Hệ thống Điều khiển tự động: (Automatic control systems)

HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF ELECTRICAL AND ELECTRONIC ENGINEERING

Automatic Control Department
Hệ thống Điều khiển tự động

(Automatic control systems)
PGS.TS. Trương Đình Nhơn

Bộ môn Tự động Điều khiển
Email: nhontd@hcmute.edu.vn
0903 675 119
1
Content
Introduction to control systems
Mathematical models of systems
Stability of the control systems
Steady state errors of the control systems
Frequency domain of the control systems
Bode plot of the control systems
The Root locus method
Frequency response method
Design PID controller
Design Lead/Lag controller
Design of feed back control systems
2
References
[1] “Lý thuyết Điều khiển tự động”, Nguyễn Thị Phương Hà, Huỳnh
Thái Hoàng, NXB ĐHQG TPHCM.
[2] “Bài tập Điều khiển tự động”, Nguyễn Thị Phương Hà, Huỳnh
Thái Hoàng, NXB ĐHQG TPHCM.
[3] “Automatic Control Systems,” B. C. Kuo.
[4] “Control Systems Engineering,” N. S. Nise.
3
Criteria
1. Process examination (50%)
- Homework via online submission
- Paper test in class
2. Final examination (50%)

- Paper test with open book
4
Introduction
System – An interconnection of elements and devices for a desired
purpose.
Control System – An interconnection of components forming a

system configuration that will provide a desired response.
Process – The device, plant, or system under control. The input and
output relationship represents the cause-and-effect relationship of the
process.
5
Introduction
Open-Loop Control Systems
utilize a controller or control
actuator to obtain the desired
response.
Closed-Loop Control
Systems utilizes feedback
to compare the actual output
to the desired output
response.
Multivariable Control System
6
History
The first automatic feedback controller used in an industrial process is
generally agreed to be James Watt’s Flyball governor, developed in
1769 for controlling the speed of a steam engine.
7
History
James Watt’s
8
History
The first historical feedback system,

claimed by Russia, is the water-level
float regulator said to have been
invented by I. Polzunov in 1765.
The float detects the water level and

controls the valve that covers the
water inlet in the boiler.
9
History
10
History
18th Century James Watt ’ s centrifugal
governor (bộ điều tốc ly tâm) for the speed
control of a steam engine.
1920s Minorsky worked on automatic
controllers for steering ships (hệ thống lái tàu).
11
History
1930s Nyquist developed a method for analyzing the stability of
controlled systems
1940s Frequency response methods made it possible to design linear

closed-loop control systems
1950s Root-locus method due to Evans was fully developed
1960s State space methods, optimal control, adaptive control and
1980s Learning controls are begun to investigated and developed.
Present and on-going research fields. Recent application of modern

control theory includes such non-engineering systems such as
biological, biomedical, economic and socio-economic systems
12
Examples of Control Systems
13
Examples of Modern Control Systems
14
A three-axis control system for

inspecting individual semiconductor
wafers with a highly sensitive camera.
15
Coordinated control system for a boiler–generator.
16
The Utah/MIT Dextrous Robotic Hand: A dextrous robotic hand having

18 degrees of freedom. It is controlled by five Motorola 68000
microprocessors and actuated by 36 high-performance
electropneumatic actuators via high-strength polymeric tendons.
The hand has three fingers and a thumb. It uses touch sensors and
tendons for control.
17
The ongoing area of research

and development of
unmanned aerial vehicles
(UAVs) is full of potential for
the application of control
The Honda P3 humanoid robot.
systems.
P3 walks, climbs stairs, and turns
corners.
18
A feedback control system model of the national income.
19
The future evolution of control systems
Future evolution of control systems and robotics.
20
Control system design
21
Design example: turntable speed control
22
Design example: turntable speed control
23
Design example: Electric ship concept
Vision
Electrically
Reconfigurable
All
Integrated Ship
Electric
Power Ship
System  Technology
Insertion Increasing Affordability and Military Capability
 Reduced manning
 Electric Drive  Warfighting
 Automation
 Reduce # of Prime Capabilities
Movers  Eliminate auxiliary
systems (steam,
 Fuel savings hydraulics, compressed Main Power
 Reduced maintenance air) Distribution
Propulsion Motor Prime
Generator
Motor Drive Mover
Power Ship
Conversion Service
Module Power
24
Control systems are found in abundance in all sectors of industry
- Quality control of manufactured product
- Automatic assembly line
- Machine-tool control
- Space technology and weapon systems
- Computer control
- Transportation systems
- Power systems
- Robotic
- And many others
25
26
27
What type of control systems ?
The basic ingredients of the system can be described by:
Objectives Results
Control
system
In more scientific terms, these three basic ingredients can be

identified with Inputs, System components and Outputs.
Inputs (u) Output (c)

Control
system
28
Example 1:
There are two basic forms of control system:
 Open-loop control system
 Closed-loop control system
29
Open-loop control systems (Nonfeedback systems)
Reference Actuating Control
Input (r) Signal (u) Controlled Variable (c)

Controller
Process
Elements of an Open-loop control systems.
Input signal or command (r) applied to the controller, whose

output acts as the actuating signal (u); the actuating signal then
controls the controlled process so that the controlled variable (c)
will perform according to some prescribed standards.
30
Open-loop control systems (Nonfeedback systems)
Reference Actuating Control
Input (r) Signal (u) Controlled Variable (c)

Controller
Process
Elements of an Open-loop control systems.
In simple cases, the controller can be an amplifier, mechanical

linkages, or other control means, depending on the nature of the
system. In more sophisticated electronic control, the controller
can be an electronic computer, such as a micro-processor.
31
Example 2:
Ceiling fan
Gearbox Speed
Fan
Five-speed gearbox
32
Closed-loop control systems (Feedback control systems)
To obtain more accurate control, the controlled signal c(t) should be
feedback and compared with the reference input, and an actuating signal
proportional to the difference of the input and the output must be sent
through the systems to correct the error. A system with one or more
feedback paths such as that just discribed is called a closed-loop system
Actuating Control
Error detector
Reference Signal (u) Controlled Variable (c)
Controller
Input (r) Process
Feedback
Elements of an Closed-loop control systems.
33
Example 2:
Air Conditioner
Set Temperature Temperature

