz 9
C17 CRYSTAL RE1/WR*/AN6 10 SW1
14 RE2/CS*/AN7
OSC2/CLKOUT
33p
12 11 SW1
VSS VDD VCC
31 32
VSS VDD

6 November 2012 © H. T. Hoàng - ÐHBK TPHCM 47

 Temperature measurement using thermocouple
5V
U1
5V
1VC C

U2
LM35
35

7
1
VOUT
2 3 + V22 R1
6
C1 2 -
25k
OP07
GND

10uF 5V
4
8

-5V
5 U4 5
5V

7
1
U5
V3
3

7
1
3 +
0 6 3 + Vout
2 - R5 6
0 OP07 2 - PA0/ADC0
100 OP07
5V

4
8
-5V

4
8
U3 -5V
Thermo couple
7
1

R4
J1 3 + R2 1.8k R6
1 6 V1 R3
2 -
C2 100 100 3.9k
OP07
10uF
4
8

-5V 0
0 0

6 November 2012 © H. T. Hoàng - ÐHBK TPHCM 48

 Power circuit

R3 FUSE Heater
+12V
470

6
1
U15
2 MOC3020 Q2 220Vac
BTA16 0Vdc
4
PORTC<2> Q1
R1
Q2SC1815
47k

R2
330

6 November 2012 © H. T. Hoàng - ÐHBK TPHCM 49

 An industrial temperature control system

Temperature Furnace
controller

Thermocouple

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 Motor control
 Motors (DC,
(DC AC) are one of the most common actuators used
machinery and manufacturing factory.
 Three basic control problems: speed control, position control,
torque control

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 Antenna position control

Potentiometer
Antenna
i(t)

o(t)
Desired
azimuth angle Azimuth
angle
input
output

Differential amplifier
and power amplifier
Motor Potentiometer

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 Analog PID control of DC motor

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 Digital PID control of DC motor

6 November 2012 © H. T. Hoàng - ÐHBK TPHCM 54

 An industrial DC motor control system

DC Motor

E
Encoder
d

DC Driver

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 Level control

 Level control can be found

f in industrial processes such
as food and beverage, waste water treatment,…
 Level control, flow control
 Sensor:
 Level sensor: presure sensor, capacitor sensor, ultra
sonic
 Flow sensor: ultra sonic

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 Level control system in industry

LC

LV

LT
Li id ttank
Liquid k

LC: Level Controller

LT: Level Transmitter
LV: Level Valve
6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 57
 Pulp concentration control

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 Pitch angle control

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 Block diagram of pitch angle control system

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 60

 CNC diagram

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 Block diagram of CNC control system

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 62

 Distillation Process

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 Steam Power Generator

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 Review of complex
p
variables and matrix theory

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 Review

 Complex
C l variables:
i bl A
Appendix
di B,
B Feedback
F db k Control
C t l off
Dynamic Systems, Franklin, Powell, and Emami-Naeini, 6th
ed Prentice Hall,
ed., Hall 2009
 Matrix theory: Appendix C, Feedback Control of Dynamic
Systems Franklin,
Systems, Franklin Powell,
Powell and Emami-Naeini,
Emami Naeini 6th ed.,
ed
Prentice Hall, 2009

6 November 2012 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 66