ME G511 Lect 26 Manipulator Control Nov 2018

ME G511
Mechanisms & Robotics

BITS Pilani Dr. Y. V. D. Rao
Hyderabad Campus
BITS Pilani
Hyderabad Campus
ME G511
Manipulator Control
CONTROL OF MANIPULATORS
 A robotic manipulator is required to carry out a specific

task by moving the end effector accurately and
repeatedly.
 In control of a manipulator, the joint location for various
times is input to a control system and the manipulator
end-effector is moved along the decided or designed
trajectory.
 Control of manipulator requires a mathematical model
and related circuitry.
Desired Joint Control Actual Joint
Manipulator
Parameters 𝒒, 𝒒,ሶ 𝒒ሷ System motion 𝒒, 𝒒,ሶ 𝒒ሷ
Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Mathematical model is obtained using physical laws
governing robot dynamics and associated devices.
 Measuring the outputs from manipulator by sensors, and
correcting the input to the control system based on
outputs is known intelligence of the system.
 Robot performs two types of tasks.
 Contact type tasks and non-contact type tasks.
 Non-contact type tasks involve manipulation of the end-
effector in space to do the work.
 In contact type task the end effector makes contact, i.e.
interacts, with the objects to be manipulated.
 A control system must control the manipulation of the
end effector, but also the forces that are applied on the
objects handled.
 Actuators at various joints power and drive the joints by
applying a force or torque.
 The required commands for the actuators of the
manipulator are provided by the control system.
 Commands are generated by the control system based
on the control set points, i.e. input parameters like joint
displacement histories.
 The final (actual) joint and end effector position and their
derivatives are compared with input values.
 The error signals are used to generate the control
actions.
 The control system may be open loop type or closed loop
type.
Desired Joint / Actual joint / End-
End effector Control
Manipulator effector motion
Parameters System
𝒒, 𝒒,ሶ 𝒒ሷ
open loop Control System

Parameters System
Feed Back
Closed loop Control System
 Control of manipulator motions and end-effector forces
require knowledge of the forces and torques that must be
exerted at the joints.
 Hence each joint is controlled by a position servo.
 Control system is a simple one if one joint must be
moved at a time and slowly.
 Then control system produces a joint actuator forces /
torques those are proportional to change in joint-variable
(displacement).
 To impart fast motions so that manipulator performance
is better, all the joints must move simultaneously.

 In fast-motions and due to simultaneous joint motions,
coupled dynamic forces are induced making the
dynamic forces are induced making the dynamic model a
non-linear one.
 A typical robotic control architecture for 𝑛 - dof
manipulator consists of a master control system that
controls 𝑛 joints actuators.
Joint 1 Joint 1 𝒒𝟏 , 𝒒ሶ 𝟏 , 𝒒ሷ 𝟏
Controller
Joint 2 Joint 2 𝒒𝟐 , 𝒒ሶ 𝟐 , 𝒒ሷ 𝟐
Master Controller
Control
System
Joint n
Joint n 𝒒𝒏 , 𝒒ሶ 𝒏 , 𝒒ሷ 𝒏
Controller
 Master controller sends corresponding set point to each
joint controller.
OPEN LOOP CONTROL SYSTEM
 The actuator torque is computed using the dynamic
model of the manipulator.
 𝝉𝒊 = σ𝒋 𝒎𝒊𝒋 𝒒ሷ 𝒋 + σ𝒋 σ𝒌 𝒉𝒊𝒋𝒌 𝒒ሶ 𝒋 𝒒ሶ 𝒌 + 𝑮𝒊
 However, accurate computation of 𝒎𝒊𝒋 , 𝒉𝒊𝒋𝒌 and 𝑮𝒊 is
difficult.
 Also while developing the dynamic model effects of
friction, backlash etc. at the joints and external
disturbances are not taken into consideration.
 It is already stated if these effects are included it
becomes very difficult model it and the model is highly
non-linear.
 Hence open loop control has limited applications and
used in where in precision is not important.

Parameters System
Feed Back
Closed loop Control System

CLOSED LOOP CONTROL SYSTEMS
 All the limitations in open-loop control system like, non-
linear effects in accuracies are overcome using closed-
loop control system.
 At every desired instant (or continuously) the actual joint
position and velocities are measured by sensors
(encoders, tachometers etc.) placed at the joints.
 Using these measured quantities error between set
values and actual values is computed.
 A suitable control law then computers the joint
torques/forces required as a function of these servo
errors using a dynamic model.
 The interactive effects like inertia forces, Coriolis forces,
centrifugal forces vary continuously with time.
 Computing these effects on dynamic model is complex
and time consuming.
 Hence the actual real time control becomes extremely
difficult.
 Block diagram of typical control systems is shown in
figure below.
Input Power Output

Comparator Controller Actuator Manipulator
Amplifier
Feed Back
Sensor
elements

 It consists of actuators, comparator (a small computer),
DAC, controller to implement the control strategies.
 Amplifier to boost and transform the small command
signals to actuate the actuators at joints.
 A sensor to detect the position and position of joint and
ADC in feedback path.

Input Output
Comp Cont DAC Amp Act Manip
ADC Sensor
 Performance and range of applications of a manipulator

is influenced by the control scheme followed and how it
is implemented.
 Performance of the manipulator and control strategy
used are influenced by the configuration and mechanical
design.
 Hardware and software of a point to point control differs
from continuous path control.
 Control system for anthropomorphic manipulator is different from
that for Cartesian manipulator.
 Control system are linear or non-linear.
Linear control schemes.
 In any control system, the controllers react to error signal and
provides an input to the actuators.
 There are number of ways the controller reacts to error signal.
 They are ….
 On/off or two step control
 Proportional control (P)
 Derivative control (𝑫)
 Integral control (𝑰)
 Other modes which are combinations of modes 𝑫, 𝑷, 𝑰

SECOND ORDER LINEAR SYSTEMS
Input 𝒙 System Output 𝒚
 If this system is a second order system with inherent

qualities for the same.
 The relationship between output 𝒚 and input 𝒙 is
described by the differential equation.
𝒅𝟐 𝒚 𝒅𝒚
 𝒂𝟐 𝒅𝒕𝟐 + 𝒂𝟏 𝒅𝒕 + 𝒂𝟎 𝒚 = 𝒃𝟎 𝒙
 Where 𝒂𝒊 and 𝒃𝒊 are constants.

 If any function is 𝒇(𝒕), then 𝓛 𝒇(𝒕) = 𝑭(𝒔).
∝
 𝑭 𝒔 = 𝓛 𝒇(𝒕) = ‫𝒆 )𝒕(𝒇 𝟎׬‬−𝒔𝒕 𝒅𝒕
 where 𝒔 is a complex quantity called a subsidiary variable
 And 𝓛 𝒚(𝒕) = 𝒀(𝒔).
 ሶ
𝓛 𝒚(𝒕) = 𝒔𝒀 𝒔 −𝒀 𝟎
 ሷ
𝓛 𝒚(𝒕) = 𝒔𝟐 𝒀 𝒔 − 𝒔 𝒀 𝟎 − 𝒀ሶ 𝟎
 𝓛 𝐱(𝒕) = 𝑿(𝒔)
 𝒂𝟐 𝒅𝒕𝟐 +
𝒂𝟏 𝒅𝒕 + 𝒂𝟎 𝒚 = 𝒃𝟎 𝒙
 Laplace transform of this equation with initial condition is
 𝒂𝟐 𝒔𝟐 𝒀 𝒔 + 𝒂𝟏 𝒔𝒀 𝒔 + 𝒂𝟎 𝒀 𝒔 = 𝒃𝟎 𝑿 𝒔
 Rearranging the equation 𝒂𝟐 𝒔𝟐 𝒀 𝒔 + 𝒂𝟏 𝒔𝒀 𝒔 + 𝒂𝟎 𝒀 𝒔 =
𝒃𝟎 𝑿 𝒔 ,
𝒀 𝒔 𝒃𝟎
 = = 𝑮(𝒔)
𝑿 𝒔 𝒂𝟐 𝒔𝟐 +𝒂𝟏 𝒔+𝒂𝟎

Transfer function
Input 𝒙 TF Output 𝒚
 The functional relation between output and input is

known as Transfer function, (TF).
𝒐𝒖𝒕𝒑𝒖𝒕
 That is 𝐓𝐅 = = 𝑮(𝒔)
𝑰𝒏𝒑𝒖𝒕
𝒀 𝒔
 𝑮(𝒔) = 𝑿 𝒔
An unrealistic dream
 Why not simply set G(s)=Y(s)/R(s)=1?
 Transfer function represent the physical system or
process.
 Therefore G(s)=1 is unrealizable.

