Chapter Two
Review of Continuous Control
The chapter reviews the topics normally
covered in an introductory control
course: Dynamic response, Feedback
properties, root-locus design, Frequency
response design, and state-space design.
Time domain analysis
The manner in which a dynamic system
responds to an input, expressed as a
function of time, is called the time
response.
The theoretical evaluation of this
response is said to be undertaken in the
time domain i.e. time domain analysis.
Cont.
It is possible to compute the time
response of a system if the following is
known.
The nature of the input(s), expressed as a
function of time.
The mathematical model of the system.
Cont.
The time response of any system has two
components:
Transient response –
Steady-state response –
Laplace Transforms
In order to compute the time response of
a dynamic system, it is necessary to solve
the difference equation. There are a
number of analytical and numerical
techniques available to do this, but the
one favored by control engineers is the
use of the Laplace transform.
Cont.
This technique transforms the problem
from time domain(t) to the Laplace
domain(s).
The advantage in doing this is that
complex time domain differential
equations become relatively simple s
domain algebraic equations.
When a suitable solution is arrived at, it is
inverse transformed.
Cont.
Cont.
Example 2
Properties of Laplace transform
Cont.
Inverse Laplace transform
Common Laplace transform
Cont.
Transfer function
example
Cont.
a)
Cont.
b)
The impulse function
Cont.
The step function
The ramp function
The parabolic function
Time domain response of first
order system
Impulse response of first order
system
Step response of first-
first-order
systems
Standard form for second order
system
Generalized control problem
The control action u(t) will be such that
the controlled output c(t) will be equal to
the reference input r1(t) for all values of
time, irrespective of the value of the
disturbance input r2(t)
In practice there will always be transient
errors, but the transient period should
be kept as small as possible.
Stability of Dynamic systems
Response versus pole location
Classical design in the S-
S-Plane
It is usually possible to design the
controller so that steady-state errors are
minimized or ideally eliminated.
Proportional controller
Cont.
Final value
Cont.
PI controller
Final value for step input
The Root Locus method
A control system design technique that
determines the roots of the characteristic
equation (closed loop poles) when the open
loop gain constant K is increased from zero
to infinity.
The design method requires the closed loop
poles to be plotted in the s-plane as K is
varied from zero to infinity, and then a value
of K selected to provide the necessary
transient response as required by the
performance specification.
Cont.
Example 1.
Cont.
Cont.
Example 2
Cont.
Root locus construction rules
Classical design in frequency domain
Frequency domain analysis is concerned
with the calculation or measurement of
the steady-state system output when
responding to a constant amplitude
variable frequency sinusoidal input.
Frequency response characteristics
of first order system
Cont.
Cont.
Cont.
Frequency response of second
order system
Cont.
