ME-339

control engineering
Lecture 2
introduction to control engineering – part B

Dr. Muhammad Usman Bhutta

 ANALYSIS AND DESIGN OBJECTIVES
STABILITY
Control systems must be designed to be stable

Total response = Natural response + Forced response

Natural response (transient response) must decay to zero as time approaches infinity, or
oscillate

If the natural response decays to zero as time approaches infinity, the transient response will
also die out, leaving only the forced response (steady-state response)

If the system is stable, the proper transient response and steady-state error characteristics can
be designed

Stability is our third analysis and design objective.

 ANALYSIS AND DESIGN OBJECTIVES
STABILITY
For a control system to be useful, the natural response must:

i. Eventually approach zero, thus leaving only the forced response

ii. Oscillate

In some systems, however, the natural response grows without bound rather than diminish to
zero or oscillate. Eventually, the natural response is so much greater than the forced response
that the system is no longer controlled

This condition, called instability, could lead to self-destruction of the physical device if limit
stops are not part of the design
 ANALYSIS AND DESIGN OBJECTIVES
STABILITY
EXAMPLES

i. Elevator would crash through the floor or exit through the ceiling

ii. An aircraft would go into an uncontrollable roll

iii. An antenna commanded to point to a target would rotate, line up with the target, but then
begin to oscillate about the target with growing oscillations and increasing velocity until the
motor or amplifiers reached their output limits or until the antenna was damaged structurally
ANALYSIS AND DESIGN OBJECTIVES
OTHER CONSIDERATIONS
Hardware Selection

Choice of sensors

Finances

Robust design
 ANALYSIS AND DESIGN OBJECTIVES
CASE STUDY
Antenna Azimuth: An Introduction to Position Control Systems

• Position control system converts a position input command to a position output response
e.g. antennas, robotic arms, computer disk drives etc.
ANALYSIS AND DESIGN OBJECTIVES
CASE STUDY

Radio Telescope Antenna - System Concept

ANALYSIS AND DESIGN OBJECTIVES
CASE STUDY

Radio Telescope Antenna - Detailed Layout

ANALYSIS AND DESIGN OBJECTIVES
CASE STUDY

Radio Telescope Antenna - Schematic

ANALYSIS AND DESIGN OBJECTIVES
CASE STUDY

Radio Telescope Antenna - Functional Block Diagram

 ANALYSIS AND DESIGN OBJECTIVES
CASE STUDY

Response of a position control system, showing effect of high and low controller gain on the
output response
 ANALYSIS AND DESIGN OBJECTIVES
CASE STUDY
Angular Input Transducer -
Signal Amplifier Power Amplifier Voltage Difference
Displacement Potentiometer

Motor Speed Disturbance Output Transducer Feedback Path Actuating Signal

Gain of Signal Increased Damped Definition of

Overshoot
Amplifier Momentum Oscillations Steady-State Error

Regulation of Dynamic Controller

Relation between
Transient Response Desired Transient Desired Steady- with Electrical
Steady-State Error
by Gain Response State Error Filter e.g.
and Gain
Adjustment Compensators
THE DESIGN PROCESS
STEPS
THE DESIGN PROCESS
STEPS
THE DESIGN PROCESS
STEPS
THE DESIGN PROCESS
STEPS
THE DESIGN PROCESS
STEPS
THE DESIGN PROCESS
STEPS
THE DESIGN PROCESS
STEPS
 ANALYSIS AND DESIGN OBJECTIVES
STEP 1
Transform Requirements Into a Physical System
EXAMPLE
REQUIREMENT
Antenna Azimuth FEATURES
Position Control from
Position Control Weight, Dimensions
remote location
System

DESIGN DESIGN
DESIGN
SPECIFICATION 1 SPECIFICATION 2
SPECIFICATION 3
Desired Transient Desired Steady-State
Desired Stability
Response Accuracy
 ANALYSIS AND DESIGN OBJECTIVES
STEP 1
Transform Requirements Into a Physical System
 ANALYSIS AND DESIGN OBJECTIVES
STEP 2
Draw a Functional Block Diagram