 Example 1: A potentiometer (pot) is used as a position
sensor in a robotic manipulator. The Pot is configured
such that each of 𝟑𝟎𝟎 rotation yields 𝟏𝟎 volts. Find the
transfer function of the pot.
 Input to the system is rotation in degrees and output

from the system is volts.
𝒀 𝒔 𝟏𝟎 𝑽 𝑽
 𝑻𝑭 = 𝑮 𝒔 = = = 𝟎. 𝟑𝟑𝟑
𝑿 𝒔 𝟑𝟎𝟎 𝒅𝒆𝒈

 Example 2: For a temperature measuring sensor, the
input is temperature in degrees Fahrenheit, voltage is
output in volts. The sensor transfer function is given
𝑽
as 𝟎. 𝟎𝟏 . Find the sensor temperature if output is
𝒅𝒆𝒈 𝑭
𝟔𝑽.
𝑽 𝒐𝒖𝒕𝒑𝒖𝒕 𝑽𝒐𝒍𝒕𝒔
 𝑮 𝒔 = 𝟎. 𝟎𝟏 = =
𝒅𝒆𝒈 𝑰𝒏𝒑𝒖𝒕 𝑻𝒆𝒎𝒑
𝑽𝒐𝒍𝒕𝒔 𝟔𝑽
 𝑻𝒆𝒎𝒑𝒆𝒓𝒂𝒕𝒖𝒓𝒆 = = = 𝟔𝟎𝟎𝟎 𝑭
𝑮(𝒔) 𝟎.𝟎𝟏𝑽/𝒅𝒆𝒈𝑭

 Example 3: Derive the Transfer Function 𝑮(𝒔) for the differential
equation, 𝒂𝟐 𝟐 + 𝒂𝟏 + 𝒂𝟎 𝒚 = 𝒃𝟎 𝒙, where 𝒚(𝒕) is output and 𝒙(𝒕) is
𝒅𝒕 𝒅𝒕
input.
 Applying Laplace transform to the differential equation, we get
 𝒂𝟐 𝒔𝟐𝒀 𝒔 + 𝒂𝟏 𝒔𝒀 𝒔 + 𝒂𝟎 𝒀 𝒔 = 𝒃𝟎 𝑿 𝒔 .
 Or 𝒂𝟐 𝒔𝟐 + 𝒂𝟏 𝒔 + 𝒂𝟎 𝒀 𝒔 = 𝒃𝟎 𝑿 𝒔 .
𝒀 𝒔 𝒃𝟎
 Hence =
𝑿 𝒔 𝒂𝟐 𝒔𝟐 +𝒂𝟏 𝒔+𝒂𝟎

 Example 4: A potentiometer as a position transducer has a total
resistance of 𝟖𝑲𝛀 and a maximum displacement of 𝟓 𝒄𝒎. Power
dissipation at maximum displacement is 𝟓𝟎𝒎. Determine the output
voltage from the transducer for a displacement of 𝟐 𝒄𝒎.
Power dissipation at maximum displacement = 𝟓𝟎𝒎𝑾
Potentiometer total resistance = 𝟖𝑲𝛀 Maximum displacement = 𝟓 𝒄𝒎
Displacement given = 𝟐 𝒄𝒎 Power dissipation in potentiometer resistance 𝐏 = 𝑽𝑰
Voltage 𝐕 = 𝑰𝑹 Therefore, Voltage across the resistance, 𝑽𝟐 = 𝑷𝑹 Or 𝑽 = 𝑷𝑹
𝑽= 𝟓𝟎 ∗ 𝟏𝟎−𝟑 ∗ 𝟖 ∗ 𝟏𝟎𝟑 = 𝟒𝟎𝟎 = 𝟐𝟎𝑽

𝟐 𝒄𝒎
Voltage across the resistance at a displacement of 2 cm is 𝑽= ∗ 𝟐𝟎𝑽 = 𝟖𝑽
𝟓 𝒄𝒎

 Example: What is the change in resistance of a metal wire strain gauge with a
resistance of 100 Ω, if the strain of the element is 𝟏𝟎−𝟑 ? What is strain if the
change in resistance is 𝟎. 𝟏𝟓 𝛀?
 For metal wire strain gauge, 𝑮 = 𝟐.
 Hence with the given data change in resistance ∆𝑹 = 𝑮 ∗ 𝑹 ∗ 𝜺
 That is we get ∆𝑹 = 𝟐 ∗ 𝟏𝟎𝟎 ∗ 𝟏𝟎−𝟑 = 𝟎. 𝟐 𝛀
∆𝑹 𝟎.𝟐
 Therefore, fractional change in resistance = = 𝟐 ∗ 𝟏𝟎−𝟑
𝑹 𝟏𝟎𝟎
∆𝑹
 When change in resistance is ∆𝑹 = 𝟎. 𝟏𝟓 𝛀, from the relation = 𝑮𝜺
𝑹
∆𝑹 𝟎.𝟏𝟓
 We get 𝜺 = = = 𝟕. 𝟓 ∗ 𝟏𝟎−𝟒 = 𝟎. 𝟎𝟎𝟎𝟕𝟓
𝑮𝑹 𝟐∗𝟏𝟎𝟎

Series System
 For series of components the net Transfer Function TF

is the product of individual TFs in the series as out put
from one component is input for another component
𝒀𝟏 (𝒔) 𝒀𝟐 (𝒔) 𝒀𝟑 (𝒔) 𝒀𝒏−𝟏 (𝒔)

𝑻𝑭𝟏 = 𝑮𝟏 𝑻𝑭𝟐 = 𝑮𝟐 𝑻𝑭𝟑 = 𝑮𝟑 𝑻𝑭𝒏 = 𝑮𝒏
𝑿(𝒔) 𝒀(𝒔)
𝒀(𝒔)
Overall TF 𝑮(𝒔) = = 𝑮𝟏 ∗ 𝑮𝟐 ∗ 𝑮𝟑 ∗ 𝑮𝟒 … . .∗ 𝑮𝒏
𝑿(𝒔)

Parallel System
𝑼𝟏 (𝒔)
𝑮𝟏 (𝒔)
𝑬(𝒔) 𝑼(𝒔)
𝑮𝟐 (𝒔)
𝑼𝟐 (𝒔)
 𝑼𝟏 𝒔 = 𝑮𝟏 𝒔 ∗ 𝑬 𝒔  𝑼 𝟐 𝒔 = 𝑮𝟐 𝒔 ∗ 𝑬 𝒔
 𝑼 𝒔 = 𝑼𝟏 𝒔 + 𝑼𝟐 𝒔
 𝑼 𝒔 = 𝑮𝟏 𝒔 ∗ 𝑬 𝒔 + 𝑮𝟐 𝒔 ∗ 𝑬(𝒔)
 𝑼 𝒔 = 𝑮𝟏 𝒔 + 𝑮𝟐 𝒔 𝑬(𝒔)
𝑼 𝒔
𝑮 𝒔 = = 𝑮𝟏 𝒔 + 𝑮𝟐 (𝒔)  𝑮 𝒔 = 𝑮𝟏 𝒔 + 𝑮𝟐 (𝒔)
𝑬 𝒔
On-off or two position control
 This is the simplest form of control action.

 The action is simply like a switch.
 The output of the controller has two levels ON and OFF.
 The control signal 𝒖(𝒕) is either maximum or minimum.
 That is the output is either 𝟏𝟎𝟎% 𝑶𝑵 or 𝟏𝟎𝟎% 𝑶𝑭𝑭.
 These two levels are generated based on error signal.
 If the error signal is greater than 𝒛𝒆𝒓𝒐 the 𝑶𝑵 level is generated.
 And if the error signal is less than 𝒛𝒆𝒓𝒐 then the 𝑶𝑭𝑭 level is
generated.
 𝒖 𝒕 = 𝑼𝟏 max value for 𝒆 𝒕 > 𝟎 error is positive.

