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Lecture 01 --Introduction

1.1 Brief History
1.2 Steps to study a control system
1.3 Classification of Systems
1.4 System classification
1.5 System response
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Brief history of automatic control (I)
1868 First article of control on governors by Maxwell
1877 Routh stability criterien
1892 Liapunov stability condition
1895 Hurwitz stability condition
1932 Nyquist
1945 Bode
1947 Nichols
1948 Root locus
1949 Wiener optimal control research
1955 Kalman filter and controlbility observability analysis
1956 Artificial Intelligence
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Brief history of automatic control (II)
1957 Bellman optimal and adaptive control
1962 Pontryagin optimal control
1965 Fuzzy set
1972 Vidyasagar multi-variable optimal control and
Robust control
1981 Doyle Robust control theory
1990 Neuro-Fuzzy
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Three eras of control
Classical control : 1950 before
Transfer function based methods
Time-domain design & analysis
Frequency-domain design & analysis
Modern control : 1950~1960
State-space-based methods
Optimal control
Adaptive control
Post modern control : 1980 after
H control
Robust control (uncertain system)
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Control system analysis and design
Step1: Modeling
By physical laws
By identification methods
Step2: Analysis
Stability, controllability and observability
Step3: Control law design
Classical, modern and post-modern control
Step4: Analysis
Step5: Simulation
Matlab, Fortran, simulink etc.
Step6: Implement
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Time system
Input signals
Output signals
Signals & systems
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Signal Classification
Continuous signal


Discrete signal
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System classification
Finite-dimensional system (lumped-parameters system
described by differential equations)
Linear systems and nonlinear systems
Continuous time and discrete time systems
Time-invariant and time varying systems
Infinite-dimensional system (distributed parameters
system described by partial differential equations)
Power transmission line
Antennas
Heat conduction
Optical fiber etc.

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Some examples of linear system
Electrical circuits with constant values of circuit
passive elements
Linear OPA circuits
Mechanical system with constant values of k,m,b
etc
Heartbeat dynamic
Eye movement
Commercial aircraft
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Linear system
) (
1
t x
A system is said to be linear in terms of the system input
x(t) and the system output y(t) if it satisfies the following
two properties of superposition and homogeneity.
Superposition
Homogeneity
) (
1
t y
) (
2
t x
) (
2
t y
) ( ) (
2 1
t x t x +
) ( ) (
2 1
t y t y +
) (
1
t x
) (
1
t y
) (
1
t ax
) (
1
t ay
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Example
) 1 ( ) ( ) ( = t x t x t y
) ( ) 1 ( ) ( ) 1 ( ) ( ) (
) ( ) (
) 1 ( ) ( ) (
) ( ) (
1
2
1 1
2
1 1
1
1 1 1
1
t y a t x t x a t ax t ax t y
t ax t x let
t x t x t y
t x t x let
= = =
=
=
=
) ( ) (
1
t ay t y =
Non linear system
) (t x
) (t y
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example
) ( 3 ) ( ) ( ) ( 2 ) ( t x t x t y t y t y +
'
= +
'
+
' '
The system is governed by a linear ordinary differential equation (ODE)
Linear time
invariant system
) (t x
) (t y
)] ( ) ( [ ] ) ( ) ( [ 2 ] ) ( ) ( [
)] ( ) ( 2 ) ( [ )] ( ) ( 2 ) ( [
)] ( 3 ) ( [ )] ( 3 ) ( [
) ( 3 ) ( 3 ) ( ) ( )] ( ) ( [ 3 ] ) ( ) ( [
) ( 3 ) ( ) ( ) ( 2 ) (
) ( 3 ) ( ) ( ) ( 2 ) (
2 1 2 1 2 1
2 2 2 1 1 1
2 2 1 1
2 1 2 1 2 1 2 1
2 2 2 2 2
1 1 1 1 1
t by t ay t by t ay t by t ay
t y t y t y b t y t y t y a
t x t x b t x t x a
t x b t x a t x b t x a t bx t ax t bx t ax
t x t x t y t y t y
t x t x t y t y t y
+ + ' + + ' ' + =
+
'
+
' '
+ +
'
+
' '
=
+ ' + + ' =
+ + ' + ' = + + ' +
+ ' = + ' + ' '
+ ' = + ' + ' '
linearity
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Properties of linear system :
(1)
(2)
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Time invariance
A system is said to be time invariant if a time delay or
time advance of the input signal leads to an identical time
shift in the output signal.
) (t x
Time invariant
system
) (t y
) (
0
t t x
0
t
) (
0
t t y
0
t
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Example 1.18
) (
) (
) (
t R
t x
t y =
0 ), ( ) (
) (
) (
) (
) (
) (
) (
) (
) (
) ( ) (
) (
) (
) (
0 2 0 1
0
0 1
1
0 1 2
2
0 1 2
1
1
= =

