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U(s)
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+
+
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Y(s)
What is a controller?
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Control Theory
Objective: Designing a controller
Definition:
a controller is a device, it can be in the form of a
microprocessor or computer, which monitors and
physically alters the operating conditions of a given
dynamical system
Lecture Arrangement
Part I. (Dynamic) System
Asst. Prof. Tegoeh Tjahjowidodo
Office: N3-02c-68
Tel: 6790 4952
Email: ttegoeh@ntu.edu.sg
Recess Week
Part II. Controller Design
Asst. Prof. Pham Quang Cuong
Office: N3.2-02-37
Tel: 6790 5597
Email: cuong@ntu.edu.sg
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Textbook/ References
Textbook
Modern Control Engineering, Katsuhiko Ogata, 4th ed. or later,
Prentice Hall
Reference Material
System Dynamics, Katsuhiko Ogata, 4th ed. or later, Pearson
Prentice Hall
Control Systems Engineering, Nise, 5th Edition, John Wiley,
2008.
Modeling and Analysis of Dynamic Systems, Close, Charles M.,
3rd edition, John Wiley & Sons, 2002.
Any text on mathematical modelling.
Course Objectives
Provide background to mathematical modelling,
dynamic response analysis of dynamical systems
Explain basic principles of three term controllers and
their applications
Provide basics of controller design techniques,
performance and stability analysis, in time and
frequency domain for linear feedback control
systems
4. Response and
Stability
5. Routh Stability
7. Second Order
Tue., Jan. 13
Introduction
Laplace Transforms
Week 2
Tue., Jan. 20
Week 3
Tue., Jan. 27
System Response
Week 4
Tue., Feb. 17
1st order systems
Week 5
Tue., Feb. 10
Week 6
Tue., Feb. 17
Transient responses
Basic Control Actions
Week 7
Tue., Feb. 24
QUIZ
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RECESS
Week 8
Tue., Mar. 10
Introduction to controller
Basic Control and System Type
Week 9
Tue., Mar. 17
Root-Locus: Introduction
Root-Locus: PD controller
Week 10
Tue., Mar. 24
Week 11
Tue., Mar. 31
Week 12
Tue., Apr. 7
Week 13
Tue., Apr. 14
Stability Analysis
QUIZ
QUIZ will be provided on the last week before the
recess week (Tue., Feb. 24)
The quiz comprises all materials before the recess
week
QUIZ contributes 50% of CA grade
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Homework Problems
Put on NTULearn (was: edveNTUre)
Homework to be submitted to the tutors in
respective tutorial sessions in the due week
Contributes to 50% of CA grade
Graded HWs will be returned by tutors
Solution will be provided on NTULearn
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Assigned Date
20 Jan.
10 Feb.
17 Mar.
31 Mar.
Due Week
Week 4
Week 7
Week 11
Week 13
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Prerequisite
Mathematics I
Mathematics II
Pay more attention on:
o Calculus (differentiation-integration)
o Complex number operations
o Laplace transform
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4. Response and
Stability
5. Routh Stability
7. Second Order
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INTRODUCTION
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System
Can be any physical, biological, economic
model.
Responds to certain inputs by producing output
Input
System
Output
System
u(t)
System
y(t)
Dynamic System
A system is said to be static if its output y(t) will be affected by, not
only by the input u(t) at the present time but also depends on the
past input u(t)
Typically the response will vary in time for a constant
(static) input
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Static Systems
Simplest and intuitive example is a function machine that we learnt in
grade 3 (or 4?)
out
3
in
0
10
20
30
time (s)
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Static Systems
Simplest and intuitive example is a function machine that we learnt in
grade 3 (or 4?)
out
3
in
10
20
30
time (s)
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Dynamic Systems
Characterized mathematically by derivative and/or integrative operators.
Example:
dx
x y
dt
d 2x
dx
5 10 x y
2
dt
dt
X
1
Y 5s 1
(5s 1) X Y
( s 2 5s 10) X Y
X
1
2
Y s 5s 10
Y
y(t)
x(t)
1
5s 1
10
20
30
time (s)
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Dynamic Systems
Characterized mathematically by derivative and/or integrative operators.
Example:
dx
x y
dt
d 2x
dx
5 10 x y
2
dt
dt
X
1
Y 5s 1
(5s 1) X Y
X
1
2
Y s 5s 10
( s 2 5s 10) X Y
Y
x(t)
y(t)
1
5s 1
0
10
20
30
time (s)
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System Examples
Weighing scale
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24
23
22
y(t)
10
20
30
time (s)
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System Examples
Weighing scale
25
24
23
22
y(t)
10
20
30
time (s)
10
20
30
time (s)
dial position
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System Examples
Light bulb
y(t)
voltage
220
10
20
30
time (s)
System Examples
Light bulb
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Reading Assignment
Modern Control
Engineering, 5th Ed.
Chapter 1
Refresh differential
equation from MA2006
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