 𝒖 𝒕 = 𝑼𝟐 min value for 𝒆 𝒕 < 𝟎 error is negative.
Lecture 30 DE ZG/ES ZG561 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Mathematically it can be written as 𝒚𝒄 = 𝑪𝑶𝑵 for 𝐞(𝒕) > 𝟎
 And 𝒚𝒄 = 𝑪𝑶𝑭𝑭 for 𝐞 𝒕 < 𝟎 .
 Where, 𝒚𝒄 is the controller output
 𝐞(𝒕) is the error signal
 𝑪𝑶𝑵 and 𝑪𝑶𝑭𝑭 are the two control levels for 𝐞(𝒕) > 𝟎 and 𝐞 𝒕 < 𝟎
respectively.
 Shown in figure below is the block diagram of the on-off controller.
𝒚𝒄 𝒕
𝒖 𝒕 𝒆 𝒕 𝑪𝑶𝑵 𝒚 𝒕
+ Plant
- 𝑪𝑶𝑭𝑭
 Mostly, thermostat-based heating system uses an ON-OFF type
controller.
 When the output is lower than the set point the controller is turned ON
 That is provides an ON output.
 And once the output is more than the set point the controller provides
OFF output.
 The turn- ON and turn- OFF in many situations are deliberately made
to differ by a small amount, known as the hysteresis or dead-band as
shown in figure below. Dead Band
𝑪𝑶𝑵
𝒆 𝒕 𝒚𝒄 𝒕
𝑪𝑶𝑭𝑭
 This is done to prevent switching of the controller unnecessarily due
to noise when the output is nearly the set point.
 The hysteresis is designed into the control action between the points
at which the control output switches from OFF to ON.
 This designed in hysteresis prevents the output from switching from
OFF to ON too rapidly.
 If the hysteresis is set too narrow, rapid switching will occur.
 Therefore, the hysteresis should be set so that there is sufficient time
delay between the ON and OFF modes of the outputs.
 The sensitivity of the ON-OFF controller depends on the hysteresis.
PROPORTIONAL CONTROLLER
 Proportional Control means that the plant input is changed in direct

proportion to the error, 𝒆(𝒕).
 This controls the output so that the manipulated variable and the error
has a proportional relation.
 The controller sets the manipulated variable in proportion to the
difference between the set point and the measured variable.
 The variable to be controlled may be like speed of a motor.
 The larger is the difference between the set point and the measured
variable the greater is the change in the manipulated variable.
 The coefficient of deviation is called proportional gain, 𝑲𝒑 and is
mathematically written as
𝑪𝒚 (𝑺)
 𝑲𝒑 = 𝑮𝒄 𝒔 =
𝑬(𝑺)
 Where, 𝑮𝒄 𝒔 is the transfer function of the proportional controller

 𝑪𝒚 (𝑺) is the Laplace transform of the output of the controller 𝒄𝒚 (𝒕)
 and 𝑬(𝑺) is the Laplace transform of the error signal, 𝒆(𝒕).
 A typical proportional controller controlling a plant like in case of
control of speed of a typical electrical motor using the feedback loop
is shown in figure below.
Desired Speed 𝑬 𝑺 Proportional 𝒀𝒄 𝑺 𝒀 𝑺

𝑼 𝑺 + Controller Plant
- Error
Set Point 𝑲𝒑 Controller Output
Output Speed
Measured and
manipulated
Variable
 The advantage of proportional controller is that it is relatively easy to
implement.
 However, the disadvantage is that there always involves an offset in
the output response causing difference between the set-point and the
actual output.
 Other disadvantage of proportional controller is the overshoot
problem that arises when a proportional controller is used at high
gain.
 Proportional control
 𝒖 𝒕 ∝𝒆 𝒕  𝒖 𝒕 = 𝒌𝑷 𝒆 𝒕 𝐆 𝐬 =
𝑼(𝒔)
= 𝒌𝑷
𝑬(𝒔)
 Where 𝒌𝑷 is known as proportional gain
 Block diagram is 𝒌𝑷
Set Point 𝑬(𝒔) 𝑼(𝒔)

+ 𝒌𝑷
-
Feed Back

INTEGRAL CONTROLLER
 The block diagram of the integral controller is shown in figure.
 The controller controls the output by integrating the error signal.
𝟏 𝒕
 That is, 𝒄𝒚 𝒕 = ‫𝒆 ׬‬ 𝝉 𝒅𝝉
𝑻𝑰 𝟎
 Where, 𝒄𝒚 𝒕 is the output of the controller.

 𝒆 𝒕 is error signal and 𝑻𝑰 is called the integral time.
Desired Speed 𝑬 𝑺 Controller Output

Integral Controller 𝒀 𝑺
𝑼 𝑺 + 𝑪𝒚 𝑺 𝑲𝑰
- Error
Set Point 𝑮𝑰𝑪 𝑺 = = Output Speed
𝑬(𝑺) 𝒔
Feedback Loop
 The integral correction of output is performed by accumulating the
deviation in accordance with time elapsed.
𝟏 𝒕
 The equation 𝒄𝒚 𝒕 = ‫𝒆 ׬‬ 𝝉 𝒅𝝉 can also be written in transfer
𝑻𝑰 𝟎
function form as given below.

𝑪𝒚 𝑺 𝑲𝑰
 𝑮𝑰𝑪 𝑺 = =
𝑬(𝑺) 𝒔
 Where, 𝑮𝑰𝑪 𝑺 is the transfer function of the integral controller, which is the
ratio of the Laplace transform of the output to the Laplace transform of the
input (the error signal) of the integral controller.
𝟏
 𝑲𝑰 = , is called the integral gain which is the reciprocal of the integral time.
𝑻𝑰
 The offset in the output, and hence the steady-state performance of
the system can be improved by employing integral control action.
 But the integral action may lead to oscillatory output resulting in
poor stability.
Integral control
𝒅𝒖 𝒕
 ∝𝒆 𝒕
𝒅𝒕
 𝒖 𝒕 ∝ ‫𝒕𝒅 𝒕 𝒆 ׬‬  𝒖 𝒕 = 𝒌𝑰 ‫𝒕𝒅 𝒕 𝒆 ׬‬
 Where 𝒌𝑰 is known as proportional gain
𝑬 𝒔 𝒌𝑰 𝑼(𝒔) 𝒌𝑰
 𝑼 𝒔 = 𝒌𝑰 𝒔
= 𝒔
𝑬 𝒔  𝐆(𝐬) = 𝑬(𝒔) = 𝒔
𝑬(𝒔) 𝒌𝑰 𝑼(𝒔)
 Block diagram is
𝒔

+ 𝒌𝑰
-
𝒔
Lecture 26 FeedME
Back
G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
DERIVATIVE CONTROLLER
 Derivative controller controls the plant by providing the control signal

which is the derivative of the error signal.
 The transfer function of the controller can be written as
𝑪𝒚 𝑺
 𝑮𝑫 𝑺 = = 𝑲𝑫 𝒔
𝑬(𝑺)
 Where 𝑲𝑫 is the constant of proportionality, usually referred to as

derivative time, or simply derivative gain.
 The derivative action improves the transient performance of the

plant.
 However, derivative control has poor steady-state performance.
Derivative control
𝒅𝒆 𝒕
𝒖 𝒕 ∝ 𝒅𝒕
 𝒖 𝒕 ∝ 𝒆(𝒕)
ሶ  𝒖 𝒕 = 𝒌𝑫 𝒆ሶ 𝒕
 Where 𝒌𝑫 is known as derivative gain
𝑼(𝒔)
 𝑼 𝒔 = 𝒌𝑫 𝒔𝑬 𝒔 𝐆 𝐬 = 𝑬(𝒔)
= 𝒌𝑫 𝒔
 Block diagram is 𝒌𝑫 𝒔

+ 𝒌𝑫 𝒔
-
Feed Back
PROPORTIONAL-PLUS-INTEGRAL CONTROLLER
 In short, the proportional-plus-integral controller is referred to as PI

controller.
 The PI controller controls the plant by providing the control signal
which is the combination of proportional and integral action over the
error signals.
 As stated earlier, the integral control improves the steady-state
performance.
 On the other hand, the integral action may lead to oscillatory output
and hence has poor stability which is not really desirable.
 Combining proportional and integral action the two constants such
as 𝑲𝑷 and 𝑲𝑰 can be adjusted in order to optimize the system
performance or the output response according to the requirement.
 The transfer function of the PI controller is
𝑪𝒚 𝑺 𝑲𝑰 𝟏
 𝑮𝑷𝑰 𝑺 = = 𝑲𝑷 𝟏 + = 𝑲𝑷 𝟏 +
𝑬(𝑺) 𝒔 𝑻𝑰 𝒔
Proportional plus integral control
 𝒖 𝒕 ∝ 𝒆 𝒕 + ‫𝒕𝒅 𝒕 𝒆 ׬‬
 𝒖 𝒕 = 𝒌𝑷 𝒆 𝒕 + 𝒌𝑰 ‫𝒕𝒅 𝒕 𝒆 ׬‬
𝒌𝑰
 𝑼 𝒔 = 𝒌𝑷 𝑬 𝒔 + 𝒔
𝑬 𝒔
𝒌𝑰
 𝑼 𝒔 = 𝒌𝑷 + 𝒔
𝑬 𝒔
𝒌𝑷
 Let 𝑻𝑰 =
𝒌𝑰
𝒌𝑰 𝟏
 𝑼 𝒔 = 𝒌𝑷 + 𝒌 𝑬 𝒔 = 𝒌𝑷 + 𝒌 𝑬 𝒔
𝒔𝒌𝑷 𝑷 𝒔𝑻𝑰 𝑷