Air Conditioner
Measuring temperature device
34
Mathematical models for systems
A mathematical model of a system is a “replica” (mô hình, bản
sao) of the relationships between the inputs and the outputs of
the system.
Example: A motor as a system.
The input is voltage (V)
The output is the speed of the rotation of the shaft ( )
If this is a linear system, then the mathematical model is:
Where G is the constant of proportionality
35
Mathematical models for systems
Thus, we have:
Hence: steady  state value of 

G
steady  state value of V
The constant G is called the Transfer Function
In general, we can define the Transfer Function as the ratio of the

steady-state output to steady-state input for a system or subsystem.
steady  state output

Transfer function G 
steady  state input
36
Mathematical models for open-loop systems
Consider three elements in series:
Input (r) u1 u2 Output (c)

G1 G2 G3
Transfer function G  G1.G2.G3
37
Mathematical models for closed-loop systems
Consider a simple closed-loop system.
r + e c
X G
- f
H
c G
Transfer function : 
r 1  GH
38
System models
Mathematical models are needed of the elements used in
such systems. These are equations representing the
relationship between the input and output of a system.
 Electrical system building blocks:
Inductor: vL
di 1
 i   vdt E
1 2
Li
dt L 2
Where L is the inductance
Capacitor: 1 dv 1 2
C
v idt  i  C E Cv
dt 2
Where C is the capacitance
39
System models
Resistor: v  Ri 1 2
P  v  Ri 2
R
Where R is the resistance
RLC in series circuit:
v = v R + v L + vC
ò i dt
di 1
= i.R + L +
dt C
Where R,L,C are the resistance, inductance and
capacitance, respectively
40
System models
RLC in parallel circuit:
i  iR  iL  iC
v 1 dv
   vdt  C
R L dt
Where R,L,C are the Resistance, Inductance and
Capacitance, respectively
41
System models
Ex 1: RC system:
v  vR  vC
 i.R  vC
dvC
 RC  vC
dt
Ex 2: RL system:
v  i.R  vL
R
  vL dt  vL
L
42
System models
di
v  i.R  L  vC
dt
dvC d 2 vC
 RC  LC 2  vC
dt dt
43
Transfer function
An importance first step in the analysis and design a control
system is the mathematical description and modeling of the
process that is to be control.
The input-output relation of a linear time-invariant system is
described by the following n th-order differential equation
with constant real coefficients:
d n c(t ) d n 1c(t ) d m r (t ) d m1r (t )

n
 an n 1
 ....  a1c(t )  bm1 m
 bm m 1
 ....b1r(t )
dt dt dt dt
c(t): Output response
r(t): Input
ai ( i = 1,…,n) and bJ (j = 1,...,m+1) are real constants (n ³ m)
44
Transfer function
Take the Laplace transform on both sides of the equation,

and assume zero initial conditions. The result is:
(sn + ansn-1 + … + a1)C(s) = (bm+1sm + bmsm-1 + … + b1)R(s)
The transfer function between r(t) and c(t) is given by:
C ( s) bm1sm  bmsm-1    b1
G( s)  
R( s ) sn  a nsn-1    a1
45
System models
di
v  i.R  L  vC
dt
dvC d 2 vC
 RC  LC 2  vC
dt dt
1
G(s) = 2
s LC + sRC +1
46
Block Diagram
Block Diagram is often used by control engineer to portray

systems of all types. A block diagram can be used simply to
represent the composition and interconnection of a system.
Summing Block
Takeoff
point point
+ Transfer
Function
+ or -
47
Block Diagram
R(s) E(s)
+ G(s)
- C(s)
B(s)
H(s)
Basic block diagram of a feedback control systems
()
G s =
C(s)
E(s)
: Open - loop transfer function Or forward - path transfer function
()
M s =
C(s)
=
G(s)
R(s) 1+ G(s).H(s)
:Closed - loop transfer function
H (s) :Feedback path transfer function

G (s) H (s) :Loop transfer function
48
Multi-element systems
In Series
In parallel
49
Equivalent systems
R1
R1 C G
1) G = C
() R2 ()
R2 G
2)
50
Example
Example2:
2
What is the transfer function of the system?
51
Example 2
C G2
Thus  (1  G1 )
R 1  G2 H 1
52
Equivalent systems
3)
4)
53
Example 1
What is the output (C) of the system?
54
Example 1
The output is:
G1G2 R  G2 N
C  WR R  W N N 
1  G2 H 2  G1G2 H 1
55
Signal flow graphs
A signal flow graph may be defined as a graphical means of

portraying the input-output relationships between the
variables of a set of linear algebraic equations.
When constructing a signal flow graph, junction points or

nodes are used to represent the variables, the nodes are
connected together by line segments called branches. The
branches have associated
56
Signal flow graphs
Consider a simple closed-loop system.
r + e c
X G
- f
H
G s  
C( s)
: Open  loop transfer function or forward  path transfer function
E( s)
 
M s 
C ( s)

G( s)
: Closed  loop transfer function
R( s ) 1  G( s).H ( s)
H s  : Feedback path transfer function
Gs H s  : Loop transfer function
57
Mason’s gain formula for Signal flow graph
Mason’s gain formula is given by:
C 1 n
Where: G    M K K
R  K 1
M k : path gain or transmitta nce of Kth forward path
  1   La   Lb Lc  L L L d e f  ...
a b ,c d ,e , f
D = 1- (sum of all individual loop gains) + (sum of gain productsof all

possible combinations of two nontouching loops) - (sum of gain
productsof all possible combinations of three nontouching loops) +...
The factor  K is obtained from  by removing the loops that touch path M K
Samuel Jefferson Mason (1921–1974)
58
Example 2
59
Example 1
Obtain the closed-loop transfer function by using the
Mason’s gain formula.
Ei y1 z2 y3 z4 1 E0
-y1 -z2 -y3
E0 1 y1 z 2 y 3 z 4
M   M 11 
Ei  1  y1 z 2  y 3 z 2  y 3 z 4  y1 z 2 y 3 z 4
60
Example 2
Obtain the closed-loop transfer function by using the
Mason’s gain formula.
61
Example 2
62
Basics of State Space Modeling
63
The differential equations of a lumped linear network can be written in

