control theory eee322 - national university theory.pdf · – determine the stability of a...
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Control Theory
EEE322
Dr. Mudathir Fagiri
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Introduction to
Control Theory
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Prerequisite by topics
• Knowledge and proficiency in MATLAB
• Concept and solution of linear Ordinary
Differential Equations (ODE)
• Laplace Transform and its applications
• Vectors and Matrices
• Complex Numbers
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OBJECTIVES On completion of this subject, the student will be able to do the following
either by hand or with the help of computation tools such as MATLAB:
– Define the basic terminologies used in controls systems.
– Explain advantages and drawbacks of open-loop and closed loop control systems.
– Obtain models of simple dynamic systems in ordinary differential equation, transfer
function, state space, or block diagram form.
– Obtain overall transfer function of a system using either block diagram algebra, or signal
flow graphs, or Matlab tools.
– Compute and present in graphical form the output response of control systems to typical
test input signals.
– Explain the relationship between system output response and transfer function
characteristics or pole/zero locations.
– Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria
– Analyze the closed loop stability and performance of control systems based on open-
loop transfer functions using the frequency response techniques.
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Topics Covered • Introduction to open loop and closed loop control systems.
• Review of signal systems concepts and techniques as applied to control
system.
• Block diagrams and signal flow graphs.
• Modeling of control systems using ODE, block diagrams, and transfer
functions.
• Modeling and analysis of control systems using state space methods.
• Analysis of dynamic response of control systems, including transient
response, steady state response, and tracking performance.
• Closed-loop stability analysis using the Routh-Hurwitz criteria.
• Stability and performance analysis using the Root Locus techniques.
• Control system design using the Root Locus techniques.
• Stability and performance analysis using the frequency response
techniques.
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Textbook
• Automatic Control Systems, Golnaraghi
and Kuo, ninth edition, Wiley, 2009
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Other References • Feedback Control of Dynamic Systems (6th Edition) by
Gene Franklin, J.D. Powell, and Abbas Emami-Naeini
(Hardcover - Oct 11, 2009)
• Modern Control Engineering (5th Edition) by Katsuhiko
Ogata (Paperback - Aug 30, 2009)
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Other References • Modern Control Systems (11th Edition) (Pie) by Richard
C. Dorf and Robert H. Bishop (Hardcover - Aug 10,
2007)
• Control Systems Engineering, Just Ask! Package by
Norman S. Nise (Hardcover - Jun 21, 2004)
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Other References • Modern Control Theory (3rd Edition) by William L.
Brogan (Paperback - Oct 11, 1990)
• Feedback Control Systems (4th Edition) by Charles L.
Phillips and Royce D. Harbor (Hardcover - Aug 19, 1999)
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History of Control Engineering
18th Century James Watt’s centrifugal governor for the speed control of a steam engine.
1920s Minorsky worked on automatic controllers for steering ships.
1930s Nyquist developed a method for analyzing the stability of controlled systems
1940s Frequency response methods made it possible to design linear closed-loop control systems
1950s Root-locus method due to Evans was fully developed
1960s State space methods, optimal control, adaptive control and
1980s Learning controls are begun to investigated and developed.
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Earlier Control Systems?
Water-level float regulator (before BC)
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Human System
i. Pancreas Regulates blood glucose level
ii. Adrenaline
Automatically generated to increase the heart rate and oxygen in times of flight
iii. Eye
Follow moving object
iv. Hand
Pick up an object and place it at a predetermined location
v. Temperature
Regulated temperature of 36°C to 37°C
Earlier Control Systems?
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A manual level control system
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A modern high voltage tranformator
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A wind farm
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Transportation
Car and Driver
• Objective: To control direction and speed of car
• Outputs: Actual direction and speed of car
• Control inputs: Road markings and speed signs
• Disturbances: Road surface and grade, wind, obstacles
• Possible subsystems: The car alone, power steering system,
breaking system
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Control System Terminology
• Input - Excitation applied to a control system from an external source.
• Output - The response obtained from a system
• Feedback - The output of a system that is returned to modify the input.
• Error - The difference between the reference input and the output.
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Negative Feedback Control System
CONTROLLER CONTROLLED
DEVICE
FEEDBACK
ELEMENT
+ + +
-
Input
Output
Feedback
Error
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• Control – is the process of causing a system variable to conform to some desired value.
• System – An interconnection of elements and devices for a desired purpose.
• Control System – An interconnection of components forming a system configuration that will provide a desired response.
• Process – The device, plant, or system under control. The input and output relationship represents the cause-and-effect relationship of the process.
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• The interaction is defined in terms of
variables.
i. System input
ii. System output
iii. Environmental disturbances
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Types of Control Systems
Open-Loop – Simple control system which performs its
function with-out concerns for initial conditions or external inputs.
– Must be closely monitored.
Closed-Loop (feedback) – Uses the output of the process to modify
the process to produce the desired result.
– Continually adjusts the process.
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Advantages of a Closed-Loop
Feedback System Increased Accuracy
– Increased ability to reproduce output with varied input.
Reduced Sensitivity to Disturbance
– By self correcting it minimizes effects of system changes.
Smoothing and Filtering
– System induced noise and distortion are reduced.
Increased Bandwidth
– Produces sat. response to increased range of input changes.
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Major Types of Feedback Used Position Feedback
– Used when the output is a linear distance or angular measurement.
Rate & Acceleration Feedback
– Feeds back rate of motion or rate of change of motion (acceleration)
– Motion smoothing
– Uses a electrical/mechanical device call an accelerometer
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Present
Position
Future
Position
Ship’s
Heading Range Change Bearing
Change
Fire Control Problem
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Fire Control Problem
• Input
– Target data
– Own ship data
• Computations
– Relative motion procedure
– Exterior ballistics procedure
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Fire Control Problem • Solutions
– Weapons time of flight
– Bearing rate
– Line of Sight(LOS): The line between the target
and the firing platform
– Speed across LOS
– Future target position
– Launch angles
• Launch azimuth
• Launch elevation
– Weapon positioning orders
• The above determines weapon trajectory: The line
the weapon must travel on to intercept the target.
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The Iterative Process to the
Fire Control Solution
Step 1
Step 2
Step 3 Last Step
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A 3-Dimensional Problem
Horizontal Reference Plane
Line of Sight
Target
Elevation
Gun
Elevation
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Solving the Fire Control Problem
Continuously Measure
Present Target Position Stabilize Measured
Quantities
Compute Relative
Target Velocity
Ballistic
Calculations
Relative
Motion
Calculations
Time of
Flight
Future
Target
Position
Prediction Procedure
Unstabilized
Launch
Angles
Environmental Inputs
Launch Angles
(Stabilized)
Weapons Positioning orders
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Idle-speed control system.
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Figure 1-5 (p. 5) Solar collector field.
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Conceptual method of efficient water
extraction using solar power.
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Important components of the sun-
tracking control system.
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a. system concept;
b. detailed layout;
c. schematic;
d. functional block diagram
Antenna azimuth position control system:
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(a)
(b)
(c)
a. Video laser disc player;
b. objective lens reading
pits on a laser disc;
c. optical path for playback
showing tracking mirror
rotated by a control system
to keep the laser beam
positioned on the pits.
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Computer hard
disk drive,
showing disks
and read/write
head
Courtesy of Quantum Corp.
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Response of a
position control
system showing
effect of high
and low
controller gain
on the output
response
High gain; fast but oscillating
Control goal; fast reaction, lower overshoot, less settling time
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The control system design process
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Aircraft attitude defined
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Winder
© J. Ayers, 1988.
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Control of a nuclear reactor
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Grinder system
© 1997, ASME.
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High-speed proportional
solenoid valve
© 1996, ASME.
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High-speed rail system showing
pantograph and catenary
© 1997, ASME.