𝒌 𝟏
 𝑼 𝒔 = 𝒌𝑷 + 𝒔𝒌𝑰 𝒌𝑷 𝑬 𝒔 = 𝒌𝑷 + 𝒔𝑻 𝒌𝑷 𝑬 𝒔
𝑷 𝑰
𝟏𝒌 𝟏
 𝑼 𝒔 = 𝒌𝑷 + 𝒔 𝑻𝑷 𝑬 𝒔 = 𝒌𝑷 𝟏 + 𝒔𝑻 𝑬 𝒔
𝑰 𝑰
𝑼(𝒔) 𝟏
𝐆 𝐬 = 𝑬(𝒔)
= 𝒌𝑷 𝟏 + 𝒔𝑻
𝑰
𝑬(𝒔) 𝟏 𝑼(𝒔)
 Block diagram is 𝒌𝑷 𝟏+
𝒔𝑻𝑰
Set Point 𝑬(𝒔) 𝟏 𝑼(𝒔)

+
- 𝒌𝑷 𝟏+
𝒔𝑻𝑰
Feed Back
PROPORTIONAL-PLUS-DERIVATIVE CONTROLLER
 Proportional-Plus-Derivative Controller is commonly abbreviated to

PD Controller.
 The stability and hence the performance of the system can be

improved by employing derivative action along with proportional
action into the control system.
 Adding a term proportional to the time-derivative of the error signal
can take the edge off the overshoot problems that arise when a
proportional controller is used at high gain.
 The transfer function of the PD controller is
𝑪𝒚 𝑺
 𝑮𝑷𝑫 𝑺 = = 𝑲𝑷 𝟏 + 𝑲𝑫 𝒔
𝑬(𝑺)
Proportional plus differential control
𝒅𝒆 𝒕
𝒖 𝒕 ∝ 𝒆 𝒕 + 𝒅𝒕
 𝒖 𝒕 = 𝒌𝑷 𝒆 𝒕 + 𝒌𝑫 𝒆ሶ 𝒕
 𝑼 𝒔 = 𝒌𝑷 𝑬 𝒔 + 𝒌𝑫 𝒔𝑬 𝒔
 𝑼 𝒔 = 𝒌𝑷 + 𝒌𝑫 𝒔 𝑬 𝒔
𝒌𝑫
 𝑼 𝒔 = 𝒌𝑷 𝟏 + 𝒔 𝑬 𝒔
𝒌𝑷
 𝑼 𝒔 = 𝒌𝑷 𝟏 + 𝑻𝑫 𝒔 𝑬 𝒔
𝒌𝑫
 Where 𝑻𝑫 = is the time derivative
𝒌𝑷
𝑼(𝒔)
𝐆 𝐬 = = 𝒌𝑷 𝟏 + 𝑻𝑫 𝒔
𝑬(𝒔)
 Block diagram is
𝒌𝑷 𝟏 + 𝑻𝑫 𝒔

+ 𝒌𝑷 𝟏 + 𝑻𝑫 𝒔
-
Feed Back

PROPORTIONAL-PLUS-INTEGRAL-PLUS-DERIVATIVE COONTROLLER
 Proportional-plus-integral-plus-derivative controller is popularly

known as PID controller.
 This is a method, where the reachability can be addressed
effectively and efficiently.
 The transfer function of the PID controller is
𝑪𝒚 𝑺 𝑲𝑰
 𝑮𝑷𝑰𝑫 𝑺 = = 𝑲𝑷 + + 𝑲𝒅 𝒔
𝑬(𝑺) 𝒔
 Where, 𝑲𝑷 , 𝑲𝑰 and 𝑲𝑫 are called proportional, integral and derivative

gains of the controller, respectively.
 These gains are also called PID parameters.
Proportional plus integral plus derivative control
𝒅𝒆 𝒕
 𝒖 𝒕 ∝ 𝒆 𝒕 + ‫ 𝒕𝒅 𝒕 𝒆 ׬‬+ 𝒅𝒕
 𝒖 𝒕 = 𝒌𝑷 𝒆 𝒕 + 𝒌𝑰 ‫ 𝒕𝒅 𝒕 𝒆 ׬‬+ 𝒌𝑫 𝒆(𝒕)
ሶ
𝒌𝑰
 𝑼 𝒔 = 𝒌𝑷 𝑬 𝒔 + 𝑬 𝒔 + 𝒌𝑫 𝒔𝑬 𝒔
𝒔
𝒌𝑰 𝒌
 𝑼 𝒔 = 𝒌𝑷 + 𝒔
+ 𝒌𝑫 𝒔 𝑬 𝒔 = 𝒌𝑷 + 𝒔𝑻𝑷 + 𝒌𝑷 𝒔𝑻𝑫 𝑬 𝒔
𝑰
𝑼 𝒔 𝟏
𝐆 𝐬 = = 𝒌𝑷 𝟏 + + 𝒔𝑻𝑫
𝑬 𝒔 𝒔𝑻𝑰

𝑬(𝒔) 𝟏 𝑼(𝒔)
 Block diagram is 𝒌𝑷 𝟏+ + 𝒔𝑻𝑫
𝒔𝑻𝑰
Set Point 𝑬(𝒔) 𝟏 𝑼(𝒔)

+ 𝒌𝑷 𝟏+ + 𝒔𝑻𝑫
- 𝒔𝑻𝑰
Feed Back
𝟏
 𝐆 𝐬 = 𝒌𝑷 𝟏 + 𝒔𝑻 + 𝒔𝑻𝑫
𝑰
𝟏+𝒔𝑻𝑰 +𝒔𝟐 𝑻𝑫 𝑻𝑰
𝐆 𝐬 = 𝒌𝑷 𝒔𝑻𝑰

 Shown in figure below is the block diagram of a PID controller.
𝑲𝒑
+ Controller Output
Desired Speed 𝑬 𝑺 𝑲𝒊 + 𝒀 𝑺
𝑼 𝑺 +
- 𝒔
Set Point Error + Output Speed
𝑲𝒅 𝒔
Feedback Loop
 Feed back element in a closed loop system.
Comparator
𝑹(𝒔) + 𝑮(𝒔)
-
Summing Point
Branch Point
𝑯(𝒔)
Feed Back Element
𝑩(𝒔) 𝑼(𝒔)
𝑹(𝒔) 𝑬(𝒔) 𝑬(𝒔) 𝑼(𝒔)
+
- 𝑮(𝒔)
𝑯(𝒔)
𝑩(𝒔)
Feed Back Element
𝑬 𝒔 =𝑹 𝒔 −𝑩 𝒔 𝑼 𝒔 =𝑮 𝒔 𝑬 𝒔
𝑩 𝒔 =𝑯 𝒔 𝑼 𝒔

OPEN LOOP TRANSFER FUNCTION
The ratio of feedback signal 𝑩(𝒔) to the error signal 𝑬(𝒔)

is known as open loop transfer function.
𝑩(𝒔)
 Open loop TF, 𝑮(𝒔) = 𝑬(𝒔)
𝑹(𝒔) + 𝑮(𝒔) 𝑩 𝒔 =𝑯 𝒔 𝑼 𝒔
-
𝑩(𝒔)
𝑼 𝒔 =𝑮 𝒔 𝑬 𝒔
𝑯(𝒔)
𝑩 𝒔 𝑼 𝒔 𝑯 𝒔 𝑮 𝒔 𝑬 𝒔 𝑯 𝒔
𝑮 𝒔 = = = =𝑮 𝒔 𝑯 𝒔
𝑬 𝒔 𝑬 𝒔 𝑬 𝒔

Feed forward Transfer function
 The ratio of output 𝑼(𝒔) to the error signal 𝑬(𝒔) is called

feed forward transfer function.
𝑼 𝒔 𝑬 𝒔 𝑮 𝒔
 Feed Forward TF, = 𝑬 = = 𝑮(𝒔)
𝒔 𝑬 𝒔
 If 𝑯(𝒔) = 𝟏 then forward 𝑻𝑭 and open loop 𝑻𝑭 are the

same.
𝑬(𝒔) 𝑬(𝒔) 𝑼(𝒔)