EXAMPLE
CONTROL ELEMENTS
Antenna Azimuth HARDWARE
Transducers,
Position Control Gears, Motors
Amplifiers, Controller
System
ANALYSIS AND DESIGN OBJECTIVES
STEP 2
Draw a Functional Block Diagram
 ANALYSIS AND DESIGN OBJECTIVES
STEP 3
Create a Schematic
EXAMPLE
Transform Physical System into a Logical Assumptions about the
Antenna Azimuth Position Control Schematic Diagram system
System

Check assumptions through POTENTIOMETER

Start with simple schematic
analysis and simulations
representation Neglect friction and inertia
subsequently

LOAD
Assumptions about Amplifiers and
Inertia, Bearing Friction, Viscous Knowledge of the physical system
Motors
Damping, Resistive Torque

Laws governing the system’s

Practical Experience
behaviour
ANALYSIS AND DESIGN OBJECTIVES
STEP 3
Create a Schematic
 ANALYSIS AND DESIGN OBJECTIVES
STEP 4
Develop a Mathematical Model (Block Diagram)

EXAMPLE
PHYSICAL LAW 1 PHYSICAL LAW 2
Antenna Azimuth
Kirchhoff's voltage Kirchhoff’s current
Position Control
law law
System
 ANALYSIS AND DESIGN OBJECTIVES
STEP 4
Develop a Mathematical Model (Block Diagram)

Differential Equations Transfer Functions Laplace Transform State-Space Representation

Knowledge of System
nth-order Parameter Values Sources to obtain the
System represented by Non- differential equation parameters
linear Differential Equivalent Resistance
n simultaneous first-order Analysis, measurements, or
Equation(s) Equivalent Inductance,
differential equations specifications from vendors
Equivalent Mass
 ANALYSIS AND DESIGN OBJECTIVES
STEP 4
Develop a Mathematical Model (Block Diagram)
𝒅𝒏 𝒒𝟎 𝒅𝒏−𝟏 𝒒𝟎 𝒅𝒒𝟎 𝒅𝒎 𝒒 𝒊 𝒅𝒎−𝟏 𝒒𝒊 𝒅𝒒𝒊
𝒂𝒏 𝒏 + 𝒂𝒏−𝟏 𝒏−𝟏 + ⋯ + 𝒂𝟏 + 𝒂𝟎 𝒒𝟎 = 𝒃𝒎 𝒎 + 𝒃𝒎−𝟏 𝒎−𝟏 +⋯+𝒃 + 𝒃𝟎 𝒒𝒊
𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅𝒕

𝒘𝒉𝒆𝒓𝒆,

𝒒𝒊 = 𝑰𝒏𝒑𝒖𝒕
𝒒𝟎 = 𝑶𝒖𝒕𝒑𝒖𝒕
𝒂𝟎 … 𝒂𝒏 = 𝑺𝒚𝒔𝒕𝒆𝒎 𝑷𝒂𝒓𝒂𝒎𝒆𝒕𝒆𝒓𝒔 𝑪𝒐𝒏𝒔𝒕𝒂𝒏𝒕𝒔
𝒃𝟎 … 𝒃𝒏 = 𝑺𝒚𝒔𝒕𝒆𝒎 𝑷𝒂𝒓𝒂𝒎𝒆𝒕𝒆𝒓𝒔 (𝑪𝒐𝒏𝒔𝒕𝒂𝒏𝒕𝒔)
 ANALYSIS AND DESIGN OBJECTIVES
STEP 4
Develop a Mathematical Model (Block Diagram)
Simplifying assumptions made in the process of obtaining a mathematical model usually leads
to a low-order