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Control Theory
EEE322
Dr. Mudathir A. Fagiri
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Mathematical Modeling
and Representation of
Physical Systems
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Types of Systems
Static System: If a system does not change
with time, it is called a static system.
Dynamic System: If a system changes with
time, it is called a dynamic system.
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Dynamic Systems
• A system is said to be dynamic if its current output may depend on the past history as well as the present values of the input variables.
• Mathematically,
Time Input, ::
]),([)(
tu
tuty 0
Example: A moving mass
Model: Force=Mass x Acceleration
uyM
M
y u
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Ways to Study a System
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Model
• A model is a simplified representation or
abstraction of reality.
• Reality is generally too complex to model
exactly.
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What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that
describes the input-output behavior of a system.
What is a model used for?
• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
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Basic Elements of Electrical Systems
• The time domain expression relating voltage and current for the resistor is given by Ohm’s law
Rtitv RR )()(
• The Laplace transform of the above equation is
RsIsV RR )()(
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Basic Elements of Electrical Systems
• The time domain expression relating voltage and current for the Capacitor is given as:
dttiC
tv cc )()(1
• The Laplace transform of the above equation (assuming there is no charge stored in the capacitor) is
)()( sICs
sV cc
1
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Basic Elements of Electrical Systems
• The time domain expression relating voltage and current for the inductor is given as:
dt
tdiLtv L
L
)()(
• The Laplace transform of the above equation (assuming there is no energy stored in inductor) is
)()( sLsIsV LL
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V-I and I-V Relations
Component Symbol V-I Relation I-V Relation
Resistor
Capacitor
Inductor
dt
tdiLtv L
L
)()(
dttiC
tv cc )()(1
Rtitv RR )()( R
tvti R
R
)()(
dt
tdvCti c
c
)()(
dttvL
ti LL )()(1
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Kirchhoff’s voltage law:
The algebraic sum of voltages around any closed loop in an
electrical circuit is zero.
Kirchhoff’s current law:
The algebraic sum of currents into any junction in an
electrical circuit is zero.
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Laplace Transform
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Name Time function f(t) Laplace Transform
Unit Impulse (t) 1
Unit Step u(t) 1/s
Unit ramp t 1/s2
nth-Order ramp t n n!/sn+1
Exponential e-at 1/(s+a)
nth-Order exponential t n e-at n!/(s+a)n+1
Sine sin(bt) b/(s2+b2)
Cosine cos(bt) s/(s2+b2)
Damped sine e-at sin(bt) b/((s+a)2+b2)
Damped cosine e-at cos(bt) (s+a)/((s+a)2+b2)
Diverging sine t sin(bt) 2bs/(s2+b2)2
Diverging cosine t cos(bt) (s2-b2) /(s2+b2)2
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Find the inverse Laplace transform of
F(s)=5/(s2+3s+2).
Solution:
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Find inverse Laplace Transform of
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Find the inverse Laplace transform of
F(s)=(2s+3)/(s3+2s2+s).
Solution:
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Laplace Transform Theorems
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Transfer Function
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Transfer Function
After Laplace transform we have
X(s)=G(s)F(s)
We call G(s) the transfer function.
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System interconnections
Series interconnection
Y(s)=H(s)U(s) where H(s)=H1(s)H2(s).
Parallel interconnection
Y(s)=H(s)U(s) where H(s)=H1(s)+H2(s).
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Feedback interconnection
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Example 1
The two-port network shown in the following figure has vi(t) as
the input voltage and vo(t) as the output voltage. Find the transfer
function Vo(s)/Vi(s) of the network.
C i(t) vo(t)
dttiC
Rtitvi )()()(1
dttiC
tvo )()(1
vi( t)
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Example 1
Taking Laplace transform of both equations, considering initial
conditions to zero.
Re-arrange both equations as:
dttiC
Rtitvi )()()(1
dttiC
tvo )()(1
)()()( sICs
RsIsVi
1 )()( sI
CssVo
1
)()( sIsCsVo ))(()(Cs
RsIsVi
1
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Example 1
Substitute I(s) in equation on left
)()( sIsCsVo ))(()(Cs
RsIsVi
1
))(()(Cs
RsCsVsV oi
1
)()(
)(
CsRCs
sV
sV
i
o
1
1
RCssV
sV
i
o
1
1
)(
)(
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Models of Electrical Systems
R-L-C series circuit, impulse voltage source:
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Model of an RLC parallel circuit:
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Models of Mechanical Systems
Mechanical translational systems. Newton’s second law:
Device with friction (shock absorber):
B is damping coefficient.
Translational system to be defined is a spring (Hooke’s law):
K is spring coefficient
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Model of a mass-spring-damper system:
Note that linear physical systems are modeled by linear
differential equations for which linear components can be
added together. See example of a mass-spring-damper
system.
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Differential equations as mathematical models of physical
systems: similarity between mathematical models of
electrical circuits and models of simple mechanical
systems (see model of an RCL circuit and model of the
mass-spring-damper system).
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CONTROL SYSTEMS
Dr. Mudathir A. O. Fagiri
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lecture 3
Dr. Ali Karimpour Feb 2013
2
Lecture 3
Different representations of
control systems Topics to be covered include:
High Order Differential Equation. (HODE model)
State Space model. (SS model)
Transfer Function. (TF model)
State Diagram. (SD model)
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lecture 3
Dr. Ali Karimpour Feb 2013
3
High Order Differential Equation (HODE).
inputtheisu
outputtheisy
bdt
dub
dt
udb
dt
uda
dt
dya
dt
yda
dt
ydm
m
mm
m
n
n
nn
n
011
1
1011
1
1 ...........
HODE model
The study of differential equations of the type described
above is a rich and interesting subject. Of all the methods
available for studying linear differential equations, one
particularly useful tool is provided by Laplace Transforms.
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lecture 3
Dr. Ali Karimpour Feb 2013
4
Example 1: A high order differential equation (HODE).
HODE model
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lecture 3
Dr. Ali Karimpour Feb 2013
5
State Space Models (SS)
For continuous time systems
For linear time invariant continuous time systems
SS model
SS model
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lecture 3
Dr. Ali Karimpour Feb 2013
6
General form of LTI systems in state space form
pnpnn
p
p
nnnnn
n
n
n u
u
u
bbb
bbb
bbb
x
x
x
aaa
aaa
aaa
x
x
x
.
.
..
.....
.....
..
..
.
.
..
.....
.....
..
..
.
.
2
1
21
22221
11211
2
1
21
22221
11211
2
1
SS model
State Space Models (SS)
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lecture 3
Dr. Ali Karimpour Feb 2013
7
Example 2: A linear time invariant continuous time systems
SS model
output
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lecture 3
Dr. Ali Karimpour Feb 2013
8
Example 2: Continue
The equations can be rearranged as follows:
We have a linear state space model with
)()(
)(1
)(11
)(1)(
)(1)(
121
tvtc
tvCR
tvCRCR
tiCdt
tdv
tvLdt
tdi
f
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lecture 3
Dr. Ali Karimpour Feb 2013
9
A demonstration robot containing several servo motors
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lecture 3
Dr. Ali Karimpour Feb 2013
10
Different Representations
SD model
HODE model
TF model
SS model
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lecture 3
Dr. Ali Karimpour Feb 2013
11
Transfer Function Model (TF)
)()(.....)()()()(......)()(
...........
01
1
101
1
1
011
1
1011
1
1
subssubsusbsussyassyasysasys
conditioninitialzerotransformlaplaceTaking
ubdt
dub
dt
udb
dt
udya
dt
dya
dt
yda
dt
yd
m
m
mn
n
n
m
m
mm
m
n
n
nn
n
)(
)(
)(
)()()()()()(
sA
sB
su
sysGsusBsysA TF model
HODE model TF model
Or
Input-output model
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lecture 3
Dr. Ali Karimpour Feb 2013
12
Different representations
SD model
HODE model
TF model
SS model
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lecture 3
Dr. Ali Karimpour Feb 2013
13
Different representations
SD model
HODE model
TF model
SS model
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lecture 3
Dr. Ali Karimpour Feb 2013
14
TF Model Properties
1- It is available just for linear systems.