𝑹(𝒔) + 𝑮(𝒔) 𝑹(𝒔) + 𝑮(𝒔)
- -
𝑩(𝒔) 𝑩(𝒔)
𝑯(𝒔) 𝟏
𝑼 𝒔 =𝑮 𝒔 𝑬 𝒔
Closed loop Transfer function
𝑬(𝒔) 𝑼 𝒔 =𝑮 𝒔 𝑬 𝒔
𝑹(𝒔) 𝑼(𝒔)
+ 𝑮(𝒔) 𝑬 𝒔 =𝑹 𝒔 −𝑩 𝒔
-
𝑩(𝒔) 𝑩 𝒔 =𝑯 𝒔 𝑼 𝒔
𝑯(𝒔)
𝑬 𝒔 = 𝑹 𝒔 − 𝑩 𝒔 = 𝑹 𝒔 − 𝑯 𝒔 𝑼 𝒔 = 𝑹 𝒔 − 𝑯 𝒔 𝑮 𝒔 𝑬(𝒔)
𝑹 𝒔 =𝑬 𝒔 +𝑯 𝒔 𝑮 𝒔 𝑬 𝒔 = 𝑬 𝒔 𝟏+𝑯 𝒔 𝑮 𝒔
𝑼(𝒔)
From 𝑼 𝒔 = 𝑮 𝒔 𝑬 𝒔 𝑬 𝒔 =
𝑮(𝒔)
𝑼(𝒔)
𝑹 𝒔 =𝑬 𝒔 𝟏+𝑯 𝒔 𝑮 𝒔 becomes 𝑹 𝒔 = 𝟏+𝑯 𝒔 𝑮 𝒔
𝑮(𝒔)

𝑼(𝒔) 𝑮 𝒔 𝑹(𝒔)
𝑹 𝒔 = 𝟏+𝑯 𝒔 𝑮 𝒔 𝑼 𝒔 =
𝑮(𝒔) 𝟏+𝑯 𝒔 𝑮 𝒔
𝑼(𝒔) 𝑮 𝒔
𝑻𝑭 = =
𝑹(𝒔) 𝟏+𝑯 𝒔 𝑮 𝒔
 This ratio of output 𝑼(𝒔) to the reference signal 𝑹(𝒔) is
known as closed loop transfer function.
Cascade System
𝑻(𝒔) 𝑻 𝒔 = 𝑮𝟏 𝒔 ∗ 𝑬(𝒔)
𝑮𝟏 (𝒔) 𝑮𝟐 (𝒔)
𝑼 𝒔 = 𝑮𝟐 𝒔 ∗ 𝑻 𝒔 = 𝑮𝟐 𝒔 ∗ 𝑮𝟏 𝒔 ∗ 𝑬(𝒔)
𝑼 𝒔
𝑮 𝒔 = = 𝑮𝟏 (𝒔)𝑮𝟐 (𝒔)  𝑮 𝒔 = 𝑮𝟏 (𝒔)𝑮𝟐 (𝒔)
𝑬 𝒔

 Example 5: considering the system shown in figure
determine the transfer function.
Volts 𝑽𝒎
Gear Train 𝑵𝒈
Motor Winch 𝟕. 𝟓 𝒄𝒎 𝒅𝒊𝒂 𝑵𝒎

𝑵𝒈 =
𝑵𝒎 = 𝟏𝟎𝟎 𝒓𝒑𝒎 𝟐
Load
 Motor rotates at 𝟏𝟎𝟎 𝒓𝒑𝒎 for each volt of input to the

motor.
 Winch shaft rotates at 𝟎. 𝟓 𝒓𝒑𝒎 for each 𝒓𝒑𝒎 of the
motor shaft.
𝒄𝒎
 Load moves by 𝟕. 𝟓 for each rotation of winch shaft.
𝒎𝒊𝒏
 Determine the individual transfer function and overall
transfer function.
1 Volts 𝑽𝒎
 For Motor
Motor 𝑵𝒎 = 𝟏𝟎𝟎 𝒓𝒑𝒎
𝒀𝒎 𝑵𝒎 𝟏𝟎𝟎 𝒓𝒑𝒎 𝒓𝒑𝒎 𝑵𝒎

𝑻𝑭𝒎 = 𝑮𝒎 = = = = 𝟏𝟎𝟎 = 𝟏𝟎𝟎
𝑿𝒎 𝑽 𝒎 𝟏 𝑽𝒐𝒍𝒕 𝑽𝒐𝒍𝒕 𝑽𝒎

 For Gear Train
𝒀𝑾 𝑵𝑾 𝟎. 𝟓 𝒓𝒑𝒎 𝑵𝑾
𝑵𝒎 = 𝟏𝒓𝒑𝒎 𝑻𝑭𝒈 = 𝑮𝒈 = = = = 𝟎. 𝟓 = 𝟎. 𝟓
𝑿𝒎 𝑵𝒎 𝟏 𝒓𝒑𝒎 𝑵𝒎
𝑵𝑾 = 𝟎. 𝟓 𝒓𝒑𝒎
 For Winch
𝑵𝑾 = 𝟏 𝒓𝒑𝒎
𝒄𝒎
𝒀𝑳 𝑽𝑳 𝟕. 𝟓
𝑻𝑭𝑾 = 𝑮𝑾 = = = 𝒎𝒊𝒏 = 𝟕. 𝟓 = 𝟕. 𝟓 𝑽𝑳
𝒄𝒎 𝑿𝑾 𝑵𝑾 𝟏 𝒓𝒑𝒎 𝑵𝑾
𝑽𝑳 = 𝟕. 𝟓
𝒎𝒊𝒏

 This is a common situation involving series of
components where output of one component becomes
input for another component.
Motor supply 𝟏𝟎𝟎 𝒓𝒑𝒎 𝟓𝟎 𝒓𝒑𝒎
Voltage Load Velocity
Gear
Motor Winch
𝟏 𝑽𝒐𝒍𝒕 Train 𝒄𝒎
𝟑𝟕𝟓
𝒎𝒊𝒏
𝒄𝒎
𝒀(𝒔) 𝟑𝟕𝟓 𝒎𝒊𝒏 𝒄𝒎
𝑻𝑭 = 𝑮(𝒔) = = = 𝟑𝟕𝟓
𝑿(𝒔) 𝟏 𝑽𝒐𝒍𝒕 𝒎𝒊𝒏𝑽𝒐𝒍𝒕
 If 12 volts is the input to the motor then velocity of load
is
𝒄𝒎 𝒎
 𝟑𝟕𝟓 ∗ 𝟏𝟐 = 𝟒𝟓𝟎𝟎 = 𝟒𝟓 .
𝒎𝒊𝒏 𝒎𝒊𝒏
Motor Voltage Load Velocity
Gear Winch
Motor 𝑻𝑭𝒎
Train 𝑻𝑭𝒈 𝑻𝑭𝑾 𝒀(𝒔)
𝑿(𝒔)
𝑻𝑭 Where 𝑻𝑭 = 𝑻𝑭𝒎*𝑻𝑭𝒈 *𝑻𝑭𝑾

𝑿(𝒔) 𝒀(𝒔)
𝒓𝒑𝒎 𝒓𝒑𝒎 𝒄𝒎 𝑪𝒎
Or 𝑻𝑭 = 𝟏𝟎𝟎 ∗ 𝟎. 𝟓 ∗ 𝟕. 𝟓 = 𝟑𝟕𝟓
𝒗𝒐𝒍𝒕 𝒓𝒑𝒎 𝒎𝒊𝒏−𝒓𝒑𝒎 𝒎𝒊𝒏−𝒗𝒐𝒍𝒕

Drawing a Block Diagram
 First write the equations that describe the behaviour of

each component.
 For example consider an R-C circuit shown in diagram
below.
𝑹 There are two elements in
𝒆𝒊 𝒊 𝑪 𝒆𝒐 this RC-circuit.
 Resistor & capacitor.
𝒆𝒊 −𝒆𝒐
For Resistor 𝒊 = 𝑹
𝒅𝒆𝒐
For Capacitor 𝒊 = 𝑪 𝒅𝒕

𝒆𝒊 − 𝒆𝒐 𝒅𝒆𝒐
𝒊= 𝒊=𝑪
𝑹 𝒅𝒕
 This take Laplace transforms of these relations

assuming zero initial conditions.
𝑬𝒊 (𝒔)−𝑬𝒐 (𝒔)
 𝑰 (𝒔) = and
𝑹
 𝑰 (𝒔) = 𝑪𝒔𝑬𝒐 (𝒔)
 Represent each Laplace transform equation into a block
separately.
𝑬𝒊 (𝒔) 𝟏 𝑰(𝒔)
𝑬𝒊 (𝒔)−𝑬𝒐 (𝒔) +
 From 𝑰 (𝒔) = - 𝑹
𝑹
𝑬𝒐 (𝒔)

