0l
Text books: 1. Linear Control System Analysis and Design
- John J.D'Azzo and Constantine H. Houpis
2. Control Systems Engineering - Norman S. Nise
Introduction
Disfurbance (undesirable and unavoidable
random)
R"esponse variable
Manipulated variable
Disturbance
Controlled
Manipulated
variable
Cr-lmrnand
signal
variable
Controller
Fig. Open loop control system
f)isturhar"rce
Manipulated
variable
Command
signal
Controlled
variable
Controller
Fig. Closed loop contrci system
{arnrnnnd
tder**ct
irput
t/rpJt
OutF,ut
Fig. 1 Functional block diagram of an open-loop control system
Robust control system
Design approaches of controller
Mathematicar
m.delI
Pltysical iau's
-/ -
Experimentation
aurd
Rrf*rencr
Actuating
input
srgnal
System
dynamcs
Cornmand
insut
F**dbash
aQn*l
Fmdhaek
ekrngnt
Fig.2 Functional block
diagram of a closed-loop control system
Definitions:
System
Command input
Reference selector (reference input element)
Reference input
Disturbance input
Forward element (system dynamics)
Output (controlled variable)
Open-loop control system
Feedback element
Actuating signal'
Closed-loop control system
System examples
Control system and response
In;:lut cr:mmancl
k
Transient
r*.\.iprllls{:
Steady-state Str:.acly-slale
cI'r(}f
respalrlse
{,}
Elevalrr resp$rlse
?
u
rtl
Time
Computer controlled system
Crntr*l
ti!,r{&m$ anuly*is
*nrl d**ign frxtx**li t:n thrte primary *hj*rtiv*sl
t" Itrxlueing the d*sirffl r*n*i*nt r*$Plnse
? R*rluci::g sready -*t;rte elr{}rs
3.
A*hi*ving *ckilify
?he dmign *f u ***lrcrl *yst*.m f*il**-* th*r;* ltt*p*:
I Determis* *r phy.tital sy-:;tem and ryxr:ifimli*nx fr*m r*quire:ucnts
$tnp ! Ilrarv $ funetiensl bl*r*k cliag:a:n"
Stcp 3 Represent thu ph3'sic*l *)'Ii{*Ir} trri tt $rh*mati{'
litryI |"J*e the :i*her*atie 1*cbulin a rn*th*mitti**l *tll:trxl- $uch *lxtl bl*ck tli*gr*lr}'
$trp S llstluc* th* hl*tk diagram"
iitcp d Amlpe amt dmign th* *3$1*rn l*!:l*€1$pi*ci{.i*tl *quir*nr*ntx aruI*pxil'i*it*
Sitp
tion* lhrtt includ* titahili{}i, trxm;i*nt
rg$$"u}tr$q and
st**d!**tille lxrlinrrrr*nrx.