the form:
the state equation of the system

the output equation
The vector x(t) is the state vector, and u(t) is the input vector. A is
called the state matrix, B the input matrix, C the output
matrix, and D is the direct transition matrix.
64
d n c(t ) d n 1c(t ) d m r (t ) d m1r (t )

n
 an n 1
 ....  a1c(t )  bm1 m
 bm m 1
 ....b1r(t )
dt dt dt dt
65
consider an 1st order linear plant model described by the differential
equation
Where y(t) is the plant output and u(t) is the plant input
A useful set of state variables, referred to as phase variables, is

defined as:
66
In matrix form
67
68
Obtain the state equation of RLC circuit:
di
v  i.R  L  vC
dt
dvC d 2 vC
 RC  LC 2  vC
dt dt
69
Obtain the state equation in phase variable form for the

following differential equation:
70
Write the state equation for the circuit
71
In general, if there are nC loops of all capacitors and

voltages sources, and nL cut sets of all inductors and
current sources, the number of state variables is
where eC and eC are the numbers of inductors and

capacitors, respectively.
72
73
74
Transfer Function to State Space Conversion
Consider the transfer function of a third-order system
It is decomposed into two (frequency domain) blocks
75
First block
Second block
76
Assigned the state variables as
77
State Space to Transfer Function Conversion
X2 X1
+
R
3 s2 C
- s4 s5
X3
s 1
s6
78
State Space to Transfer Function Conversion
Take Laplace transform and rearrange as follows:
79
Transfer Function
 When order of the denominator polynomial is greater

than the numerator polynomial the transfer function is
said to be ‘proper’.
 Otherwise ‘improper’
80
Transfer Function
Transfer function helps us to check
The stability of the system
Time domain and frequency domain characteristics of
the system
Response of the system for any given input
81
Stability of Control System
There are several meanings of stability, in general

there are two kinds of stability definitions in control
system study.
Absolute Stability
Relative Stability
82
Roots of denominator polynomial of a transfer function are

called ‘poles’.
And the roots of numerator polynomials of a transfer

function are called ‘zeros’.
83
Poles of the system are represented by ‘x’ and zeros of the

system are represented by ‘o’.
System order is always equal to number of poles of the
transfer function.
Following transfer function represents nth order plant.
84
Poles is also defined as “it is the frequency at
which system becomes infinite”. Hence the name
pole where field is infinite.
And zero is the frequency at which system

becomes 0.
85
Poles is also defined as “it is the frequency at which
system becomes infinite”.
Like a magnetic pole or black hole.
86
Relation b/w poles and zeros and frequency response of
the system
The relationship between poles and zeros and the frequency

response of a system comes alive with this 3D pole-zero plot.
Single pole system
87 87
the system
3D pole-zero plot

System has 1 ‘zero’ and 2 ‘poles’.
88
the system
89
Example
Consider the Transfer function calculated in

previous slides.
X (s) C
G( s )  
Y ( s ) As  B
the denominato
r polynomialis As  B  0
The only pole of the system is
90
Example
Consider the following transfer functions.
Determine
– Whether the transfer function is proper or improper
– Poles of the system
– zeros of the system
– Order of the system
s3 G( s ) 
s
i) G( s )  ii)
s( s  2) ( s  1)( s  2)( s  3)
( s  3)2 s 2 ( s  1)
iii) G( s )  iv) G( s ) 
s( s 2  10) s( s  10)
91
Finding Zeros and Poles with Matlab
The command: [z,p,k] = tf2zp(num,den) to obtain the

Zeros, Poles, and gain K of transfer function
For example:
C ( s) 4s2  16s  12
 4
R( s ) s  12s3  44s2  48s
92
Finding Zeros and Poles with Matlab
93
The following Matlab program will yield the original num/den
94
Partial-fraction expansion with Matlab
Consider the following function:
C ( s ) num bm1sm  bmsm-1    b1

 
R( s ) den sn  a nsn-1    a1
Where some of ai and bj may be zero
In Matlab row vectors num and den specify the coefficients of the
numerator and denominator of the transfer function. That is:
num  [bm1 bm  b1 ]
den  [1 aa a n-1  a1 ]
95
The command: [r,p,k]=residue(num,den)
Finds the residues (r), poles (p), and direct terms (k) of partial-
fraction expansion of the ratio of two polynomials C(s)/R(s).
The partial-fraction expansion of C(s)/R(s) is given by:
r 1 r 2  r n 
 k s 
C ( s)
   ...
R( s ) s - p1 s - p2  s - pn 
96
Example 1:
Consider the following transfer function:
C ( s) 2s3  5s2  3s  6
 3
R( s) s  6s2  11s  6
97
Example 1:
Then:
C ( s ) 2s3  5s2  3s  6
 3
R( s ) s  6s2  11s  6
6 4 3
   2
s  3 s  2 s 1
98
To convert the partial-fraction expansion back to the
polyminal ratio C(s)/R(s), we have the command:
Note: the command printsys(num,den,’s’) prints the

num/den in terms of the ratio of polynominal in s
99
Example 2:
Expand this polynomial into partial-fraction with matlab:
C ( s) s2  2 s  3
 3
R( s) s  3s2  3s  1
100
Poles, zero and Stability.
An important requirement for a control system
is that should be stable.
A system can be defined as stable if every bounded.
Poles are the roots of a transfer function denominator and

zeros the roots of the numerator.
Example: s 1
G s  
( s  2)( s 2  1)
The pole: s = -2; s = +j; and s = -j.
The zero: s = 1
101
Pole-zero
Pole-zero plot:
plot
Poles and zeros can be represented on a

diagram, call the pole-zero plot.
The position of a pole is marked with a cross “x” and
The position of a zero with a small circle “o”.
Example: j
Pole Zero
x1
s 1
G s  
( s  2)( s 2  1)
x
-2 0
o
1 
x -1
102
Stability of Control Systems
The poles and zeros of the system are plotted in s-

plane to check the stability of the system.
j
LHP RHP
Recall s    j

s-plane
103
If all the poles of the system lie in left half plane the
system is said to be Stable.
If any of the poles lie in right half plane the system is
said to be unstable.
If pole(s) lie on imaginary axis the system is said to be
marginally stable. j
LHP RHP
s-plane
104
For example
C
G( s )  , if A  1, B  3 and C  10
As  B
Then the only pole of the system lie at
j
pole  3
LHP RHP
X 
-3
s-plane
105
Examples
Consider the following transfer functions.