𝑰(𝒔) 𝟏 𝑬𝒐 (𝒔)
 From 𝑰 (𝒔) = 𝑪𝒔𝑬𝒐 (𝒔)
𝑪𝒔
𝑰 (𝒔)
 𝑬𝒐 𝒔 = 𝑪𝒔
 Assembling individual block diagrams we get the

overall block diagram.
𝑬𝒊 (𝒔) 𝟏 𝑰(𝒔) 𝑰(𝒔) 𝑬𝒐 (𝒔)

+ 𝟏
- +
𝑹 𝑪𝒔
𝑬𝒐 (𝒔)

𝑬𝒊 (𝒔) 𝟏 𝑰(𝒔) 𝑰(𝒔) 𝑬𝒐 (𝒔)
+ 𝟏
- +
𝑹 𝑪𝒔
𝑬𝒐 (𝒔)
𝑬𝒊 (𝒔) 𝟏 𝑰(𝒔)
+
- 𝑹
𝑬𝒐 (𝒔)
𝟏
𝑪𝒔

𝒀 𝒔 𝒀(𝒔) 𝒃𝟎 𝝎𝒏 𝟐
𝑮 𝒔 = = =
𝑿 𝑺 𝑬(𝑺) 𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+𝝎𝒏 𝟐
 Control of system consists of varying input so that the
closed-loop dynamics of the system has desired
properties.
 That is the output ‘𝒚’ follows the desired trajectory, 𝒚𝒅 .
 When feedback is used in the control system, the error
signal is 𝒆 = 𝒚 − 𝒚𝒅 .
 That is the difference between the actual output 𝒚 and
desired output 𝒚𝒅 is used to control the system.
 If unity negative feedback is used then the block
diagram of the control system is
𝑬(𝒔) 𝒀(𝒔)
𝑹(𝒔) 𝒃𝟎 𝝎𝒏 𝟐
+  Block diagram of the
- 𝒔𝟐 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝒏 𝟐 control system for unity
𝑩(𝒔) negative feedback
𝑯(𝒔) = 𝟏
 Here 𝑹 𝒔 = 𝒀𝒅 (𝒔), the Laplace transform of set point

input.
𝒃𝟎 𝝎𝒏 𝟐
𝑬(𝒔) 𝒀(𝒔)
 And 𝑮 𝒔 = 𝒔𝟐 +𝟐𝜻𝝎 𝒔+𝝎 𝟐
𝑹(𝒔) 𝒏 𝒏
-
+ 𝑮(𝒔) 𝑯 𝒔 = 𝟏
𝑩(𝒔)
 𝒀 𝒔 = 𝑮 𝒔 𝑬(𝒔)
𝑯(𝒔)  𝑩 𝒔 = 𝑯 𝒔 𝒀(𝒔)

 𝑬 𝒔 = 𝑹 𝒔 − 𝑩(𝒔)  𝑩 𝒔 = 𝑯 𝒔 𝒀(𝒔)
 𝑬 𝒔 = 𝑹 𝒔 − 𝑯 𝒔 𝒀(𝒔)  𝒀 𝒔 = 𝑮 𝒔 𝑬(𝒔)
 𝑬 𝒔 = 𝑹 𝒔 − 𝑯 𝒔 𝑮 𝒔 𝑬(𝒔) 𝑬 𝒔 𝟏 + 𝑯 𝒔 𝑮 𝒔 =𝑹 𝒔
𝑹 𝒔
𝑬 𝒔 =
𝟏+𝑯 𝒔 𝑮 𝒔  𝒀 𝒔 = 𝑮 𝒔 𝑬(𝒔)
𝑹 𝒔 𝒀 𝒔 𝑮 𝒔
𝒀 𝒔 = 𝑮 𝒔 𝑹 𝒔 = 𝑯 𝒔 = 𝟏
𝟏+𝑯 𝒔 𝑮 𝒔 𝟏+𝑯 𝒔 𝑮 𝒔
𝒀 𝒔 𝑮 𝒔 𝒃𝟎 𝝎𝒏 𝟐
𝑹 𝒔 = 𝑮 𝒔 =
𝟏+𝑮 𝒔 𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+𝝎𝒏 𝟐
𝑹 𝒔 = 𝑮 𝒔 =
𝟏+𝑮 𝒔 𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+𝝎𝒏 𝟐
𝒃𝟎 𝝎𝒏 𝟐 𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+𝝎𝒏 𝟐 +𝒃𝟎 𝝎𝒏 𝟐

 𝟏+𝑮 𝒔 =𝟏+ =
𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+𝝎𝒏 𝟐 𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+𝝎𝒏 𝟐
𝒀 𝒔 𝑮 𝒔 𝒃𝟎 𝝎𝒏 𝟐 𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+𝝎𝒏 𝟐
 = = ∗
𝑹 𝒔 𝟏+𝑮 𝒔 𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+𝝎𝒏 𝟐 𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+𝝎𝒏 𝟐 +𝒃𝟎 𝝎𝒏 𝟐
𝑹 𝒔 = =
𝟏+𝑮 𝒔 𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+𝝎𝒏 𝟐 +𝒃𝟎 𝝎𝒏 𝟐
𝑹 𝒔 = =
𝟏+𝑮 𝒔 𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+ 𝟏+𝒃𝟎 𝝎𝒏 𝟐

 Characteristic equation of closed loop system is
written as
 𝒔𝟐 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝒏 𝟐
 Roots of this quadratic equation in 𝒔 are given by
 𝒓𝟏 , 𝒓𝟐 = −𝜻𝝎𝒏 ± 𝝎𝒏 𝜻𝟐 − 𝟏
 If 𝒓𝟏 and 𝒓𝟐 are real, then response of the system is
sluggish and non-oscillatory.
 If 𝒓𝟏 and 𝒓𝟐 are complex conjugate, then response of
the system is oscillatory with decreasing amplitude.
 Analysis of system response helps in fixing the
controller parameters for each so that trajectory can
be tracked with close tolerance.

 To study the nature of response of a second order
system, unit-step input is considered.
𝟏
 For unit step input, 𝑹(𝒔) = and output is
𝒔
𝒃𝟎 𝝎𝒏 𝟐 𝒃𝟎 𝝎𝒏 𝟐
 𝒀 𝒔 =𝑮 𝒔 𝑹 𝒔 = 𝒔 𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+𝝎𝒏 𝟐
= 𝒔 𝒔+𝒓𝟏 𝒔+𝒓𝟐
 Where 𝒓𝟏 and 𝒓𝟐 are roots of the characteristic
equation.
𝟏
𝑹 𝒔 = 𝒀(𝒔)
𝒔 𝒃𝟎 𝝎𝒏 𝟐
𝑮 𝒔 = 𝟐
𝒔 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝒏 𝟐

 If 𝜻 > 𝟏, roots are real and unequal and the system is
over damped.
 If 𝜻 = 𝟏 , roots are equal, the system is critically
damped.
 If 𝜻 < 𝟏, roots are complex conjugate and the system
is underdamped.
 A robotic manipulator cannot be allowed to have an
oscillatory response.
 Hence 𝜻 = 𝟏, is preferred one, if not it should be very
close to unity.

 Block diagram of a mechanical system.
𝑭𝒔 = 𝒌𝒙 𝒕 𝑭𝒅 = 𝑪𝒙ሶ 𝒕 ሷ
𝑭𝒊 = 𝒎𝒙(𝒕)
𝒌 𝑪
𝒌 𝑪 𝒎
𝑭 𝒕
𝒎
𝒙 𝒕 ሷ
𝒙(𝒕)
𝒙ሶ 𝒕
ሷ
𝒙(𝒕) ሷ
𝒎𝒙(𝒕) 𝑭 𝒕 , 𝒙 𝒕 , 𝒙ሶ 𝒕 &𝒙(𝒕)
ሷ
𝒎
𝒙ሶ 𝒕 𝑪𝒙ሶ 𝒕 + 𝑭 𝒕
𝑪 +
+
𝒙 𝒕 𝒌𝒙 𝒕
𝒌
 Example 4: Determine the transfer function for the given
system.
 𝒎𝒙ሷ + 𝒄𝒙ሶ + 𝒌𝒙 = 𝑭𝟎 𝒔𝒊𝒏 𝝎𝒕
𝒄 𝒌 𝑭𝟎
 𝒙ሷ + 𝒎
𝒙ሶ =+𝒎𝒙 𝒎
𝒔𝒊𝒏 𝝎𝒕 𝒌 𝒄
 Here mass is 𝒎, damping is 𝑪 and