2- It is derived by zero initial condition.
3- It just shows the relation between input
and output so it may lose some information.
4- It can be used to show delay systems but
SS can not.
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lecture 3
Dr. Ali Karimpour Feb 2013
15
State Diagram Model (SD)
)0()()( 2212
1 xssxsxdt
dxx
)0()()( 21
1
2 xsxssx
s -1
s -1
x2(0)
x1(s) x2(s)
SD model
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lecture 3
Dr. Ali Karimpour Feb 2013
16
State Diagram to State Space
1
212
21
54
xc
rxxx
xx
SD model SS model
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lecture 3
Dr. Ali Karimpour Feb 2013
17
Different representations
SD model
HODE model
TF model
SS model
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lecture 3
Dr. Ali Karimpour Feb 2013
18
Different representations
1
212
21
54
xc
rxxx
xx
SS
SD
TF
45
1)(
2
sssG
HODE
rccc 45
Discussed in this lecture
Will be discussed in next lecture
Mason’s rule
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CONTROL SYSTEMS
Dr. Mudathir A. O. Fagiri
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Lecture 4
Reduction of Multiple Systems
Block Diagram
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Figure 4.1
Components of a block diagram for a linear, time-invariant system
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Figure 4.2
a. Cascaded subsystems;
b. equivalent transfer function
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Figure 4.3
a. Parallel subsystems;
b. equivalent transfer function
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Figure 4.4
a. Feedback control system;
b. simplified model;
c. equivalent transfer function
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Figure 4.5: Block diagram algebra for summing junctions
equivalent forms for moving a block
a. to the left past a summing junction;
b. to the right past a summing junction
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Figure 4.6: Block diagram algebra for pickoff points
equivalent forms for moving a block
a. to the left past a pickoff point;
b. to the right past a pickoff point
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Block diagram reduction via familiar forms for Example 4.1
Problem: Reduce the block diagram shown in figure to a single transfer
function
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Steps in solving Example 4.1:
a. collapse summing junctions;
b. form equivalent cascaded system
in the forward path
c. form equivalent parallel system in
the feedback path;
d. form equivalent feedback system
and multiply by cascadedG1(s)
Block diagram reduction via familiar forms for Example 4.1 Cont.
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Problem: Reduce the block diagram shown in figure to a single transfer
function
Block diagram reduction by moving blocks Example 4.2
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Steps in the block diagram reduction for Example 4.2
a) Move G2(s) to the left past of
pickoff point to create parallel
subsystems, and reduce the feedback
system of G3(s) and H3(s)
b) Reduce parallel pair of 1/G2(s)
and unity, and push G1(s) to the right
past summing junction
c) Collapse the summing junctions,
add the 2 feedback elements, and
combine the last 2 cascade blocks
d) Reduce the feedback system to
the left
e) finally, Multiple the 2 cascade
blocks and obtain final result.
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Block diagram reduction via familiar forms for Example 4.3
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Block diagram reduction via familiar forms for Example 4.4
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CONTROL SYSTEMS
Dr. Mudathir A. O. Fagiri
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Lecture 5
Signal-flow graph
and Mason’s Rule
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Signal-flow graph components:
a. system;
b. signal;
c. interconnection of systems and signals
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a. cascaded system nodes
b. cascaded system signal-flow
graph;
c. parallel system nodes
d. parallel system signal-flow
graph;
e. feedback system nodes
f. feedback system signal-flow
graph
Building signal-flow graphs
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Converting a block diagram to a signal-flow graph
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Problem 5.1: Convert the block diagram to a signal-flow graph.
Converting a block diagram to a signal-flow graph
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Signal-flow graph development:
a. signal nodes;
b. signal-flow graph;
c. simplified signal-flow graph
Converting a block diagram to a signal-flow graph
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Problem 5.2: Convert the block diagram to a signal-flow graph.
Converting a block diagram to a signal-flow graph
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Mason’s Rule - Definitions
Mason’s gain rule is as follows: the transfer function of
a system with signal-input, signal-output flow graphs is
332211)(ppp
sT
Δ=1-(sum of all loop gains)+(sum of products of gains of all
combinations if 2 nontouching loops)- (sum of products of gains of
all combinations if 3 nontouching loops)+…
A path is any succession of branches, from input to output, in the
direction of the arrows, that does not pass any node more than once.
A loop is any closed succession of branches in the direction of the
arrows that does not pass any node more than once.
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Mason’s Rule - Definitions
Loop gain: The product of branch gains found by traversing a path that starts at a node and ends at the
same node, following the direction of the signal flow, without passing through any other node more than
once. G2(s)H2(s), G4(s)H2(s), G4(s)G5(s)H3(s), G4(s)G6(s)H3(s)
Forward-path gain: The product of gains found by traversing a path from input node to output node
in the direction of signal flow. G1(s)G2(s)G3(s)G4(s)G5(s)G7(s), G1(s)G2(s)G3(s)G4(s)G5(s)G7(s)
Nontouching loops: loops that do not have any nodes in common. G2(s)H1(s) does not touch
G4(s)H2(s), G4(s)G5(s)H3(s), and G4(s)G6(s)H3(s)
Nontouching-loop gain: The product of loop gains from nontouching loops taken 2, 3,4, or more at a
time.
[G2(s)H1(s)][G4(s)H2(s)], [G2(s)H1(s)][G4(s)G5(s)H3(s)], [G2(s)H1(s)][G4(s)G6(s)H3(s)]
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Mason’s Rule
The Transfer function. C(s)/ R(s), of a system represented by a signal-flow graph is
Where
K = number of forward paths
Tk = the kth forward-path gain
= 1 - loop gains + nontouching-loop gains taken 2 at a time - nontouching-loop
gains taken 3 at a time + nontouching-loop gains taken 4 at a time - …….
= - loop gain terms in that touch the kth forward path. In other words, is formed by eliminating from those loop gains that touch the kth forward path.
( )( )
( )
k k
k
TC s
G sR s
k k
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Transfer function via Mason’s rule Problem: Find the transfer function for the signal flow graph
Solution:
forward path G1(s)G2(s)G3(s)G4(s)G5(s)
Loop gains G2(s)H1(s), G4(s)H2(s), G7(s)H4(s),
G2(s)G3(s)G4(s)G5(s)G6(s)G7(s)G8(s)
Nontouching loops 2 at a time
G2(s)H1(s)G4(s)H2(s)
G2(s)H1(s)G7(s)H4(s)
G4(s)H2(s)G7(s)H4(s)
3 at a time G2(s)H1(s)G4(s)H2(s)G7(s)H4(s)
Now
= 1-[G2(s)H1(s)+G4(s)H2(s)+G7(s)H4(s)+ G2(s)G3(s)G4(s)G5(s)G6(s)G7(s)G8(s)] +
[G2(s)H1(s)G4(s)H2(s) + G2(s)H1(s)G7(s)H4(s) + G4(s)H2(s)G7(s)H4(s)] – [G2(s)H1(s)G4(s)H2(s)G7(s)H4(s)]
= 1 - G7(s)H4(s)
[G1(s)G2(s)G3(s)G4(s)G5(s)][1-G7(s)H4(s)]
1
1 1( ) T
G s
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CONTROL SYSTEMS
Dr. Mudathir A. O. Fagiri
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Lecture 9
Dr. Ali Karimpour Feb 2013
2
Lecture 6
Stability of Linear
Control Systems
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Lecture 9
Dr. Ali Karimpour Feb 2013
3
The response of linear systems can always be decomposed as the
zero-state response and zero-input response. We study
1. Input output stability of LTI system is called BIBO (bounded-input bounded-output) stability ( the zero-state response )
2. Internal stability of LTI system is called Asymptotic stability ( the zero-input response )
Stability analysis
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Lecture 9
Dr. Ali Karimpour Feb 2013
4
Input output stability of LTI system
tt
dtugdutgty00
)()()()()(
Consider a SISO linear time-invariant system, then the
output can be described by
where g(t) is the impulse response of the system and
system is relaxed at t=0.