 Determine whether the transfer function is proper or improper
 Calculate the Poles and zeros of the system
 Determine the order of the system
 Draw the pole-zero map
 Determine the Stability of the system
s3 G( s ) 
s
i) G( s )  ii)
s( s  2) ( s  1)( s  2)( s  3)
( s  3)2 s 2 ( s  1)
iii) G( s )  iv) G( s ) 
s( s 2  10) s( s  10)
106
_________________Routh-Hurwitz stability criterion
107
Routh stability criterion
The denominator of the transfer function is called as
Characteristic equation:
F(s) = ansn + an-1sn-1 + an-2sn-2 + … + a1s + a0 = 0
 If all the coefficients ai (i=1..n) are positive and none

are zero the system can be stable.
 If any coefficients is negative then the system is

unstable.
If all the elements in the first column of Routh Array
are positive, the system is thus Stable
108
ansn + an-1sn-1 + an-2sn-2 + … + a1s + a0 = 0
Routh Array: Where:
sn an an 2 an 4 ... an 1an 2  an 3an
b1 
s n 1 an 1 a n 3 an 5 ... an 1
an 1an 4  an 5 an
s n 2 b1 b2 b3 ... b2 
an 1
s n 3 c1 c2 c3 ...
b1an 3  b2 an 1
... c1 
b1
s1 y1 y2 b1an5  b3an1
c2 
s0 z1 b1
109
Example 1
F(s) = s4 + 10s3 + 3s2 + 19s + 1 = 0
110
Example 2
F(s) = s5 + s4 + 4s3 + 4s2 + 2s + 1 = 0
111
Example 3
F(s) = s5 + 10s4 + 16s3 + 160s2 + s + 10 = 0
112
Stability
Example 4
Given a system.
K
R(s) C(s)
s( s  2) 2
What range can K be if the system is to be stable?
113
Hurwitz stability criterion
The denominator of the transfer function is called as
F(s) = ansn + an-1sn-1 + an-2sn-2 + … + a1s + a0 = 0
 If all the coefficients ai (i=1..n) are positive and none

are zero the system can be stable.
 If any coefficients is negative then the system is

unstable.
If all the Dk, k = 0. . n are positive, the system is thus
Stable
114
Hurwitz stability criterion
If all the Dk, k = 0. . n are positive, the system is thus

Stable
an-1 an-3 an-5 . . . . 0

an an-2 an-4 . . . . 0
0 an-1 an-3 . . . . 0
D0 = an, D1 = an-1, . . ., Dn =
0 an an-2 . . . . 0
. . .. . .. . . . . . . . . . .
0 0 a0
115
_________________________Relative stability
116
Relative stability
Relative stability is amount for a stable system how close it
is to being unstable
j
a
 0 
To obtain relative stability of a system, we shift left the plane by

replace s by (w - a) in the denominator of the TF, and using Routh-
Hurwitz test for stability.
117
Relative stability
Example 5
Given a system.
K
R(s) C(s)
s( s  2) 2
What range can K will result in relative stability = 1/2
118
_________Frequency-Response Analysis
119
Frequency-Response Analysis
By the term of Frequency-Response, we mean the steady-
state response of a system to a sinusoidal input. In
Frequency-Response methods, we vary the frequency of
the input signal over a certain range and study the resulting
response.
Frequency-Response methods were developed in 1930s
and 1940s by Nyquist, Bode, Nichols, and many others.
Obtaining Steady-State Outputs to Sinusoidal Inputs:
The Steady-State output of a transfer function system can

be obtained directly from the sinusoidal transfer function,
that is, the transfer function in which s is replaced by j ,
where  is frequency.
120
Let us assume that the input signal is given by:
r t   X sin t
Suppose that the TF can be written as a ratio of two
polynomials in s, that is:
C ( s ) ( s  z1 )( s  z2 )...( s  zm )
G s   
R( s ) ( s  s1 )( s  s2 )...( s  sn )
The Laplace Transform output C(s) is then:
C s   Gs Rs 
121
After waiting until steady-state conditions are reached, the

frequency response can be calculated by replace s in the
transfer function by j
G j   Me j  M
Where:
M is amplitude ratio of the output and input si nusoids
 is the phase shift between in the input si nusoid and the output si nusoid
122
The steady-state response of a stable, linear, time-

invariant system to a sinusoidal input doesn’t depend on
the initial conditions.
X
C ( s )  G ( s ) R ( s )  G s  2
s  2
a a b1 b2 bn
     ... 
s  j s  j s  s1 s  s2 s  sn
The invert Laplace transform is:
ct   ae jt  ae jt  b1e s1t  b2e s2t  ...  bn e snt (t  0)
123
124
For stable system, -s1, -s2, …,-sn have negative real parts,
so that the steady-state response become:
css t   ae jt  ae jt (t  0)
X XG  j 
a  G s  2 ( s  j ) s  j  
s  2
2j
X XG  j 
a  G s  2 ( s  j ) 
s  2 s  j
2j
125
G( j)  G( j) e j and G( j)  G( j) e j  G( j) e j
X G  j  e j X G  j  e j
a a
2j 2j
Then the output is:
e j (t  )  e  j (t  )
css t   X G  j 
2j
 X G  j  sint     C sint   
126
rt   X sint 
css t   C sint   
127
_________________Bode diagram
128
Bode diagram
A Bode diagram consists of two graphs:
- Plot of the logarithm of the magnitude of a sinusoidal transfer

function.
- Plot of the phase angle.
129
Bode diagram
Basic factors of G( j) H ( j)
The basic factors that very frequently occur in any arbitrary

transfer function are:
1.Gain K
2.Integral and derivative factor  j 1
3.First  order factors 1  jT 
1

