Control System

Engineering

Lecturer: Dr. Dadang Lukman Hakim, M.T.

Lecture Assistant: Nasywa Imanuddin, S.T.

Departemen Pendidikan Teknik Elektro

Universitas Pendidikan Indonesia

Lecture 7
Preview
Summary: Lecture 5-6 Today’s lecture: Lecture 7

✓ Simulation in PSIM ➢ Brief review of what we have learnt

✓ Further power converter analysis ➢ System response

✓ Construct transfer function from state-space

equation.
What have we done?
✓ Introduction to control system → Definition, notation, terminology.

✓ Step-by-step in modelling system → Time-domain, frequency-domain.

✓ Power converter analysis → Deriving circuit behavior, obtaining differential equation, converting to state-space
representation, and obtaining necessary transfer function

What else to be done?

❑ Analyzing response from model (to have clear view of what behavior of our modelled system)

❑ Making decision of what control strategies are proper for system built.

❑ Designing the control scenario, simulating through software

❑ Analyze the stability of system after implementation of control strategy

❑ If the controlled system is stable and resulting as well as planned, your work is DONE.
System Response
In previous weeks, we have already in touch with system modelling techniques. Also we have done modelling how power
converter works. Then, thing that matter is to obtain how this modelled system behaviour through its response.

Transient
response
System
Response
Steady-state
error

How the system response is depends on:

1. Type of input signal
2. Type of system
System Response
Input signal type
1. Step signal → Useful signal function, simulates voltage sudden
change

2. Ramp signal → Visualize slowly or gradually change like slowly

decrease or increase of voltage.

2. Impulse signal → Visualize extreme change. Often used to test

extreme short pulse current from lightning or from short
circuit current.
System Response

System type

1. First order system → Like RC circuit (which number of order depends on number of capacitor and inductor being used)

2. Second order system → Like RLC circuit

3. Higher order system → System which consist of many energy storage elements.
Poles, and Zeros
Transfer function:

𝑁 𝑠 𝑠−𝑧1 𝑠−𝑧2 … 𝑠−𝑧𝑚

𝐺 𝑠 = =
𝐷 𝑠 𝑠−𝑝1 𝑠−𝑝2 … 𝑠−𝑝𝑛
𝑁 𝑠 is the numerator polynomial, which the roots 𝑧𝑖 are called zeros
𝐷 𝑠 is the denumerator polynomial, which the roots 𝑝𝑖 are called poles

Poles → It is the value of s (root of the denumerator) which makes 𝐷 𝑠 = 0.

Determining the natural response of the system whether stable, oscillating or diverging or unstable.
Mark with X on the plot
Zeros → Value of s from numerator which makes 𝑁 𝑠 = 0
Affecting shape and amplitude of system’s response. However, do not directly impact to stability.
Mark with O on the plot.
Poles, and Zeros
Example in first order system

𝑠+2 𝐴 𝐵 2/5 3/5

𝐶 𝑠 = = + = +
𝑠 𝑠+5 𝑠 𝑠+5 𝑠 𝑠+5

2 3 Output time response

𝑐 𝑡 = + 𝑒 −5𝑡
5 5

Forced Natural
response response

Poles → Obtained from system transfer function; therefore 𝑠 + 5 and the roots is 𝑠 = −5
Zeros → Nominator is 𝑠 + 2, therefore the roots is 𝑠 = −2

If looking to poles position on the left plane, the system is stable.

Poles, and Zeros
Example in second order system
Look back to boost converter transfer function which have been derived.
If 𝑅 = 50Ω, 𝐶 = 1.5 𝜇𝐹, 𝐿 = 1 𝑚𝐻, 𝑣𝑠 = 36𝑣 𝑎𝑛𝑑 𝑑 = 0.5

𝑣𝑠 1 2𝑣𝑠
𝑖෡𝐿 1−𝐷 𝐿
𝑠+ 𝐿𝐶 1−𝐷 𝑅 72000𝑠+ 1.92×109
= 1−𝐷 2
= 𝑍𝑒𝑟𝑜𝑠 𝑐𝑢𝑟𝑟𝑒𝑛𝑡 = −26666.67
𝑑 𝑠
𝑠 2 +𝑅𝐶+ 𝐿𝐶 𝑠 2 +13333𝑠+ 1,67×108
𝑍𝑒𝑟𝑜𝑠 𝑣𝑜𝑙𝑡𝑎𝑔𝑒 = 12500
𝑝𝑜𝑙𝑒𝑠 = 𝑠 2 + 13333𝑠 + 1,67 × 108

𝑣𝑠 𝑣𝑠 𝑠 = −6666.5 + 𝑗11070.58
ෞ𝑐
𝑣 −𝑠 −1.92×106 𝑠+2.4×1010
𝐿𝐶 1−𝐷 2 𝑅𝐶 𝑠 = −6666.5 − 𝑗11070.58
= 1−𝐷 2
=
𝑑 2
𝑠 + +
𝑠 𝑠 2 +13333𝑠+ 1,67×108
𝑅𝐶 𝐿𝐶
Damping
Characteristics
Stability Analysis Techniques
There are several methods or techniques to obtain stability of the system.

1. Pole-Zero analysis → System is stable if all poles lie in the left-half-plane.

2. Root Locus analysis → It shows how the poles of a system change as varying a parameter.

3. Bode plot analysis → Used to analyze frequency response of a system. Consist of phase margin and gain

margin.

4. Nyquist stability criterion → Examines the behavior of the system in frequency domain by mapping the transfer

function response around critical point (-1,0).

5. Routh-Hurwitz stability criterion → Determining number of poles in the right-half plane without explicitly

calculating them. It uses coefficient of the characteristic equation.

Stability Analysis Techniques

Techniques Use case

Poles-Zero analysis Quick check of stability using root location
Root Locus Gain tuning and control design
Bode Plot Frequency response, phase, and gain margins
Nyquist Criterion Stability of feedback system
Routh-Hurwitz Algebraic stability check without solving poles
Overview
Summary: Lecture 7 Next lecture: Lecture 8

✓ Brief review ➢ Continuing stability analysis

✓ System response ➢ Control design

✓ Stability analysis techniques (to be continued)

Enjoy your
studies