)()()()()()(00
Idtugdutgtytt
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Lecture 9
Dr. Ali Karimpour Feb 2013
5
Input output stability of LTI system
Definition: A system is said to be BIBO stable (bounded-input
bounded-output) if every bounded input excited a bounded
output. This stability is defined for zero-state response and is
applicable only if the system is initially relaxed.
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Lecture 9
Dr. Ali Karimpour Feb 2013
6
Input output stability of LTI system
Theorem: A SISO system described by (I) is BIBO stable if
and only if g(t) is absolutely integrable in [0,∞), or
For some constant M.
0)( Mdttg
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Lecture 9
Dr. Ali Karimpour Feb 2013
7
Input output stability of LTI system
then)(so boundedbe)(Let mututu
Proof: g(t) is absolutely integrable system is BIBO
0
)()()( dtugty
So the output is bounded.
Mum dtug )()(0
dgum
0
)(
Now: System is BIBO stable g(t) is absolutely integrable
If g(t) is not absolutely integrable, then there exists t1 such that:
Let us choose
dgt1
0)(
1
011 )()()(
t
dtugty 1
0)(
t
dg
0)( if1
0)( if1)( 1
g
gtu
So it is not BIBO
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Lecture 9
Dr. Ali Karimpour Feb 2013
8
Theorem: A SISO system with proper rational transfer
function g(s) is BIBO stable if and only if every pole of g(s)
has negative real part.
Input output stability of LTI system
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Lecture 9
Dr. Ali Karimpour Feb 2013
9
Example 1: Discuss the stability of the system .
9
1
1
s
)(sC
2
1
s
s)(sR
2
1
)(
)()(
ssR
sCsG
There is no RHP root , so system is
BIBO stable.
BIBO stability:
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Lecture 9
Dr. Ali Karimpour Feb 2013
10
Different regions in S plane
RHP plane LHP plane Unstable Stable
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Lecture 9
Dr. Ali Karimpour Feb 2013
11
Example 5: Check the BIBO and internal stability of the
following system.
s
s 1+
- 1
1
s
1x2x cr
BIBO stability
1
1
11
1
)(
)(
s
s
s
sr
sc 1p We have BIBO stability
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CONTROL SYSTEMS
Dr. Mudathir A. O. Fagiri
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Lecture 9
Dr. Ali Karimpour Feb 2013
2
Lecture 7
Stability of linear control systems
through Routh Hurwitz criterion
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Lecture 9
Dr. Ali Karimpour Feb 2013
3
Routh Hurwitz Algorithm
The Routh Hurwitz algorithm is based on the following
numerical table.
Routh’s table
ns
1ns
1
1na2na ..............
3na4na
5na ..............
2ns
3ns...
0s
1,2
1,3 2,3
2,2 3,2
3,3
..............
..............
1,n
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Lecture 9
Dr. Ali Karimpour Feb 2013
4
Routh’s table
ns
1ns
1
1na2na ..............
3na4na
5na ..............
2ns
3ns...
0s
1,2
1,3 2,3
2,2 3,2
3,3
..............
..............
1,n
Routh Hurwitz Algorithm
1
3121,2
1
n
nnn
a
aaa
1
5142,2
1
n
nnn
a
aaa
1
7163,2
1
n
nnn
a
aaa
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Lecture 9
Dr. Ali Karimpour Feb 2013
5
Result
Consider a polynomial p(s) and its associated table.
Then the number of roots in RHP is equal to the number
of sign changes in the first column of the table.
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Lecture 9
Dr. Ali Karimpour Feb 2013
6
Routh’s table
ns
1ns
1
1na2na ..............
3na4na
5na ..............
2ns
3ns...
0s
1,2
1,3 2,3
2,2 3,2
3,3
..............
..............
1,n
Routh Hurwitz Algorithm
Number of sign changes=number of roots in RHP
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Lecture 9
Dr. Ali Karimpour Feb 2013
7
Example 1: Check the number of zeros in the RHP
010532)( 234 sssssp
051
1032
3
4
s
s
Two roots in RHP
01072 s
007
451s
00100s
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Lecture 9
Dr. Ali Karimpour Feb 2013
8
Routh Hurwitz special cases
Routh Hurwitz special cases
1- The first element of a row is zero. (see example 2)
2- All elements of a row are zero. (see example 3)
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Lecture 9
Dr. Ali Karimpour Feb 2013
9
Example 2: Check the number of zeros in the RHP
0322)( 234 sssssp
021
321
3
4
s
s
0302s
00321
s
0030s
3
Two roots in RHP
for any
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Lecture 9
Dr. Ali Karimpour Feb 2013
10
Example 3: Check the number of zeros in the RHP
047884)( 2345 ssssssp
484
781
4
5
s
s
0663s
0442s
0001s
044)( 2 ssq
0081s
0040s
No RHP roots + two roots on imaginary axis
08)( ssq
Auxiliary Polynomial
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Lecture 9
Dr. Ali Karimpour Feb 2013
11
Remarks:
If all elements of the row s2n-1 are zero, there are 2n roots with
same magnitude that they are symmetrical to the center of the s
plane. It means they can be real roots with different signs or
complex conjugate roots.
If there are no sign changes in first column, all roots of the
auxiliary polynomial lie on the jω axis.
However, one important point to notice is that if there are repeated
roots on the jω axis, the system is
actually unstable.
022)( 45 ssssp
022)( 45 ssssp
02422)( 2345 ssssssp
084632)( 2345 ssssssp
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Lecture 9
Dr. Ali Karimpour Feb 2013
12
Example 4: Check the stability of following system
for different values of k
42
)13(3
ss
ssk
+
-
42
)13(1
42
)13(
)(
3
3
ss
ssk
ss
ssk
sM)13(42
)13(3
sksss
sks
04)2(3 23 skkss
To check the stability we must check the RHP roots of
43
21
2
3
ks
ks
03
4)2(31
k
kks
040s
03
463
03
2
k
kk
kWe need k>0.528
for stability
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Lecture 9
Dr. Ali Karimpour Feb 2013
13
Example 6: The block Diagram of a control system is depicted in the
following figure. Find the region in K-α plane concluding the system stable.
s
s
1
)2(2
s
sK+
-
R(s) Y(s)
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Lecture 9
Dr. Ali Karimpour Feb 2013
14
Example 6: The block Diagram of a control system is depicted in the
following figure. Find the region in K-α plane concluding the system stable.
s
s
1
)2(2
s
sK+
-
R(s) C(s)
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Lecture 9
Dr. Ali Karimpour Feb 2013
15
Exercises
1- Are the real parts of all roots of following system less than -1.
42654)( 2345 ssssssp
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Lecture 9
Dr. Ali Karimpour Feb 2013
16
Exercises (Cont.)
2- The open-loop transfer function of a control system
with negative unit feedback is:
)21)(1(
)2()()(
sTss
sKsHsG
Find the region in K-T plane concluding the system stable.
Answer:
0.33
0.66
Stable
Unstable
Unstable
Un
stab
le
T
K
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Lecture 9
Dr. Ali Karimpour Feb 2013
17
Exercises (Cont.)
3- Find the number of roots in the region [-2,2].