= =
=
=
t f or t y t t y
t t R
t t x
t y but
t R
t t x
t R
t x
t y
t t x t x
t R
t x
t y
Time varying system
) (t x
) (t y
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LTI System representations
1. Order-N Ordinary Differential equation
2. Transfer function (Laplace transform)
3. State equation (Finite order-1 differential equations) )
1. Ordinary Difference equation
2. Transfer function (Z transform)
3. State equation (Finite order-1 difference equations)
Continuous-time LTI system
Discrete-time LTI system
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) ( ) (
) ( ) (
2
2
t u t y
dt
t dy
RC
dt
t y d
LC = + +
constants
Order-2 ordinary differential equation
Continuous-time LTI system
1
1
) (
) (
) ( ) ( ) ( ) (
2
2
+ +
=
= + +
RCs LCs s U
s Y
s U s Y s RCsY s Y LCs
Transfer function
Linear system initial rest
1
1
2
+ + RCs LCs
) (s U ) (s Y
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) (
1
0
) (
) ( 1 0
) (
) (
2
1
1
2
1
t u
t x
t x
t x
t x
L
R
LC
(

+
(

=
(

dt
t dy
t x
t y t x let
) (
) (
) ( ) (
2
1
=
=
) ( ) (
1
) ( ) (
) ( ) (
1 2 2
2 1
t u t x
LC
t x
L
R
t x
t x t x
+ =
=

}
) (t x

) (t x
) (t u
A
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System response: Output signals due to inputs and ICs.
1. The point of view of Mathematic:
2. The point of view of Engineer:
3. The point of view of control engineer:
Homogenous solution ) (t y
h
Particular solution
) (t y
p


Zero-state response
) (t y
zs Zero-input response
) (t y
zi
Natural response
) (t y
n
Forced response
) (t y
f
Transient response Steady state response
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1
) 0 (
, 1 ) 0 ( , 0 , ) ( 3
) (
4
) (
2
2
2
= = > = + +

dt
dy
y t e t y
dt
t dy
dt
t y d
t
Example: solve the following O.D.E
(1) Particular solution: ) ( )] ( [ t u t y
p
=
t
p
p p
e t y
dt
t dy
dt
t y d
2
2
2
) ( 3
) (
4
) (

= + +
t
p
e t y let
2
) (

=o
t
p
t
p
e t y e t y then
2 2 '
4 ) ( 2 ) (

=
' '
= o o
1 3 ) 2 ( 4 4
2 2 2 2
= = + +

o o o o
t t t t
e e e e
t
p
e t y have we
2
) (

=
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(2) Homogenous solution:
0 )] ( [ = t y
h

0 ) ( 3 ) ( 4 ) ( = +
'
+
' '
t y t y t y
h h h
t t
h
Be Ae t y
3
) (

+ =
) ( ) ( ) ( t y t y t y
h p
+ =
have to satisfy I.C. 1
) 0 (
, 1 ) 0 ( = =
dt
dy
y
1 ) 0 ( ) 0 ( 1
) 0 (
1 ) 0 ( ) 0 ( 1 ) 0 (
=
'
+
'
=
= + =
p h
p h
y y
dt
dy
y y y
t t
h
e e t y
3
2
1
2
5
) (

=
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(3) zero-input response: consider the original differential equation with no input.
1 ) 0 ( , 1 ) 0 ( 0 , 0 ) ( 3 ) ( 4 ) ( =
'
= > = +
'
+
' '
zi zi zi zi zi
y y t t y t y t y
0 , ) (
3
2 1
> + =

t e K e K t y
t t
zi
2 1
2 1
3 ) 0 (
) 0 (
K K y
K K y
zi
zi
=
'
+ =
1
2
2
1
=
=
K
K
0 , 2 ) (
3
> =

t e e t y
t t
zi
zero-input response
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(4) zero-state response: consider the original differential equation but set all I.C.=0.
0 ) 0 ( , 0 ) 0 ( 0 , ) ( 3 ) ( 4 ) (
2
=
'
= > = +
'
+
' '

zi zi
t
zs zs zs
y y t e t y t y t y
t t t
zs
e e C e C t y
2 3
2 1
) (

+ =
0 2 3 ) 0 (
0 1 ) 0 (
2 1
2 1
= + =
'
= + =
C C y
C C y
zs
zs
2
1
2
1
2
1
=
=
C
C
t t t
zs
e e e t y
2 3
2
1
2
1
) (

+ =
zero-state response
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(5) Laplace Method:
1
) 0 (
, 1 ) 0 ( , 0 , ) ( 3
) (
4
) (
2
2
2
= = > = + +

dt
dy
y t e t y
dt
t dy
dt
t y d
t
2
1
) ( 3 ) 0 ( 4 ) ( 4 ) 0 ( ) 0 ( ) (
2
+
= + +
'

s
s Y y s sY y sy s Y s
1
2
5
2
1
3
2
1
3 4
2
1
5
) (
2
+
+
+

+
+

=
+ +
+
+ +
=
s s s s s
s
s
s Y
t t t
e e e s Y t y

+

= =
2
5
2
1
)] ( [ ) (
2 3 1

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Complex response
Zero state response Zero input response
Forced response
(Particular solution)
Natural response
(Homogeneous solution)
Steady state response Transient response
t t t
e e e t y

+

=
2
5
2
1
) (
2 3
t t t
zs
e e e t y
2 3
2
1
2
1
) (

+ =
0 , 2 ) (
3
> =

t e e t y
t t
zi
t t t
e e e t y

+

=
2
5
2
1
) (
2 3
t
p
e t y
2
) (

=
t t
h
e e t y
3
2
1
2
5
) (

=