spring constant 𝒌
 Natural frequency, 𝝎𝒏 is given by 𝒎
𝒌
= 𝝎𝒏 𝟐 𝒙 = 𝑿𝟎 sin 𝝎𝒕
𝒎
𝑪
 Critical damping 𝑪𝒄 = 𝟐𝒎𝝎𝒏 and damping ratio 𝜻 = 𝑪𝒄
 Hence 𝑪 = 𝜻𝑪𝒄 = 𝜻𝟐𝒎𝝎𝒏 .
𝒄
 Therefore, 𝒎 = 𝟐𝜻𝝎𝒏
 With these manipulations the differential equation
𝒄 𝒌 𝑭𝟎
 𝒙ሷ + 𝒎
𝒙ሶ + 𝒎
𝒙 = 𝒎 𝒔𝒊𝒏 𝝎𝒕 becomes
𝝎𝒏 𝟐 𝑭𝟎
 𝒙ሷ + 𝟐𝜻𝝎𝒏 𝒙ሶ + 𝝎𝒏 𝒙 = 𝑭𝟎 𝒌 𝒔𝒊𝒏 𝝎𝒕 = 𝒌 𝝎𝒏 𝟐 𝒔𝒊𝒏 𝝎𝒕
𝟐
=
𝒃𝟎 𝝎𝒏 𝟐 𝒚(𝒕)
 That is 𝒙ሷ + 𝟐𝜻𝝎𝒏 𝒙ሶ + 𝝎𝒏 𝟐 𝒙 = 𝒃𝟎 𝝎𝒏 𝟐 𝒚(𝒕)
 Taking Laplace Transforms
 𝒔𝟐 𝑿 𝒔 + 𝟐𝜻𝝎𝒏 𝒔𝑿 𝒔 + 𝝎𝒏 𝟐 𝒀 𝒔 = 𝒃𝟎 𝝎𝒏 𝟐 𝒀 𝒔
 Rearranging 𝑿 𝒔 𝒔𝟐 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝒏 𝟐 = 𝒃𝟎 𝝎𝒏 𝟐 𝒀 𝒔
 Therefore Transfer function is
𝒐𝒖𝒕𝒑𝒖𝒕 𝑿 𝒔 𝒃𝟎 𝝎𝒏 𝟐
𝑮 𝒔 = = =
𝑰𝒏𝒑𝒖𝒕 𝒀 𝒔 𝒔𝟐 +𝟐𝜻𝝎𝒏 𝒔+𝝎𝒏 𝟐

 Reduction of Blocks.
𝑹 𝒔 𝑬𝟐 𝒔 𝑬𝟏 𝒔 𝑼(𝒔)
+ + 𝑮𝟏 𝒔
- -
𝑩𝟐 𝒔 𝑩𝟏 𝒔
𝑯𝟏 𝒔
 Reduction of
Block diagram
𝑯𝟐 𝒔 shown in figure
here and find the
 𝑼 𝒔 = 𝑮𝟏 𝒔 𝑬𝟏 𝒔 overall TF.
 𝑩𝟏 𝒔 = 𝑯𝟏 𝒔 𝑼 𝒔
 𝑬𝟏 𝒔 = 𝑬𝟐 𝒔 − 𝑩𝟏 𝒔 = 𝑬𝟐 𝒔 − 𝑯𝟏 𝒔 𝑼 𝒔
 𝑬𝟏 𝒔 = 𝑬𝟐 𝒔 − 𝑯𝟏 𝒔 𝑼 𝒔 = 𝑬𝟐 𝒔 − 𝑯𝟏 𝒔 𝑮𝟏 𝒔 𝑬𝟏 𝒔
 𝑬𝟏 𝒔 = 𝑬𝟐 𝒔 − 𝑯𝟏 𝒔 𝑮𝟏 𝒔 𝑬𝟏 𝒔
 𝑬𝟏 𝒔 𝟏 + 𝑯𝟏 𝒔 𝑮𝟏 𝒔 = 𝑬𝟐 𝒔
𝑼 𝒔
 𝑼 𝒔 = 𝑮𝟏 𝒔 𝑬𝟏 𝒔  𝑬𝟏 𝒔 = 𝑮𝟏 𝒔
𝑼 𝒔 𝑼 𝒔 𝑮𝟏 𝒔
 𝟏 + 𝑯𝟏 𝒔 𝑮𝟏 𝒔 = 𝑬𝟐 𝒔 𝑬 =
𝑮𝟏 𝒔 𝟐 𝒔 𝟏+𝑯𝟏 𝒔 𝑮𝟏 𝒔
𝑼 𝒔 𝑮𝟏 𝒔
 Let 𝑮𝟐 𝐬 = =
𝑬𝟐 𝒔 𝟏+𝑯𝟏 𝒔 𝑮𝟏 𝒔

𝑮𝟏 𝒔
 𝑮𝟐 𝐬 = 𝟏+𝑯𝟏 𝒔 𝑮𝟏 𝒔
𝑹 𝒔 𝑬𝟐 𝒔 𝑼(𝒔)
+ 𝑮𝟐 𝒔
-
𝑩𝟐 𝒔
𝑯𝟐 𝒔
 𝑼 𝒔 = 𝑮𝟐 𝒔 𝑬𝟐 𝒔
 𝑩𝟐 𝒔 = 𝑯𝟐 𝒔 𝑼 𝒔
 𝑬𝟐 𝒔 = 𝑹 𝒔 − 𝑩𝟐 𝒔 = 𝑹𝟐 𝒔 − 𝑯𝟐 𝒔 𝑼 𝒔
 𝑬𝟐 𝒔 = 𝑹𝟐 𝒔 − 𝑯𝟐 𝒔 𝑮𝟐 𝒔 𝑬𝟐 𝒔
 𝑬𝟐 𝒔 = 𝑹𝟐 𝒔 − 𝑯𝟐 𝒔 𝑮𝟐 𝒔 𝑬𝟐 𝒔
 𝑬𝟐 𝒔 𝟏 + 𝑯𝟐 𝒔 𝑮𝟐 𝒔 = 𝑹𝟐 𝒔
𝑼 𝒔
 𝑼 𝒔 = 𝑮𝟐 𝒔 𝑬𝟐 𝒔  𝑬𝟐 𝒔 = 𝑮𝟐 𝒔
𝑼 𝒔
 𝑹𝟐 𝒔 = 𝑬𝟐 𝒔 𝟏 + 𝑯𝟐 𝒔 𝑮𝟐 𝒔 = 𝟏 + 𝑯𝟐 𝒔 𝑮𝟐 𝒔
𝑮𝟐 𝒔
𝑼 𝒔 𝑮𝟐 𝒔
 = 𝑹 𝒔 𝑼(𝒔)
𝑹𝟐 𝒔 𝟏+𝑯𝟐 𝒔 𝑮𝟐 𝒔 𝑮 𝒔
𝑼 𝒔 𝑮𝟐 𝒔 𝑮𝟐 𝒔
 Let 𝑮 𝒔 = = 𝑮 𝒔 =
𝑹𝟐 𝒔 𝟏+𝑯𝟐 𝒔 𝑮𝟐 𝒔 𝟏+𝑯𝟐 𝒔 𝑮𝟐 𝒔

𝑹 𝒔 𝑼(𝒔) 𝑮𝟐 𝒔
𝑮 𝒔 𝑮 𝒔 = 𝟏+𝑯𝟐 𝒔 𝑮𝟐 𝒔
𝑮𝟐 𝒔 𝑮𝟏 𝒔
𝑮 𝒔 =  𝑮𝟐 𝐬 =
𝟏+𝑯𝟐 𝒔 𝑮𝟐 𝒔 𝟏+𝑯𝟏 𝒔 𝑮𝟏 𝒔
𝑮𝟏 𝒔
𝟏+𝑯𝟏 𝒔 𝑮𝟏 𝒔
𝑮 𝒔 = 𝑮𝟏 𝒔
𝟏+𝑯𝟐 𝒔
𝟏+𝑯𝟏 𝒔 𝑮𝟏 𝒔
𝑮𝟏 𝒔 𝟏+𝑯𝟏 𝒔 𝑮𝟏 𝒔
𝑮 𝒔 = ∗
𝟏+𝑯𝟏 𝒔 𝑮𝟏 𝒔 𝟏+𝑯𝟏 𝒔 𝑮𝟏 𝒔 +𝑯𝟐 𝒔 𝑮𝟏 𝒔
𝑮𝟏 𝒔 𝑮𝟏 𝒔
𝑮 𝒔 = 𝟏+𝑯𝟏 𝒔 𝑮𝟏 𝒔 +𝑯𝟐 𝒔 𝑮𝟏 𝒔 𝑮 𝒔 = 𝟏+𝑮𝟏 𝒔 𝑯𝟏 𝒔 +𝑯𝟐 𝒔
 Reduce the given Block diagram shown in figure here
and determine the overall TF.
𝑹 𝒔 𝑬 𝒔 𝟏𝟖 𝑿 𝒔 𝒔𝟐 𝑼(𝒔)
+
- 𝒔 𝒔+𝟐 𝟐 𝒔+𝟏
𝑩 𝒔
𝟔𝟎
𝒔
𝟏𝟖 𝒔𝟐 𝟔𝟎
 𝑮𝟏 𝐬 =  𝑮𝟐 𝐬 = 𝑯 𝐬 =
𝒔 𝒔+𝟐 𝟐 𝒔+𝟏 𝒔