015115 23 sss
4- The closed loop transfer function of a system is :
ksksss
sksG
2)25(157
)2()(
234
For the stability of the system which one is true? ( k>0 )
1) 0 ≤ k ≤ 28.12 2) 0 < k < 28.12
3) 0 ≤ k < 28.12 4) 0 < k ≤ 28.12
Answer: (4)
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CONTROL SYSTEMS
Dr. Mudathir A. O. Fagiri
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Lecture 10
Dr. Ali Karimpour Feb 2013
2
Lecture 8
Time domain analysis of
control systems
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Lecture 10
Dr. Ali Karimpour Feb 2013
3
Some test signals
R
t
R
t
1
R
R
t
Step input
Velocity input
Acceleration input
)()( tRutr s
RsR )(
)()( tRtutr 2
)(s
RsR
)(2
)(2
tuRt
tr 3)(
s
RsR
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Lecture 10
Dr. Ali Karimpour Feb 2013
4
Error in control systems
G K
+
-
c e r
Error signal input output e(t)=r(t)-c(t)
E(s)=R(s)-C(s)
Loop
transfer function G(s)K(s)
sT
dndd
j
m dessss
sssk
)1).......(1)(1(
)1).......(1)(1(
21
21
j=2 type two system
j=0 type zero system
j=1 type one system
![Page 155: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/155.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
5
1
Error in control systems
G K
+
-
c e r
)()()()( sRsTsRsE
)()()(1
1)( sR
sKsGsE
)()(1
)()()(
sKsG
sKsGsT
)(lim)(lim0
ssEteest
ssIf the system is
stable:
(very important)
)()()(lim0
sRsTsRss
)(lim)(lim0
ssEteest
ss
2
)()()(1
lim0
sRsKsG
s
s
![Page 156: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/156.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
6
Error in control systems for step input
)(lim0
ssEes
ss
)(lim0
ssEes
ss
s
RsR )(
)(lim1)(lim)(lim000
sTRs
RsT
s
RsssEe
sssss
ps
ssss
K
R
sKsG
R
s
R
sKsG
sssEe
1)()(lim1)()(1lim)(lim
0
00
)()(lim0
sKsGKs
p
Position constant
1
)()()(lim0
sRsTsRss
2
)()()(1
lim0
sRsKsG
s
s
![Page 157: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/157.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
7
Error in control systems for velocity input
2)(
s
RsR
vs
ssss
K
R
sKssG
R
s
R
sKsG
sssEe
)()(lim0)()(1lim)(lim
0
200
)()(lim0
sKssGKs
v
Velocity constant
)(lim0
ssEes
ss
)(lim0
ssEes
ss
1
)()()(lim0
sRsTsRss
2
)()()(1
lim0
sRsKsG
s
s
s
sTR
s
RsT
s
RsssEe
sssss
)(1lim)(lim)(lim
02200
![Page 158: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/158.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
8
Error in control systems for parabolic input
3)(
s
RsR
as
ssss
K
R
sKsGs
R
s
R
sKsG
sssEe
)()(lim0)()(1lim)(lim
2
0
300
)()(lim 2
0sKsGsK
sa
Acceleration constant
)(lim0
ssEes
ss
)(lim0
ssEes
ss
1
)()()(lim0
sRsTsRss
2
)()()(1
lim0
sRsKsG
s
s
203300
)(1lim)(lim)(lim
s
sTR
s
RsT
s
RsssEe
sssss
![Page 159: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/159.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
9
Error in control systems
sT
dndd
j
m dessss
sssksKsG
)1).......(1)(1(
)1).......(1)(1()()(
21
21
position velocity acceleration
Type Kp Kv Ka ess ess ess
0
1
2
3
k k
R
10 0
k
k
0 k
R0
0 0 k
R
0 0 0
![Page 160: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/160.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
10
Example 1: Find the different errors in following system.
+
-
c e r
1
9
s1
9)()(
ssKsG
10
9)(
ssT
9)()(lim0
sKsGKs
p 1.091
1
sse
1.09.01)(lim11or 0
sTes
ss
0 av KK sse
Error for unit step input
Errors for unit velocity and unit parabolic input
System is stable so we continue
s
sTe
sss
)(1lim1or
0
![Page 161: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/161.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
11
Example 1: Step response
1
9
s
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 10
0.2
0.4
0.6
0.8
1
Step Response
Time (sec)
Am
plit
ude
+
-
c e r
10
9)(
ssT
step(9,[1 10])
hold on;step(1,1)
![Page 162: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/162.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
12
Example 1: Velocity response
0 0.5 1 1.5 2 2.5 30
0.5
1
1.5
2
2.5
3velocity response
Time (sec)
Am
plit
ude
1
9
s
+
-
c e r
10
9)(
ssT
step(9,[1 10 0])
hold on;step(1,[1 0])
![Page 163: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/163.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
13
Example 2: Find the different errors in following system
+
-
c e r )10(
100
ss
)10(
100)()(
sssKsG
10010
100)(
2
sssT
)()(lim0
sKsGKs
p0
1
1
sse 011)(lim11or
0
sTe
sss
0aK sse
Error for step input
Error for parabolic input
10)()(lim0
sKssGKs
v1.0
10
1sse
Error for velocity input
System is stable so we continue
1.0)(1
lim1or 0
s
sTe
sss
20
)(1lim1or
s
sTe
sss
![Page 164: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/164.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
14
Example 2: Step response
0 0.2 0.4 0.6 0.8 1 1.20
0.2
0.4
0.6
0.8
1
1.2
1.4Step Response
Time (sec)
Am
plit
ude
+
-
c e r )10(
100
ss
10010
100)(
2
sssT
step(100,[1 10 100])
hold on;step(1,1)
![Page 165: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/165.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
15
Example 2: Velocity response
0 0.5 1 1.5 2 2.5 30
0.5
1
1.5
2
2.5
3velocity response
Time (sec)
Am
plit
ude
step(100,[1 10 100 0])
hold on;step(1,[1 0])
+
-
c e r )10(
100
ss
10010
100)(
2
sssT
![Page 166: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/166.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
16
Example 3: The closed loop transfer function of a system
is given. Determine a such that the system error to step
input is zero.
23612)(
23
sss
asT
First of all check the stability:
23
012
49
2312
61
0
1
2
3
s
s
s
s
Clearly it is
stable
0)(lim10
sTRes
ss
1)(lim0
sTs
23123
aa
![Page 167: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/167.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
17
Example 4: The closed loop transfer function of a system
is given. Determine a and b such that the system error to
velocity input is zero.
23612)(
23
sss
bassT
First of all check the stability:
s
sTRe
sss
)(1lim
0
s
sss
bas
Rs
236121
lim23
0
0
23612
)23()6(12lim
23
23
0
ssss
bsassRe
sss
It is stable by example 3
23
6
b
a
![Page 168: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/168.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
18
Example 5: The closed loop transfer function of a system
is given. Find the system error to unit step.
23612)(
23
sss
bassT
First of all check the stability:
It is unstable so the error is infinity
![Page 169: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/169.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
19
Example 6: Find the different errors in following system
+
-
c e r
1s
k
1)()(
s
ksKsG
ks
ksT
1)(
ksKsGKs
p
)()(lim0 k
ess
1
1
0 av KK sse
Error for step input
Errors for velocity and parabolic input
System is stable so we continue
Note that the above method doesn’t say anything about how
the errors go to infinity
0k
Error series can explain the matter.
![Page 170: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/170.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
20
Error series
G K
+
-
c e r
dtrwtesRsWsEt
ee )()()()()()(0
: taround)( Expand tr
....!3
)(
!2
)()()()( 32
trtrtrtrtr
....)(!2
)()()()()()(0
2
00
dwtrdwtrdwtrte
t
e
t
e
t
e
![Page 171: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/171.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
21
Error series
....)(!2
)()()()()()(
0
2
00
dw
trdwtrdwtrte
t
e
t
e
t
e
Now consider steady value for r
....)(!3
)(!2
)()()( 3210 tr
Ctr
CtrCtrCte sssss
....)(!2
)()()()()()(
0
2
00
dwtr
dwtrdwtrte es
esess
0C2C1C
![Page 172: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/172.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
22
Error series coefficients
....)(!3
)(!2
)()()( 3210 tr
Ctr
CtrCtrCte sssss
dwC e
0
0 )( dwC e
0
1 )( dwC e
0
2
2 )( .........
