Outline

Classical Control
Lecture 2

Lecture 2 Classical Control

 Outline

Outline

1 Review of Material from Lecture 1

2 New Stuff - Steady State

Lecture 2 Classical Control

 Review of Lecture 1
System Performance
Steady State
Effect of Poles
Exercises

Outline

1 Review of Material from Lecture 1

System Performance
Effect of Poles

2 New Stuff - Steady State

Time Domain vs Laplace Domain
Steady-State Analysis
Unity Feedback
General Case

Lecture 2 Classical Control

 Review of Lecture 1
System Performance
Steady State
Effect of Poles
Exercises

Analyzing System Performance

System types
Continuous system
Discrete system

Analysis domain
Time-domain specifications
Frequency-domain specifications

Different periods
Dynamic (transient) responses
Steady-state responses

Lecture 2 Classical Control

 Review of Lecture 1
System Performance
Steady State
Effect of Poles
Exercises

Continuous Time - Dynamic Response

Impulse Response Step Response

1.2 1

0.9
1

0.8

0.8
0.7

0.6
Amplitude

0.6

Amplitude
0.5

0.4
0.4

0.2 0.3

0.2
0

0.1

−0.2 0
0 2 4 6 8 10 12 0 1 2 3 4 5 6 7 8 9 10
Time (sec)
Time (sec)

num1=[1];
den1=[1 2 1];
num2=[1 2];
den2=[1 2 3];
impulse(tf(num1,den1),’b’,tf(num2,den2),’r’)
step(tf(num1,den1),’b’,tf(num2,den2),’r’)

Lecture 2 Classical Control

 Review of Lecture 1
System Performance
Steady State
Effect of Poles
Exercises

Continuous Time - Dynamic Response

Step Response

1.4
t
Overshoot
s
1.2
Mp (Mp )
1%
1 Rise time (tr )
0.9
Amplitude

tp Settling time
0.6
(ts )
0.4
Peak time (tp )

0.1 t
r
0
0 2 4 6
Time (sec) 8 10 12

Lecture 2 Classical Control

 Review of Lecture 1
System Performance
Steady State
Effect of Poles
Exercises

Natural Frequency and Damping

Lecture 2 Classical Control

 Review of Lecture 1
System Performance
Steady State
Effect of Poles
Exercises

Poles in the Continuous s-plane

0.16 1.6
0.34
1.5 0.5 1.4
0.64 1.2
0.76 1
1
0.86 0.8

0.94 0.6
0.5 0.4
0.985 0.2

0.985 0.2

−0.5 0.4
0.94 0.6
0.86 0.8
−1
0.76 1

0.64 1.2

−1.5 0.5 1.4

0.34
0.16 1.6

−2
−1.6 −1.4 −1.2 −1 −0.8 −0.6 −0.4 −0.2 0

Lecture 2 Classical Control

 Review of Lecture 1
System Performance
Steady State
Effect of Poles
Exercises

Poles in the Continuous s-plane

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Outline

1 Review of Material from Lecture 1

System Performance
Effect of Poles

2 New Stuff - Steady State

Time Domain vs Laplace Domain
Steady-State Analysis
Unity Feedback
General Case

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Short description of different reference inputs

Position reference
Servo-motors
Position tracking (robots)
Velocity reference
AC-motors
Vehicles
Acceleration reference
Space shuttle (during launch)
Force exerting systems

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Conversion from Time Domain to Laplace Domain

Position
Time Domain
Linear, x(t)
Rotational, θ(t)
Laplace
Linear, X (s)
Rotational, Θ(s)

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Conversion from Time Domain to Laplace Domain

Velocity
Time Domain
Linear, v (t) = ẋ(t)
Rotational, ω(t) = θ̇(t)
Laplace
Linear, V (s) = sX (s)
Rotational, Ω(s) = sΘ(s)

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Conversion from Time Domain to Laplace Domain

Acceleration
Time Domain
Linear, a(t) = v̇ (t) = ẍ(t)
Rotational, α(t) = ω̇(t) = θ̈(t)
Laplace
Linear, A(s) = sV (s) = s 2 X (s)
Rotational, A(s) = sΩ(s) = s 2 Θ(s)

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Why look at steady-state conditions?