4.Quadractic factors 1  2 ( j / n )  ( j / n ) 
2 1
130
1. The Gain K
R2
Electrical circuit R1
-
+
R
R
0
Transfer function G(s) = K dB

20lgK
Bode diagrams
lg

L( ) dB  20 lg G( j )  20 lg K

131
( )
±1
2. Integral and derivative factor jw
The logarithmic of integral and derivative in decibels are:
1
20 lg  20 lg  dB
j
The phase angle of integral and derivative are:  900
Bode diagrams of integral and derivative 132

( )
±1
2. Integral and derivative factor jw
The logarithmic of integral and derivative in decibels are:
20 lg j  20 lg  dB
The phase angle of integral and derivative are: 900
Bode diagrams of integral and derivative 133

( )
±1
3. First - order factors 1+ jwT
The log of magnitude of the first-order factor 1 / 1  jT  is:
1
20 lg  20 lg 1   2T 2 dB
1  jT
1
*    20 lg 1   2T 2  20 lg 1  0dB
T
1
*    20 lg 1   2T 2  20 lg T dB
T
The phase angle of the first-order factor 1 / 1  jT  is:
*  0    0
   arctan(T ) *   1    450
T
*       900
134
( )
±1
The maximum error occurs at the corner frequency and

approximately equal to -3dB since:  20 lg 1  1  10 lg 2  3,03dB
135
( )
±1
The log of magnitude of the first-order factor 1  jT  is:
20 lg 1  jT  20 lg 1   2T 2 dB
1
*    20 lg 1   2T 2  20 lg 1  0dB
T
1
*    20 lg 1   2T 2  20 lg T dB
T
The phase angle of the first-order factor 1  jT  is:
*  0    0
  arctan(T ) *   1    450
T
*       900
136
( )
±1
Log-Magnitude curve, together with the

asymptotes, and phase angle curve for 1  jT 
137
Example
10s  1
G( s) 
( s  10)( s  100)
138
Example
139
Example
140
4.Quadratic factors
Control systems open possess quadratic factors of the form:
n2
G  j   2
s  2n s  n2
G  j  
1
1  2 ( j / n )  ( j / n ) 2
if   1 : G( j ) can be ex pessed as a product of two

first  order factors with real poles.
if 0    1 : G( j ) is the product of two

complex  conjugate factors
141
4.Quadratic factors
Control systems open possess quadratic factors of the form:
G  j   2
1
s  2 ( j / n ) s  ( j / n ) 2
The asymptotic frequency response curve may be obtained as follows:
20 lg G  j   20 lg
1

1  2 ( j / n )  ( j / n ) 2
1  jT   20 lg [1  ( / n )2 ]2  (2 / n )2
142
( ) ( )
2
4. Quadratic factors [1+ 2z jw / wn + jw / wn ]±1
if   n the log magnitude become :  20 lg(1)  0 dB
if   n the log magnitude become :


 20 lg(  / n )  40 lg
2
dB
n
And the phase-angle curves:
if 0    1 : G( j ) is the product of two complex  conjugate

factors
1  2 ( / n ) 
   arctan  2
1  2jT( j / n )  ( j / n ) 2
1  ( / n ) 
143
( ) ( )
2
At   0    00
At   n    900
At       1800
144
( ) ( )
2
The Resonant frequency and Resonant peak value:
The magnitude of: G  j  

1
1  2 ( j / n )  ( j / n )2
Is: G  j  
1
[1  ( / n )2 ]2  (2 / n )2
145
( ) ( )
2
If G  j  has a peak value at some frequency, this frequency is

called the resonant frequency. Since the numerator of G  j  is
constant, a peak value of G  j  will occur when:
g   [1  ( / n )2 ]2  (2 / n )2 is a mi nimum

2
   (1  2 ) 
2 2 2
g     n
  4 2
(1   2
)
 n2

146
( ) ( )
2
The minimum value of g   occurs at   n 1  2  . Thus

2
the resonant frequency is:
r  n 1  2 2  for 0    0.707
The magnitude of the resonant peak is:
M r  G  jr  
1
2 1   2
147
Plot Bode diagrams using Matlab
bode(num,den)
grid on
title(‘ title…’)
Example:
148
Manual plot
Steps for Bode plot

1.
2.
3.
149
Example
10s  1
G( s) 
( s  10)( s  100)
150
Example
151
Stability via Bode plots
• Gain margin is the magnitude value when

the phase is -1800.
• Phase margin is the phase difference from

-1800 when the magnitude is zero.
152
Homework
Given a system.
K
R(s) C(s)
s( s  2) 2
a. Plot Bode diagram when K = 1
b. Plot Bode diagram when K = 16
153
𝜔𝑏𝑖𝑒𝑛
Gain m arg in
Phase m arg in
𝜔𝑝ℎ𝑎
154
Using Matlab
G = tf(num,den)
Bode(G)
Margin(G)
155
The system is stable if the Gain margin >0
and the Phase margin >0
156
Example
Find Phase margin?
100(𝑠 + 10)
𝐺(𝑠) =
𝑠(𝑠 + 1)(𝑠 + 100)
157
158
159
𝑙𝑔𝜔
160
1
20
161
Dynamic system models
162
First-order and Second-order elements:
 The order of an element or system can be defined as being
the highest power of s in the denominator.
First-order element:
G s  
K
s  1 where K and  are const ants
Second-order element:
where : b0 is const ants
bon2 n is freely oscillate angular frequency
G s   2
s  2 n s  n2  is the damping ratio
163
Step input
 Rs  
1
r(t) = 1(t)
s
Ramp input:
 Rs   2
1
r(t) = t(t)
s
Parabolic input:
t2
()
r t =
2
()
t  Rs   3
s
1
Impulse input:
() ()
r t =d t ()
Þ R s =1
164
Step input to a first-order system:
C s 
G s  
K

s  1 R s 
 C s   .R s  
K K 1
.
s  1 s  1 s
(1 /  )
 K.
s[ s  (1 /  )]
Hence, for a unit step input, the output is:

ct   K 1  e  t / 
165
166
Ramp input to a first-order system:
C s 
G s  
K

s  1 R s 
 C s   .R s  
K K 1
. 2
s  1 s  1 s
(1 /  )
 K. 2
s [ s  (1 /  )]
Thus the output for a unit slope ramp is given by:
ct   K [t   1  e  t / ]
167
Impulse input to a first-order system:
K s 
G s  
K

s  1 R s 
 C s   .R s  
K K
.1
s  1 s  1
(1 /  )
 K.
[ s  (1 /  )]
Thus the output is:
ct   K 1 /  e  t /
168
Step input to a second-order system
169
bow2n (
C s )
()
G s =
s 2 + 2zw n s + w2n
=
R ( s)
bow 2n bow 2n
()
ÞC s = 2
s + 2zw ns + w n
2
.R s = 2 () .
(s + 2zw n s + w n ) s
2
1
bow2n
=
(s - m1 )(s - m 2 )s
where : m1 = -zw n + wn z 2 -1
m 2 = -zwn - wn z 2 -1
()
The type of response depends on the value of the damping factor z
170
when z > 1Þ m1 and m 2 are real
The system is said to be overdamped
Using partial fraction we have: Vc
()
1
Cs = +
A
+
B
s s - m1 s - m2
V
()
c t =1+ Aexp(m1t) + Bexp(m2 t)
0 t
b0 z b0 b0 z b0
where : A = - - B= -
2 x2 -1 2 2 x2 -1 2
171
when z = 1 Þ m1 =m 2 = -zwn
The system is said to be Critically damped
The output then become:
bow2n
()
Cs =
(s + wn ) 2 s Vc
V
The inverse transformation of this is:
()
c t = b0 [1- exp(-wn t) - wn t exp(-wn t)]
0 t
172
when z < 1Þ m1 and m 2 are complex
The system is said to be Underdamped
So we have: Vc
m1 = -zw n + jw n 1- z 2 V
m 2 = -zw n - jw n 1- z 2
Thus, the output is given: 0 t
é ù
()
c t = b0 ê1-
êë
1
exp(-zwn t)sin[wn (1- z 2 ).t + F]ú
úû
1- z 2
where : cosF = z
173
when z = 0 there is no damping

The system is said to be undamped
Thus, the output is given:
()
c t = b0 (1- sin wn t) Vc
The output thus oscillates with V

the under damped frequency w
n
0 t
174
Ramp input to a second-order system
175
bow2n C s ()
()
G s = 2 =
s + 2zw n s + w n R s
2
()
bow 2n bow2n
()
ÞC s = 2
s + 2zw n s + w n
2
.R s = 2 () 1
. 2
(s + 2zw ns + w n ) s
2
bow 2n
=
(s - m1 )(s - m 2 )s 2
m 2 = -zwn - wn z 2 -1
176
æA B D ö
()
C s = b0 çç 2 + +
C
+ ÷÷
è s s s - m1 s - m 2 ø
Using partial fraction we have:
()
c t = b0 [At + B+ Cexp(m1t) + Dexp(m2 t)]
2z
where : A = 1 B=-
wn
z 2z 2 -1 z 2z 2 -1
C= + D= -
w n 2w x2 -1 w n 2w x2 -1
n n
Ex. p.139
177
Impulse input to a second-order system
178
bow2n ( )
C s
()
G s =
s 2 + 2zw n s + w 2n
=
R ( s)
bow 2n bow2n
ÞC s = () s + 2zw n s + w
2 2 ()
.R s =
(s + 2zw n s + w )
2 2
.1
n n
bow2n
=
(s - m1 )(s - m 2 )
m 2 = -zwn - wn z 2 -1
179
Using partial fraction we have:
()
Cs =
A
+
B
s - m1 s - m 2
()
c t = Aexp(m1t) + Bexp(m2 t)
b0w n
where : A = -B =
2 x2 -1
Thus, we have:
b0w n
c t =() [exp(m1t) - exp(m 2 t)]
Ex. p.142
2 x2 -1
180
Vc
1
0 t
Response of a second-order system to a unit impulse at t=0
Ex. p.142
181
______________________Steady-state error
182
Steady-state error
The steady-state error is a measure of the

accuracy of a control system to track a command
input and is the error after all transient responses
to the input have decayed.
183
Steady-state error
The error is the difference between the
required output and the actual output signal.
For a closed loop system:
R(s) E(s) C(s)
G(s)
(-)
B(s)
H(s)
1
Es   Rs   Bs  E ( s)  R( s )
1  GH ( s)
184
Steady-state error
ess  lim e(t )

t 
sR( s)
lim e(t )  lim sE( s)  lim
t  s 0 s 0 1  GH ( s )
Example 1, p.168
185
Steady-state error
Steady-state error for a step input:
 Rs  
1
r(t) = 1(t)
s
1 1 1
ess _ p = lim s . =
s®o s 1+ G(s)H(s) 1+ K p
where: K p  lim G( s) H (s) : Positional error

s 0
constant
Example 3, p.172
186
Steady-state error
Steady-state error for a ramp input:
 Rs   2
1
r(t) = t(t)
s
1 1 1
ess _ v = lim s 2 . =
s®o s 1+ G(s)H(s) Kv
where: K v  lim sG(s) H ( s) : Velocity error constant

s 0
Example 4, p.173
187
Steady-state error
Steady-state error for a parabolic input:
t2
r t   t   Rs   3
1
2 s
1 1 1
ess _ a = lim s 3 . =
s®o s 1+ G(s)H(s) Ka
K
where: a  lim s 2
G( s) H ( s) : Acceleration error constant
s 0
Example 5, p.175
188
Given a system.
K
R(s) C(s)
s( s  2) 2
where K = 5
Find steady-state errors
189
Given a system.
K
R(s) C(s)
s( s  2) 2
If ess-v = 0.1, find K
190
Nyquist diagrams_________________________
191
Nyquist diagrams
The Nyquist diagram is a polar plot of the frequency response
of the system
On the Nyquist diagram the output, for a multi-amplitude sinusoidal input at
particular angular frequency, is specified by drawing a line of length equal
to the magnitude G( j ) at the phase angle  with the real axis.
Imaginary
R esponse at 
for G ( j )
G( j)
 Input
0 Real
192
Nyquist diagrams
In plotting Nyquist diagram there are four key points to be