ASSUMPTION 1: Physical quantity is changing by STEP FUNCTION

𝒅𝒏 𝒒𝟎 𝒅𝒏−𝟏 𝒒𝟎 𝒅𝒒𝟎 𝒅𝒎 𝒒𝒊 𝒅𝒎−𝟏 𝒒𝒊 𝒅𝒒𝒊
𝒂𝒏 + 𝒂𝒏−𝟏 + ⋯ + 𝒂𝟏 + 𝒂𝟎 𝒒𝟎 = 𝒃𝒎 + 𝒃𝒎−𝟏 + ⋯+ 𝒃 + 𝒃𝟎 𝒒𝒊
𝒅𝒕𝒏 𝒅𝒕𝒏−𝟏 𝒅𝒕 𝒅𝒕𝒎 𝒅𝒕𝒎−𝟏 𝒅𝒕
𝒅𝒏 𝒒𝟎 𝒅𝒏−𝟏 𝒒𝟎 𝒅𝒒𝟎
𝒂𝒏 + 𝒂𝒏−𝟏 + ⋯ + 𝒂𝟏 + 𝒂𝟎 𝒒𝟎 = 𝒃𝟎 𝒒𝒊
𝒅𝒕𝒏 𝒅𝒕𝒏−𝟏 𝒅𝒕
 ANALYSIS AND DESIGN OBJECTIVES
STEP 4
Develop a Mathematical Model (Block Diagram)
ASSUMPTION 2: 𝑎2 … 𝑎𝑛 = 0

𝒅𝒒𝟎
𝒂𝟏 + 𝒂𝟎 𝒒𝟎 = 𝒃𝟎 𝒒𝒊
𝒅𝒕

ASSUMPTION 3: 𝑎1 = 0

𝒂𝟎 𝒒𝟎 = 𝒃𝟎 𝒒𝒊
ANALYSIS AND DESIGN OBJECTIVES
STEP 5
Reduce the Block Diagram
EXAMPLE Each Subsystem is
Antenna Azimuth driven by Interconnection of
Position Control Mathematical Subsystem Models
System Equation

Internal Signals External Signals

Block Diagram of
Amplifier Signals Angular Input
Larger System
Error Angular Output
ANALYSIS AND DESIGN OBJECTIVES
STEP 5
Reduce the Block Diagram
ANALYSIS AND DESIGN OBJECTIVES
STEP 5
Reduce the Block Diagram
ANALYSIS AND DESIGN OBJECTIVES
STEP 5
Reduce the Block Diagram
 ANALYSIS AND DESIGN OBJECTIVES
STEP 6
Analyze and Design
ANALYSIS Test input signals
Response specifications Test input signals Impulses
and performance Additional Hardware (analytically and
experimentally) Steps
requirements by system
parameters Ramps

Internal Signals External Signals Basic analysis and design

Block Diagram of Larger requirements
Amplifier Signals Angular Input
System Time Response of a
Error Angular Output system for a given input
 STEP FUNCTION
PHYSICAL QUANTITY

RAMP FUNCTION

SINE FUNCTION

TIME
 STEP FUNCTION
PHYSICAL QUANTITY

RAMP FUNCTION

SINE FUNCTION

TIME
 STEP FUNCTION
PHYSICAL QUANTITY

RAMP FUNCTION

SINE FUNCTION

TIME
 STEP FUNCTION
PHYSICAL QUANTITY

RAMP FUNCTION

SINE FUNCTION

TIME
PHYSICAL QUANTITY STEP FUNCTION

RAMP FUNCTION

SINE FUNCTION

TERMINATED RAMP
FUNCTION
TIME
PHYSICAL QUANTITY STEP FUNCTION

RAMP FUNCTION

SINE FUNCTION

TERMINATED RAMP
FUNCTION
TIME
ANALYSIS AND DESIGN OBJECTIVES
STEP 6
Analyze and Design
Consideration of Sensitivity Analysis
Disturbances
Minimum sensitivity over Example of Strain Gauge
Temperature an expected range of
Pressure environmental changes