Calculation of coefficients
dewsW s
ee
0)()(
)(lim0
0 sWC es
ds
sdWC e
s
)(lim
01
n
e
n
sn
ds
sWdC
)(lim
0........ ........
![Page 173: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/173.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
23
Example 7: Determine the error series coefficients for system
in example 1
ksWC e
s
1
1)(lim
00 20
1)1(
)(lim
k
k
ds
sdWC e
s
........
+
-
c e r
1s
k
)(1
1)( sR
ks
ssE
)(sWe
32
2
02
)1(
2)(lim
k
k
ds
sWdC e
s
![Page 174: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/174.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
24
Example 8: Determine the error series for step and velocity
inputs in example 1.
,.......)1(
2,
)1(,
1
122210
k
kC
k
kC
kC
+
-
c e r
1s
k
Step:
ktr
Ctr
CtrCtrCte sssss
1
1....)(
!3)(
!2)()()( 32
10
0...)()(,1)( trtrtr sss
Ramp:
2
3210
)1(1....)(
!3)(
!2)()()(
k
k
k
ttr
Ctr
CtrCtrCte sssss
0...)()(,1)(,)( trtrtrttr ssss
![Page 175: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/175.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
25
Example 9: Compare the result of example 1 and 7
+
-
c e r
1s
k
ktes
1
1)(
2)1(1)(
k
k
k
ttes
kess
1
1
sse
Step:
Ramp:
Example 1 Example 7
They have similar result but error series show how
the error go to infinity
![Page 176: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/176.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
26
Example 10: Determine the error for following input
,.......)1(
2,
)1(,
1
1 have we8 exampleBy
32210k
kC
k
kC
kC
+
-
c e r
1s
k ttr 0sin)(
This problem can just be solve with error series!
.......cos)(,sin)(,cos)(,sin)( 0
3
00
2
0000 ttrttrttrttr ssss
tC
CtC
Ctes 0
3
03
010
2
02
0 cos...)!3
(sin...)!2
()(
k=100
20
![Page 177: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/177.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
27
Example 10: Determine the error for following input
(continue)
+
-
c e r
1s
k
tC
CtC
Ctes 0
3
03
010
2
02
0 cos...)3.2.1
(sin...)2.1
()(
6
4332210 10766.5)101(
600,000194.0
)101(
200,0098.0
)101(
100,0099.0
101
1
CCCC
tttes 2cos)83.2.1
10766.520098.0(2sin)4
2.1
000194.00099.0()(
6
)3.622sin(02213.02cos019592.02sin010288.0)( ttttes
1002sin)( 00 kttr
![Page 178: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/178.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
28
Example 11: Determine the exact value of error in example 8.
+
-
c e r
1s
k 1002sin)( 00 kttr
)(1
1)( sR
ks
ssE
4
2
101
12
ss
s
jsjsssE
22101)(
4101
2002
)4)(1012(
24
jj
j
)4)(1012(
24
jj
j
jtjt
s ejejte 22 )0047.00098.0()0047.00098.0()(
)4.642sin(0217.02cos0196.02sin0094.0)( ttttes
jtjtt ejejete 22101 )0047.00098.0()0047.00098.0(0196.0)(
![Page 179: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/179.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
29
Example 12: Determine the response example 5.
+
-
c e r
1s
k1002sin)( 00 kttr
101
100
)(
)(
ssr
sc
[u,t]=gensig('sin',2);
T1=tf(100,[1 101])
lsim(T1,u,t);
hold on;
T2=tf(1,1)
lsim(T2,u,t);
0 1 2 3 4 5 6 7 8 9 10-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1Linear Simulation Results
Time (sec)
Am
plit
ude
![Page 180: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/180.jpg)
Lecture 10
Dr. Ali Karimpour Feb 2013
30
Exercises
2005015
200)()
23
ssssMb
6005015
500)()
23
ssssMc
1- Find the error of the following systems to step input.
20005015
2000)()
23
ssssMa
2- Find the error of the following systems to velocity input.
2005015
20050)()
23
sss
ssMb
20005015
200050)()
23
sss
ssMa
![Page 181: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/181.jpg)
CONTROL SYSTEMS
Dr. Mudathir A. O. Fagiri
![Page 182: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/182.jpg)
Lecture 11
Dr. Ali Karimpour Feb 2013
2
Lecture 9
Transient response of a
prototype second order system
![Page 183: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/183.jpg)
Lecture 11
Dr. Ali Karimpour Feb 2013
3
Introducing a prototype second order system.
+
-
c e r
)2(
2
n
n
ss
c r 22
2
2 nn
n
ss
)(2
)(22
2
sRss
sCnn
n
)2()(
22
2
nn
n
ssssC
Step
response
10 if1- :are Poles 2 nn j
2222
22 1)(1)(
1)(
nn
n
nn
n
ss
s
ssC
![Page 184: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/184.jpg)
Lecture 11
Dr. Ali Karimpour Feb 2013
4
Introducing a prototype second order system.
)1sin(
1)1cos(1)()( 2
2
2 ttetutc nn
tn
)1sin(
1
11)()( 2
2
tetutc n
tn
)1sin()1cos(11
1)()( 222
2tt
etutc nn
tn
)1sin(cos)1cos(sin1
1)()( 22
2tt
etutc nn
tn
1cos
2222
22 1)(1)(
1)(
nn
n
nn
n
ss
s
ssC
![Page 185: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/185.jpg)
Lecture 11
Dr. Ali Karimpour Feb 2013
5
Step response
0 1 2 3 4 5 6 7 8 9 100
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2Step Response
Time (sec)
Am
plit
ude
13 n8.0,13 n
0 1 2 3 4 5 6 7 8 9 100
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2Step Response
Time (sec)
Am
plit
ude
0 1 2 3 4 5 6 7 8 9 100
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2Step Response
Time (sec)
Am
plit
ude
6.0,8.0,13 n
0 1 2 3 4 5 6 7 8 9 100
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2Step Response
Time (sec)
Am
plit
ude
4.0,6.0,8.0,13 n
0 1 2 3 4 5 6 7 8 9 100
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2Step Response
Time (sec)
Am
plit
ude
2.0,4.0,6.0,8.0,13 n
0 1 2 3 4 5 6 7 8 9 100
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2Step Response
Time (sec)
Am
plit
ude
0,2.0,4.0,6.0,8.0,13 n
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Lecture 11
Dr. Ali Karimpour Feb 2013
6
Step response
13.0 n
0 1 2 3 4 5 6 7 8 9 100
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2Step Response
Time (sec)
Am
plit
ude
0 1 2 3 4 5 6 7 8 9 100
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2Step Response
Time (sec)
Am
plit
ude
2,13.0 n
0 1 2 3 4 5 6 7 8 9 100
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2Step Response
Time (sec)
Am
plit
ude
3,2,13.0 n
0 1 2 3 4 5 6 7 8 9 100
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2Step Response
Time (sec)
Am
plit
ude
4,3,2,13.0 n
0 1 2 3 4 5 6 7 8 9 100
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2Step Response
Time (sec)
Am
plit
ude
28.6,4,3,2,13.0 n
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Lecture 11
Dr. Ali Karimpour Feb 2013
7
Specifications of a prototype second order system.
)1sin(
1
11)()( 2
2
tetutc n
tn 1cos
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Lecture 11
Dr. Ali Karimpour Feb 2013
8
Rise time
:rt The time elapsed up to the instant at which the step
response reaches, for the first time, the value kry. The
constant kr varies from author to author, being usually either
0.9 or 1.