represented on the diagrams:
1. The start of the plot where 0

2. The end of the plot where 
3. Where the plot crosses the real axis, i.e.   00 or  1800
4. Where it crosses the imaginary axes, i.e.    900
193
Nyquist diagrams
First-order systems:
Transfer functions is: G s   1
where  is const ant
s  1
 G j  
1
1  j
Magnitude:
G  j  
1
1   
2
Phase: j = 0 - arctan(wt)
194
Nyquist diagrams
( )
G jw =
1
j = 0 - arctan(wt)
( )
2
1+ wt
Nyquist Diagram
Where :   0  G( j)  1,   00 0.1
Where :     G( j)  0,   900 0
-0.1
Imaginary Axis
1 1
Where :    G( j)  ,   450 -0.2
 2 -0.3
-0.4
-0.5
-0.2 0 0.2 0.4 0.6 0.8 1 1.2

Real Axis
195
Nyquist diagrams
Second-order systems:
n2
Transfer functions is: G s   2
s  2 n s  n2
where : n is freely oscillate angular frequency
 is the damping ratio
Magnitude:
G  j  
1
1   /     2  /   
n
2 2
n
2
Phase:  2  / n  
   arctan  2
1   / n  
196
Nyquist diagrams
G  j  
1
1   /     2  /   
n
2 2
n
2
 2  / n  
Nyquist Diagram
1.5
   arctan  2
1
1   / n   0.5
-0.5
Imaginary Axis
-1
-1.5
-2
-2.5
-3
-3.5
-1 0 1 2 3 4 5
Real Axis
197
Given a system.
K
R(s) C(s)
s( s  2) 2
where K = 5
Plot Nyquist diagram
198
Nyquist diagrams
Nyquist diagrams using Matlab
nyquist(num,den)
grid on
title(‘ title…’)
199
Nyquist stability criterion
If the Open-loop system is stable then the Closed-loop

system will be stable
The system is stable If the

magnitude of phase angle of
1800 not exceed 1 then the
polar plot must not enclose 0
the -1 point on the real axis. -1   1800
Stable
Unstable
200
Example 12: Page 280
Nyquist diagram
201
Example 13: Page 282
202
Gain margin and Phase margin
Gain margin is defined as being the factor by which the
system gain, i.e. magnitude, can be increased before
instability occurs.
It is thus the amount by which the magnitude at 1800 has to
be increased to reach the critical value of 1.
1  Gain m arg in * G j 1800

In decibels
Gain m arg in  20 lg1  20 lg G j 1800  20 lg G j 1800
203
G j 1800
Gain m arg in  20 lg G j 1800
 If the Nyquist plot never crosses the negative real axis

then the gain margin is infinite.
 If the Nyquist plot passes through the negative real axis at

value less than 1 then the gain margin is positive.
204
G j 1800
 If the Nyquist plot passes through the axis at 1 then the gain
margin is zero.
 If the Nyquist plot passes through the negative real axis at

value greater than 1, i.e. the plot encloses the -1 point, then the
gain margin is negative.
205
Phase margin is defined

as the angle through
which the Nyquist plot
must be rotated in order Phase
margin
that the unity magnitude
point on the plot passes
G j  1
through the -1 point on the
real axis.
Example 14, page 283
206
Given a system.
K
R(s) C(s)
s( s  2) 2
where K = 5
Plot Nyquist diagram and find GM and PM
207
208
209
_____________________________________ Root locus analysis
210
Root locus analysis_______________________
The properties of the root locus can be derived from the
general closed-loop control system:
R(s) E(s)
+ KG(s)
- C(s)
B(s)
H(s)
Transfer function : Ms 

C(s) KG(s)

R(s) 1  KG(s).H(s)
211
________________________________________ Root locus analysis
The denominator becomes zero, so we call:

Fs  1  KG(s).H(s)  0
 KG(s).H(s)  1  1(2n  1).1800

 KG(s).H(s)  1
Thus:
 KG(s).H(s)  (2n  1).1800
The roots of denominator of a transfer function of a system,

the so-called poles, determine the general form of the
transient response of that system.
Root locus is a technique study relationship between
behaviour of systems and the position of their poles
212
10 Steps for plotting of a root locus:
1. Obtain the characteristic equation of the open-loop transfer

function for the system.
2. Determine the positions of the poles (n) and zeros. (m)
3. Determine the number of loci.

=> Root locus branch = max(poles, zeros)
=> Root loci start at the n_poles, where K=0
=> Root loci end at the m_zeros, where K   , if there are
more poles than zeros, the usual case, then m loci end at the m_zeros
and the remaining (n-m) loci end at infinity
4. Plot the loci symmetry on the real axis.
213
5. Determine the angles of the asymtotes:

(2l  1)
k  
nm
6. Obtain the intersection of the asymptotes with the real axis.

Center of gravity or Centriod of the asymtotes:

p1  p2  ...  pn   z1  z2  ...  z m 
nm
7. Obtain the intersection of the asymptotes with the imaginary axis.
putting s  j in characteristic equation and solve equation

or u sin g Routh array to find the lim iting of K that give stability
214
8. Determine the breakaway points:
- Breakaway points are used for where two or more loci meet at a point
and subsequently “break away” from that point along separate paths.
- The breakaway points occur at these point of which, for the
characteristic equation, dK/ds = 0
9. Obtain the angles of departures from complex points and the

angle of arrival at complex zeros:
  180  ( s  z1 )  ( s  z2 )  ...  ( s  zm ) 
 ( s  p1 )  ( s  p2 )  ...  ( s  pn )
10. Sketch the root loci
215
Example 1: Sketch the root loci for the system with open-
loop transfer function:
Gs 
K
s  1s  2s  3
216
Completed root loci plot
-3 -2 -1
0
-
1,42
217
Example 2: Sketch the root loci for the system with open-
loop transfer function:
K(s  1)
Gs 
s  2  3 js  2  3 j
218
Completed root loci plot
1990
-2+3j
-2 -1 0
-4,16
-2-3j
219
Root locus using Matlab
rlocus(num,den)
220
Homework:
Sketch the root loci for the system with open-loop
transfer function:
()
G s =
K
(
s s2 + 8s + 20 )
221
222
Example 9, page 222
223
Compensation according to the desired frequency response
224
Series compensation
225
Example:
The desired frequency response is shown in Fig. 1.
Given
Determine Gc(s)
R(s) + Gc(s) G(s) C(s) －20dB/dec