Different reference inputs
Position
Velocity
Acceleration
Steady-state corresponds to the state a system settles in
under constant conditions
Constant reference can be interpreted differently
Constant position (no velocity or acceleration)
Constant velocity (ramp/integration in position, no
acceleration)
Constant acceleration (ramp/integration in velocity,
parabola/integration2 in position)

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Diagram of Feedback System

General System
+
D(s) G (s)
−
H(s)

Unity Feedback System

+
D(s) G (s)
−

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Continuous Time - Steady-State - Unity Feedback

Laplace transform
Z ∞
F (s) = f (t)e −st dt
0−

Final value theorem

lim f (t) = lim sF (s)

t→∞ s→0

Steady-state errors
sn 1
ess = lim
s→0 s + Kn s k
n

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Continuous Time - Steady-State - Unity Feedback

Type 0 - Kp = lims→0 D(s)G (s)

Step input Ramp input Parabolic input
1 1 1
ess 1+Kp Kv Ka
Static error Kp =constant Kv = 0 Ka = 0
1
Error 1+Kp ∞ ∞

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Continuous Time - Steady-State - Unity Feedback

Type 1 - Kv = lims→0 sD(s)G (s)

Step input Ramp input Parabolic input
1 1 1
ess 1+Kp Kv Ka
Static error Kp = ∞ Kv =constant Ka = 0
1
Error 0 Kv ∞

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Continuous Time - Steady-State - Unity Feedback

Type 2 - Ka = lims→0 s 2 D(s)G (s)

Step input Ramp input Parabolic input
1 1 1
ess 1+Kp Kv Ka
Static error Kp = ∞ Kv = ∞ Ka =constant
1
Error 0 0 Ka

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Example 4.1

System
+ A
kp τ s+1
−

Analysis of Steady-State Error

System type is ?

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Example 4.1

System
+ A
kp τ s+1
−

Analysis of Steady-State Error

 
kp A
System type is 0 L(s) = τ s+1
Steady-State Error for Step:

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Example 4.1

System
+ A
kp τ s+1
−

Analysis of Steady-State Error

 
kp A
System type is 0 L(s) = τ s+1
1 1
Steady-State Error for Step: ess = kp A = 1+kp A
1+lims→0 τ s+1

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Example 4.2

System
+ kI A
kp + s τ s+1
−

Analysis of Steady-State Error

System type is ?

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Example 4.2

System
+ kI A
kp + s τ s+1
−

Analysis of Steady-State Error

 k

(kp + sI )A A(kp s+kI )
System type is 1 L(s) = τ s+1 = s(τ s+1)

Steady-State Error for Ramp:

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Example 4.2

System
+ kI A
kp + s τ s+1
−

Analysis of Steady-State Error

 k

(kp + sI )A A(kp s+kI )
System type is 1 L(s) = τ s+1 = s(τ s+1)
1 1
Steady-State Error for Ramp: ess = A(k s+k ) = AkI
lims→0 s s(τps+1)I

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Continuous Time - Steady-State

Laplace transform
Z ∞
F (s) = f (t)e −st dt
0−

Final value theorem

lim f (t) = lim sF (s)

t→∞ s→0

Steady-state errors

1 − T (s)
ess = lim
s→0 sk

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Example 4.3

System
+ 1
kp s(τ s+1)
−
1 + kt s

Lecture 2 Classical Control

 Time Domain vs Laplace Domain
Review of Lecture 1
Steady-State Analysis
Steady State
Unity Feedback
Exercises
General Case

Example 4.3 - Continued

Analysis of Steady-State Error

1 − T (s)
ess = lim
s→0
sk 
1 kp
= lim k 1 −
s→0 s s(τ s + 1) + (1 + kt s)kp
1 s(τ s + 1) + (1 + kt s − 1)kp
= lim k
s→0 s s(τ s + 1) + (1 + kt s)kp
1 s 2 τ + s(1 + kt kp )
= lim k 2
s→0 s s τ + s(1 + kt kp ) + kp

=0 k =0
1 + k t kp
= k =1
kp
Lecture 2 Classical Control
 Review of Lecture 1
Steady State
Exercises

Book: Feedback Control

Problem 4.6 (a+b)
Problem 4.8 (a+b)
Problem 4.9

Lecture 2 Classical Control