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Lecture 11
Dr. Ali Karimpour Feb 2013
9
Settling time
:st The time elapsed until the step response enters (without
leaving it afterwards) a specified deviation band, ±, around
the final value. This deviation , is usually defined as a
percentage of y, say 2% to 5%.
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Lecture 11
Dr. Ali Karimpour Feb 2013
10
Overshoot
:pM The maximum instantaneous amount by which the step
response exceeds its final value.
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Lecture 11
Dr. Ali Karimpour Feb 2013
11
Peak time
:pt The time at which corresponding to maximum
instantaneous amount by which the step response exceeds its
final value.
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Lecture 11
Dr. Ali Karimpour Feb 2013
12
If the closed loop system includes an RHP zero
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Lecture 11
Dr. Ali Karimpour Feb 2013
13
Undershoot
:uM The (absolute value of the) maximum instantaneous
amount by which the step response falls below zero.
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Lecture 11
Dr. Ali Karimpour Feb 2013
14
Introducing a prototype second order system.
+
-
c e r
)2(
2
n
n
ss
c r 22
2
2 nn
n
ss
10 if-1- :are Poles 2 dnnn jj
n-
21 nj
d
n
j
j
21
n
frequency Naturaln
ratio Damping
frequency damped Natural1 2 nd
factor Dampingn
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Lecture 11
Dr. Ali Karimpour Feb 2013
15
Percent Overshoot
..OP 100%y
M p
How can we find
P.O. ?
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Lecture 11
Dr. Ali Karimpour Feb 2013
16
Calculation of Percent Overshoot and Peak Time
)1sin(
1
11)()( 2
2
tetutc n
tn 1cos
0)1cos()1sin(1
)( 22
2
tete
t
tcn
t
nn
tn nn
tan
1)1tan(
2
2
tn ntn 21
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Lecture 11
Dr. Ali Karimpour Feb 2013
17
Peak time
ntn 21
21
n
pt
21
n
nt
Let n=1
n=1
n=3
n=4
n=5
n=2
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Lecture 11
Dr. Ali Karimpour Feb 2013
18
Calculation of Percent Overshoot
)1sin(
1
11)()( 2
2
tetutc n
tn 1cos
ntn 2121
n
pt
)( pp tcMy
211
e 100%..
y
MOP
p21
100%..
eOP
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Lecture 11
Dr. Ali Karimpour Feb 2013
19
Percent Overshoot
21100%..
eOP ..OP
0 100%
0.100 73%
0.200 53%
0.300 37%
0.400 25%
0.500 16%
0.707 4.3%
1 0% 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 10
10
20
30
40
50
60
70
80
90
100
Perc
ent
Overs
hoot
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Lecture 11
Dr. Ali Karimpour Feb 2013
20
Rise time
rt
How can we find
rise time ?
yktc r)(
ytc 9.0)(Let
n
rt
5.28.0 10
917.24167.01 2
n
rt
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Lecture 11
Dr. Ali Karimpour Feb 2013
21
Settling time
st
How can we find
settling time ?
ytcy )(
%5for 2.3
n
st %2for 4
n
st 7.00
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Lecture 11
Dr. Ali Karimpour Feb 2013
22
Exercises
1 – Consider following system.
+
-
c e r
)2(
2
n
n
ss
a) Find the step response of the system for
b) Find the rise time, settling time, overshoot, and percent overshoot.
3.0,56.12 n
+
-
c e r
)2(
2
n
n
ss
2 – Consider following system.
a) Find the step response of the system for
b) Find the rise time, settling time, overshoot, and percent overshoot.
9.0,56.12 n
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Lecture 11
Dr. Ali Karimpour Feb 2013
23
Exercises (Cont.)
+
-
c e r
)36( ss
k
3- In the following system set k such that the percent overshoot of system be 4.3%
+
-
c e r
))((
100
bsas
4- In the following system set a and b such that the percent overshoot of system be 4.3%
And the steady state error to step input be 0.
5- In the system of problem 1 set k such that
a) The error to ramp input be 0.01
b) The percent overshoot of system be 4.3%
c) The error to ramp input be 0.01 and the percent overshoot of system be 4.3%
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Lecture 11
Dr. Ali Karimpour Feb 2013
24
Exercises (Cont.)
+
-
c e r
)25( ss
k
6- In the following system
a) For k=200 derive settling time, rise time and percent overshoot.
Confirm your result with step response.
b) For k=1000 derive settling time and percent overshoot.
Confirm your result with step response.
+
-
c e r
)10)(5( sss
k
7- In the following system set the k such that the imaginary poles
have 0.707 damping ratio.
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CONTROL SYSTEMS
Dr. Mudathir A. O. Fagiri
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Lecture 14
Dr. Ali Karimpour May 2013
2
Lecture 10
Root Locus Technique
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Lecture 14
Dr. Ali Karimpour May 2013
3
0)(1 skf
Root locus
Root loci (RL)
Complement root loci (CRL)
Complete root loci
Rk
Rk
Rk
Root locus, shows the position of roots of the following equation
for different values of k
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Lecture 14
Dr. Ali Karimpour May 2013
4
Root locus
Root locus, shows the position of roots of above equation for different
values of k
+
-
c1 e r )(skG
Suppose:
Closed loop system is:
)(1
)()(
skG
skGsM
0)(1 skG
Characteristic equation is:
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Lecture 14
Dr. Ali Karimpour May 2013
5
The Root Locus procedure
0)(1 skf
)(
1
sfk
0)( kRsf
Condition of magnitude
Condition of angle
0)( kRsf
Which points lie on the root loci?
Rsf )(
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Lecture 14
Dr. Ali Karimpour May 2013
6
The Root Locus procedure
0)(1 skf
Rule 1: Specify the equation exactly in the following form.
063 23 kskss 06
131
3
2
ss
sk
How many branches in root loci?
It is : ),max( branches of No. nm
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Lecture 14
Dr. Ali Karimpour May 2013
7
The Root Locus procedure
0)(1 skf
Rule 2: Specify the poles and zeros of f(s). The root loci lie on
the poles of f(s) for k=0 and lies on the zeros of f(s) for k=±∞
-20 0
0k0k kk
100k
k
k
0k0k
0)20(
11
ssk
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Lecture 14
Dr. Ali Karimpour May 2013
8
The Root Locus procedure 0)(1 skf
Rule 3: Define the real axis section for positive and negative value of k.
-20 0
0k0k kk
100k
k
k
0k0k
0)20(
11
ssk
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Lecture 14
Dr. Ali Karimpour May 2013
9
The Root Locus procedure 0)(1 skf
Rule 4: Find the asymptotes and centered of asymptotes for positive and
negative values of k.
,...2,1,02
0k
,...2,1,0)12(
0k
mnn
m
mnn
m
zp
zp
zp
n
i
n
i
ii
nn
zpp z
1 1
center Asymptotes
-20 0
0k0k kk
100k
k
k
0k0k
0)20(
11
ssk
zp nn asymptotes ofnumber
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Lecture 14
Dr. Ali Karimpour May 2013
10
The Root Locus procedure 0)(1 skf
Rule 5: Find the break point.
pointbreak 0)(
1
s
s
k
sfk
-20 0
0k0k kk
100k
k
k
0k0k
0)20(
11
ssk
ssk 202 0202
s
s
k10s
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Lecture 14
Dr. Ali Karimpour May 2013
11
The Root Locus procedure 0)(1 skf
Rule 6: Find the cross of root locus with imaginary axis by Routh
Hurwitz criteria.
-20 0
0k0k kk
100k
k
k
0k0k
0)20(
11
ssk
0202 kss
0)(s axisimaginary and locusroot ofpoint cross theis 0 k
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Lecture 14
Dr. Ali Karimpour May 2013
12
0)10)(5(
11
sssk
Example 2: Draw the complete root loci of the following
system.