100
-
1 10
－40dB/dec
Fig.1
226
Example: 1
GH(s) 
s( s  1)
－20dB/dec
100 1005
GH(s) 
10
s( s  100)
－40dB/dec
Fig.1
227
Solution:
In terms of the desired frequency response we have:
10
G H d esi re ( s )  G c ( s ) G H ( s )  －20dB/dec
s ( 0 .0 1 s  1 ) 100
10
1 Fig.1 －40dB/dec
G H (s) 
s ( s  1)
GH desire ( s ) 10 1
Gc ( s)  
GH ( s ) s ( 0 .01s  1) s ( s  1)
( s  1)
 10 
( 0 .01s  1)
228
Parallel compensation
229
The configuration of the Parallel compensation
G’0(s) G’20(s)
R(s) C(s) R(s) C(s)
G 0 (s) G10 G 20
－－－－
GC GC
The basic Parallel compensators

G c (s) = a ® proportional(position) parallel compensation;
G c (s) = as[1 (ts +1)] ® differential(speed) parallel compensation;
G c (s) = as 2 [1 (ts +1)]
® 2th - differential(acceleration) parallel compensation;
230
Function of the feedback:
- Decrease the time constant of the encircled elements →
Quicken the response of the encircled elements－may be;
G’20(s)
R(s) C(s)
G10 G 20
For example: －－
GC
'
K 20 K K
G 20 ( s )  , G c ( s )    G 20
'
(s)  20
 ' 20
Ts  1 Ts  1  K 20 T s  1
T
T 
'
 , but also K 20
'
 K 20 /( 1  K 20 ) 
1  K 20
231
G’20(s)
R(s) C(s)
G10 G 20
For example: －－
GC
K 20 K 20
But if G c ( s )   s  '
G 20 (s)   '
Ts  1  K 20 s T s  1
T '  (T  K 20 )  , K 20  K 20
232
'
K 20 K 20 K 20
For example: G 20 ( s )  , G c ( s )    G 20 ( s ) 
'
 '
Ts  1 Ts  1  K 20 T s  1
T
T 
'
 , but also K 20'
 K 20 /( 1  K 20 ) 
1  K 20
K 20 K 20
But if G c ( s )   s  G 20 ( s ) 
'
 '
Ts  1  K 20 s T s  1
T '  (T  K 20 )  , K 20  K 20
- Impair (weaken) the influences of the disturbance to the

encircled elements.
- Make the performance of the encircled elements to be desired .
233
The design procedure of the parallel compensator
- Design the desired characteristics, such as the desired Bode
diagram, of the encircled elements in terms of the system’s
analysis.
- Choose the appropriate feedback compensators to get the
desired characteristics. G’20(s)
R(s) C(s)
G10 G 20
－－
Example: For the system shown GC
in Fig.1, G20=10/s2, the desired
G’20(jω) shown in Fig.2. Fig.1
determine the Gc. －40dB/dec
－20dB/dec 10
0.1 1
－40dB/dec
Fig.2
234
－40dB/dec
－20dB/dec 10
0.1 1
－40dB/dec
Fig.2
Solution:
235

Hệ thống Điều khiển tự động: (Automatic control systems)

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HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION

FACULTY OF ELECTRICAL AND ELECTRONIC ENGINEERING

Hệ thống Điều khiển tự động

PGS.TS. Trương Đình Nhơn

[3] “Automatic Control Systems,” B. C. Kuo.

[4] “Control Systems Engineering,” N. S. Nise.

2. Final examination (50%)

Control System – An interconnection of components forming a

Multivariable Control System

The first historical feedback system,

The float detects the water level and

1940s Frequency response methods made it possible to design linear

1950s Root-locus method due to Evans was fully developed

1960s State space methods, optimal control, adaptive control and

1980s Learning controls are begun to investigated and developed.

Present and on-going research fields. Recent application of modern

A three-axis control system for

Coordinated control system for a boiler–generator.

The Utah/MIT Dextrous Robotic Hand: A dextrous robotic hand having

The ongoing area of research

A feedback control system model of the national income.

Future evolution of control systems and robotics.

The basic ingredients of the system can be described by:

In more scientific terms, these three basic ingredients can be

Inputs (u) Output (c)

There are two basic forms of control system:

 Open-loop control system

 Closed-loop control system

Reference Actuating Control

Input (r) Signal (u) Controlled Variable (c)

Elements of an Open-loop control systems.

Input signal or command (r) applied to the controller, whose

Reference Actuating Control

Input (r) Signal (u) Controlled Variable (c)

Elements of an Open-loop control systems.

In simple cases, the controller can be an amplifier, mechanical

Set Temperature Temperature

Measuring temperature device

If this is a linear system, then the mathematical model is:

Where G is the constant of proportionality

Hence: steady  state value of 

The constant G is called the Transfer Function

In general, we can define the Transfer Function as the ratio of the

steady  state output

Input (r) u1 u2 Output (c)

Transfer function G  G1.G2.G3

 Electrical system building blocks:

Where C is the capacitance

d n c(t ) d n 1c(t ) d m r (t ) d m1r (t )

Take the Laplace transform on both sides of the equation,

The transfer function between r(t) and c(t) is given by:

Block Diagram is often used by control engineer to portray

Basic block diagram of a feedback control systems

H (s) :Feedback path transfer function

What is the transfer function of the system?

What is the output (C) of the system?

The output is:

A signal flow graph may be defined as a graphical means of

When constructing a signal flow graph, junction points or

D = 1- (sum of all individual loop gains) + (sum of gain productsof all

-y1 -z2 -y3

The differential equations of a lumped linear network can be written in

the state equation of the system