LECTURE #14

DESIGN OF CONTROL SYSTEMS

1. Control Lows
The controlled process (plant) is the most important part of a control system.
The control loop is built around the plant to assure its acceptable performance.
The performance includes the ability of the controlled process to withstand
undesirable effects of disturbance and to follow (track) the time-varying reference
(set point). These, rather qualitative, properties of the controlled process, are
represented quantitatively by:

steady-state error caused by a disturbance,
d
(which is equal to the
system response to the disturbance)

steady-state tracking error,
r
(which is equal to the difference between
the unit-step reference and the system response to the reference)

settling time, T
set

overshoot of step response, P

system bandwidth,
B
(rad!sec or "#)

disturbance re$ection, (db)
representing various aspects of what we call the %performance&.
The above characteristics address static and dynamic behavior of the process
and provide answers to the following questions:
a) what is the equilibrium point that the process will eventually reach after
being affected by an e'ternal signal (reference or disturbance)(
b)and how the process behaves on its way to the equilibrium point(
)t is easy to reali#e that these questions refer to the specifics of the forced
and natural motion of the controlled process.
*hen performance characteristics are defined, the desirable performance
implies that the
steady-state error caused by a disturbance is finite and sufficiently small,
i.e., in spite of undesirable e'ternal forces the controlled process eventually returns
to the same (or almost the same) point of operation
steady-state tracking error is finite and sufficiently small, i.e., the
controlled process eventually reaches (or follows close enough) the point of
operation defined by the reference
settling time is sufficiently small, assuring the ability of the process to
reach the required point of operation within the acceptable period of time
overshoot of the step response is sufficiently low, assuring the acceptable
dynamic behavior of the process e'posed to the e'treme conditions (input step
signal does constitute such conditions for any inertial system)
system bandwidth represents the highest frequency of the sinusoidal
reference signal that the process must be able to follow (track) with sufficient
accuracy and acceptably small phase delay. This implies that the closed-loop
frequency response of the reference channel is required to have the magnitude
close to + (abs) or close to , d- and have a small phase lag for all frequencies
within the bandwidth range.
disturbance re$ection refers to the highest magnitude value of the closed-
loop system response of the disturbance channel. )n order to achieve low
disturbance effects on the system, system frequency response, defined with respect
to the disturbance input, within the feasible frequency range of disturbance signals
is required to have low magnitude (obviously, the phase of the frequency response
of a disturbance channel is irrelevant).
2. PID (proporton!l"nt#$r!l"%&&#r#nt!l' (ontroll#rs
.igure + / -lock-diagram of control system
0ontroller is an analog or digital device that defines the control efforts
transforming the error signal into the control signal, in accordance with the control
law. The following formula presents an e'ample of a control law:
dt
t d
k dt t k t k t u
D
t
I P
) (
) ( ) ( ) (
,

+ + =

where (t) and 1(t) are the error and control signals. 2ppropriate selection of a
control law, both its configuration and parameters (K
3
, K
)
, K
4
), is crucial for the
operation of the entire system, and constitutes one of the central issues in control
engineering.
The following e'ample presents a wide class of situations when the dynamics
of the controlled process can be e'pressed as a second-order system:
) + )( + (
) (
5 +
,
+ +
=
s T s T
k
s W
cp . (+)
There are ne't types of controllers W
cp
(s) with transfer functions:
)/controller:
( )
s
k
s T
s W
I
I
I
= =
+
,
( ) ( )

=
t
I
dt t
T
t u
,
+

,
3/controller:
( )
P P
k s W =
,
( ) ( ) t k t u
P
=
,
3)/controller:
( )
( )
( ) s
s U
s T
k s W
I
P PI

= + =
+
,
( ) ( ) ( )

+ =
t
I
P
dt t
T
t e k t u
,
+

.
0ontroller
0ontrolled
plant
U(s) Y(s) G(s)
(s)
). T*# st!+lt, (on%tons o& (los#"loop (ontrol s,st#-s wt*
(ontroll#rs
PI"(ontroll#r
The characteristic polynomial of close-loop control system with 3)/controller:
, ) + ( ) (
, ,
5
5 +
6
5 +
= + + + + + k s k k T s T T T s T T T
P I I I
.
The stability condition of close-loop control system with 3)/controller:
) + )( (
, 5 +
5 + ,
k k T T
T T k
T
P
I
+ +
>
, (5)
I"(ontroll#r
The characteristic polynomial of close-loop control system with )/controller:
, ) (
,
5
5 +
6
5 +
= + + + + k s T s T T T s T T T
I I I
.
The stability condition of close-loop control system with )/controller:
5 +
5 + ,
T T
T T k
T
I
+
>
. (6)
Con(l.ton/0000000
4. T*# !((.r!(, (on%tons o& (los#"loop (ontrol s,st#-s wt*
(ontroll#rs
.igure + / -lock-diagram of control system
Transfer function for the error output of close-loop control system:
( )
) (
) (
s G
s
s F

=
The steady-state error can be calculated using the theorem on a finite value of
the 7aplace transform:
( ) ( ) ( ) ( ) s F s sG s s t t
s
s t
ss

,
,
lim lim lim ) (

= =
,
where
( ) ( ) { } t L s =
/ transform of error8
( ) s G
/ input signal (for e'ample, unite step signal):
( ) ( ) { } ( ) { }
s
A
t A L t g L s G = = = +
8
T*# !((.r!(, is the dynamic property of the system is determined by the steady-
state error:
( ) t t
t
ss


= lim ) (
.
4efinition +. 9tatic control system - an automatic control system in which the
error in the steady state is usually not equal to #ero and depends on the load on the
controlled system.
4efinition 5. 2static control system - an automatic control system in which
the error tends to #ero regardless of the input signal.
0ontroller
0ontrolled
plant
U(s) Y(s) G(s)
(s)
Transfer function for the error output of close-loop control system with
controller:
( )
( ) ( ) s W s W
s F
controller cp
+
=
+
+

/ with 3)/controller:
( )
( ) ( )
( ) ( ) ( ) + + +
+ +
, 5 +
5 +
+ + + +
+ +
=
s T k k s T s T s T
s T s T s T
s F
I I
I
8

/ with )/controller:
( )
( ) ( )
( ) ( )
, 5 +
5 +
+ +
+ +
k s T s T s T
s T s T s T
s F
I
I
+ + +
+ +
=
8
/ with 3/controller:
( )
( )( )
( )( )
, 5 +
5 +
+ +
+ +
k k s T s T
s T s T
s F

+ + +
+ +
=
.
The errors ss
e
for controllers:
/ for 3)/controller and )/controller:
, =
ss
e
,
/ for 3/controller:
,
+ k k
A
e

ss
+
=
.
Con(l.ton/000000