Rule 1: Specify the equation exactly in the standard form.
Clearly it is ok
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Lecture 14
Dr. Ali Karimpour May 2013
13
0)10)(5(
11
sssk
Rule 2: Specify the poles and zeros of f(s). The root loci lie on
the poles of f(s) for k=0 and lie on the zeros of f(s) for k=±∞
0k
10 5 0
0k 0k
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Lecture 14
Dr. Ali Karimpour May 2013
14
0k
10 5 0
0k 0k
0)10)(5(
11
sssk
Rule 3: Define the real axis section for positive and negative value of k.
0k
0k0k
0kk
k
![Page 219: Control Theory EEE322 - National University Theory.pdf · – Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria – Analyze the closed loop](https://reader031.vdocuments.us/reader031/viewer/2022013008/5e678c81f5a86d002538902d/html5/thumbnails/219.jpg)
Lecture 14
Dr. Ali Karimpour May 2013
15
0)10)(5(
11
sssk
Rule 4: Find the asymptotes and centered of asymptotes .
3
4,
3
2,0
2 0k
3
5,
3
3,
3
)12( 0k
zp
zp
nn
m
nn
m
53
510
center Asymptotes
1 1
zp
n
i
n
i
ii
nn
zpp z
0k
10 5 0
0k 0k
0k0k0k0k kk
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Lecture 14
Dr. Ali Karimpour May 2013
16
The Root Locus procedure
0)(1 skf
Rule 5: Find the break point.
pointbreak 0)(
1
s
s
k
sfk
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Lecture 14
Dr. Ali Karimpour May 2013
17
0k
10 5 0
0k 0k
0k0k0k0k kk
0)10)(5(
11
sssk
Rule 5: Find the break point.
sss
ssssf
k
5015
)10)(5()(
1
23
50303 2
ss
s
k11.2,89.7 s
?
?
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Lecture 14
Dr. Ali Karimpour May 2013
18
The Root Locus procedure
0)(1 skf
Rule 6: Find the cross of root locus with imaginary axis by Routh
Hurwitz criteria.
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Lecture 14
Dr. Ali Karimpour May 2013
19
0)10)(5(
11
sssk
Rule 6: Find the cross of root locus with imaginary axis
0)10)(5( ksss
ks
ks
ks
s
0
2
3
015
750
15
501
075015 2 s 07.7js
0k
10 5 0
0k 0k
0k0k0k0k kk
j07.7
j07.7
0750 k 750k
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Lecture 14
Dr. Ali Karimpour May 2013
20
0k
10 5 0
0k 0k
0k0k0k0k kk
07.7
07.7
0)10)(5(
11
sssk
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Lecture 14
Dr. Ali Karimpour May 2013
21
-30 -20 -10 0 10-20
-10
0
10
20Root Locus
Real Axis
Imagin
ary
Axis
-40 -20 0 20-40
-20
0
20
40Root Locus
Real Axis
Imagin
ary
Axis
rlocus(1,[1 15 50 0]); hold on; rlocus(-1,[1 15 50 0])
-30 -20 -10 0 10-20
-10
0
10
20Root Locus
Real Axis
Imagin
ary
Axis
-40 -20 0 20-40
-20
0
20
40Root Locus
Real Axis
Imagin
ary
Axis
0)10)(5(
11
sssk
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CONTROL SYSTEMS
Dr. Mudathir A. O. Fagiri
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Lecture 14
Dr. Ali Karimpour May 2013
2
Lecture 11
Property and Construction
of Complete Root loci
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Lecture 14
Dr. Ali Karimpour May 2013
3
Example 1: Draw the complete root loci of following system.
Rule 1: Specify the equation exactly in the standard form.
0)1(
)3)((101
2
ss
sks
0)3)((10)1( 2 sksss 0)2910(
)3(101
2
sss
sk
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Lecture 14
Dr. Ali Karimpour May 2013
4
Rule 2: Specify the poles and zeros of f(s). The root loci lie on
the poles of f(s) for k=0 and lie on the zeros of f(s) for k=±∞
0)2910(
)3(101
2
sss
sk
0k
5
0k
0k
2
3
Example 2:
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Lecture 14
Dr. Ali Karimpour May 2013
5
Rule 3: Define the real axis section for positive and negative value of k.
0)2910(
)3(101
2
sss
sk
0k
5
0k
0k
2
3
0k0k0k
kkk
Example 2:
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Lecture 14
Dr. Ali Karimpour May 2013
6
Rule 4: Find the asymptotes and centered of asymptotes .
2
2,0
2 0k
2
3,
2
)12( 0k
zp
zp
nn
m
nn
m
5.32
)3(10
center Asymptotes
1 1
zp
n
i
n
i
ii
nn
zpp z
0)2910(
)3(101
2
sss
sk
0k
5
0k
0k
2
3
0k0k0k kk k
Example 2:
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Lecture 14
Dr. Ali Karimpour May 2013
7
Rule 5: Find the break point.
)3(
)2910(
10
1
)(
1 23
s
sss
sfk
0)3(
)2910()3)(29203(
10
12
232
s
ssssss
s
k
0)2910(
)3(101
2
sss
sk
0k
5
0k
0k
2
3
0k0k0k kk k
47.5s
Example 2:
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Lecture 14
Dr. Ali Karimpour May 2013
8
Rule 6: Find the cross of root locus with imaginary axis
0)2910(
)3(101
2
sss
sk
0k
5
0k
0k
2
3
0k0k0k kk k
030)1029(10 23 kskss
ks
ks
ks
ks
30
0729
3010
10291
0
1
2
3
0 k
?
We need another rule.
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Lecture 14
Dr. Ali Karimpour May 2013
9
Exercises
1- The transfer function of a single-loop control system are given as:
sTsHsss
sG d
1)()3)(1(
10)(
2
.
Construct the root loci of the Zeros of 1+G(s)H(s)=0 for -∞<Td<∞
2- The open loop transfer function of a unity-feedback (negative sign)
system is:
)2)(1()(
1.0
sss
eKsG
s
Constract the complete root loci of the characteristic equation.
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Lecture 14
Dr. Ali Karimpour May 2013
10
Exercises
Construct the complete root loci of the characteristic equation for
Let n=1, n=2 , n=3 and n=4
3- The open loop transfer function of a unity-feedback (negative sign)
system is:
nps
KsG
)5()(
4- The open loop transfer function of a unity-feedback (negative sign)
system is:
a) Construct the root loci for -∞<K<∞ , with α=5 .
b) Construct the root loci for -∞< α <∞ , with K =5 .
)1(
)3)(()(
2
ss
ssKsG
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Lecture 14
Dr. Ali Karimpour May 2013
11
Exercises
5- The open loop transfer function of a unity-feedback (negative sign)
system is:
Construct the root loci for 0<p<∞
))(10(
500)(
psss
psG
6- Consider following system
Construct the root loci for 0<k1<∞
01
131
s
sk
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Lecture 14
Dr. Ali Karimpour May 2013
12
Exercises
7- Consider following system
For k1=0, k1=1 1nd k1=10 construct the root loci for 0<k2<∞ .
0111
3
2
2
ksks
sk
8- Construct the root loci of the closed loop poles of the following
system for 0<a<∞(Midterm spring 2008).
s
1
2
1
s
a
-
+ + R(s) C(s)
-
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Lecture 14
Dr. Ali Karimpour May 2013
13
Exercises
9- Find the root-locus graph for the following system.
The Answer :
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Lecture 14
Dr. Ali Karimpour May 2013
14
Exercises
10- The open loop transfer function of a unity-feedback (negative sign)
system is:
Construct the root loci for 0 < p < ∞
)(
10)(
psssG