𝑬 𝒔 𝟏𝟖 𝑿 𝒔 𝟏𝟖
𝑿 𝒔 = 𝒔 ∗ 𝑬(𝒔)
𝒔 𝒔+𝟐 𝒔+𝟐
𝑿 𝒔 𝒔𝟐 𝑼(𝒔) 𝒔𝟐
𝑼 𝒔 = ∗𝑿 𝒔
𝟐 𝒔+𝟏 𝟐 𝒔+𝟏
𝑩 𝒔 𝟔𝟎 𝑼(𝒔) 𝟔𝟎
𝑩 𝒔 = ∗𝑼 𝒔
𝒔 𝒔
𝑹 𝒔
+
𝑬 𝒔  𝑬 𝒔 = 𝑹 𝒔 − 𝑩(𝒔)
-
𝑩 𝒔

𝒔𝟐
𝑹 𝒔 𝑬 𝒔 𝟏𝟖 𝑿 𝒔 𝒔𝟐 𝑼(𝒔) 𝑼 𝒔 = ∗𝑿 𝒔
+ 𝟐 𝒔+𝟏
- 𝒔 𝒔+𝟐 𝟐 𝒔+𝟏 𝟏𝟖
𝑩 𝒔 𝑿 𝒔 = 𝒔 𝒔+𝟐 ∗ 𝑬(𝒔)
 𝑬 𝒔 = 𝑹 𝒔 − 𝑩(𝒔)
𝟔𝟎
𝟔𝟎
𝒔 𝑩 𝒔 = ∗𝑼 𝒔
𝒔
𝒔𝟐 𝒔𝟐 𝟏𝟖 𝟏𝟖𝒔𝟐
𝑼 𝒔 = ∗𝑿 𝒔 = ∗ ∗𝑬 𝒔 = 𝑬 𝒔
𝟐 𝒔+𝟏 𝟐 𝒔+𝟏 𝒔 𝒔+𝟐 𝟐𝒔 𝒔+𝟏 𝒔+𝟐
𝟏𝟖𝒔𝟐 𝟏𝟖𝒔𝟐
𝑼 𝒔 = 𝑬 𝒔 = 𝑹 𝒔 − 𝑩(𝒔)
𝟐𝒔 𝒔+𝟏 𝒔+𝟐 𝟐𝒔 𝒔+𝟏 𝒔+𝟐
𝟏𝟖𝒔𝟐 𝟏𝟖𝒔𝟐 𝟔𝟎
𝑼 𝒔 = 𝑹 𝒔 − 𝑩(𝒔) = 𝑹 𝒔 − 𝑼 𝒔
𝟐𝒔 𝒔+𝟏 𝒔+𝟐 𝟐𝒔 𝒔+𝟏 𝒔+𝟐 𝒔

𝟏𝟖𝒔𝟐 𝟔𝟎
𝑼 𝒔 = 𝟐𝒔 𝒔+𝟏 𝒔+𝟐
𝑹 𝒔 − 𝒔
𝑼 𝒔
𝟗𝒔 𝟔𝟎
𝑼 𝒔 = 𝑹 𝒔 − 𝑼 𝒔
𝒔+𝟏 𝒔+𝟐 𝒔
𝟗𝒔 𝟔𝟎 𝟗𝒔
𝑼 𝒔 + ∗ 𝒔 𝑼 𝒔 = 𝑹 𝒔
𝒔+𝟏 𝒔+𝟐 𝒔+𝟏 𝒔+𝟐
𝟓𝟒𝟎 𝟗𝒔
𝑼 𝒔 𝟏 + = 𝑹 𝒔
𝒔+𝟏 𝒔+𝟐 𝒔+𝟏 𝒔+𝟐
𝒔+𝟏 𝒔+𝟐 +𝟓𝟒𝟎 𝟗𝒔

𝑼 𝒔 = 𝑹 𝒔
𝒔+𝟏 𝒔+𝟐 𝒔+𝟏 𝒔+𝟐
𝑼 𝒔 𝒔 + 𝟏 𝒔 + 𝟐 + 𝟓𝟒𝟎 = 𝟗𝒔𝑹 𝒔
𝑼 𝒔 𝟗𝒔
𝑹 𝒔
= 𝒔+𝟏 𝒔+𝟐 +𝟓𝟒𝟎
𝑼 𝒔 𝟗𝒔
𝑹 𝒔 = 𝒔+𝟏 𝒔+𝟐 +𝟓𝟒𝟎
𝑼 𝒔 𝟗𝒔 𝑼 𝒔 𝟗𝒔
𝑹 𝒔 =  𝑮(𝒔) = =
𝒔𝟐 +𝟑𝒔+𝟐+𝟓𝟒𝟎 𝑹 𝒔 𝒔𝟐 +𝟑𝒔+𝟓𝟒𝟐
𝑹 𝒔 𝟗𝒔 𝑼(𝒔)
𝒔𝟐 + 𝟑𝒔 + 𝟓𝟒𝟐
 System Characteristic equation is 𝒔𝟐 + 𝟑𝒔 + 𝟓𝟒𝟐.
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ME G511 Lect 26 Manipulator Control Nov 2018

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ME G511 Lect 26 Manipulator Control Nov 2018

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ME G511

Mechanisms & Robotics

 A robotic manipulator is required to carry out a specific

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

Desired Joint / Actual joint / End-

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

Desired Joint / Actual joint / End-

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

Input Power Output

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Performance and range of applications of a manipulator

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

Input 𝒙 System Output 𝒚

 If this system is a second order system with inherent

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 The functional relation between output and input is

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Input to the system is rotation in degrees and output

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Applying Laplace transform to the differential equation, we get

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

Potentiometer total resistance = 𝟖𝑲𝛀 Maximum displacement = 𝟓 𝒄𝒎

Displacement given = 𝟐 𝒄𝒎 Power dissipation in potentiometer resistance 𝐏 = 𝑽𝑰

Voltage 𝐕 = 𝑰𝑹 Therefore, Voltage across the resistance, 𝑽𝟐 = 𝑷𝑹 Or 𝑽 = 𝑷𝑹

𝑽= 𝟓𝟎 ∗ 𝟏𝟎−𝟑 ∗ 𝟖 ∗ 𝟏𝟎𝟑 = 𝟒𝟎𝟎 = 𝟐𝟎𝑽

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 For series of components the net Transfer Function TF

𝒀𝟏 (𝒔) 𝒀𝟐 (𝒔) 𝒀𝟑 (𝒔) 𝒀𝒏−𝟏 (𝒔)

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 This is the simplest form of control action.

 𝒖 𝒕 = 𝑼𝟏 max value for 𝒆 𝒕 > 𝟎 error is positive.

 Proportional Control means that the plant input is changed in direct

 Where, 𝑮𝒄 𝒔 is the transfer function of the proportional controller

Desired Speed 𝑬 𝑺 Proportional 𝒀𝒄 𝑺 𝒀 𝑺

 Where 𝒌𝑷 is known as proportional gain

Set Point 𝑬(𝒔) 𝑼(𝒔)

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Where, 𝒄𝒚 𝒕 is the output of the controller.

Desired Speed 𝑬 𝑺 Controller Output

function form as given below.

Set Point 𝑬(𝒔) 𝑼(𝒔)

 Derivative controller controls the plant by providing the control signal

 Where 𝑲𝑫 is the constant of proportionality, usually referred to as

 The derivative action improves the transient performance of the

Set Point 𝑬(𝒔) 𝑼(𝒔)

 In short, the proportional-plus-integral controller is referred to as PI

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

Set Point 𝑬(𝒔) 𝟏 𝑼(𝒔)

 Proportional-Plus-Derivative Controller is commonly abbreviated to

 The stability and hence the performance of the system can be

Set Point 𝑬(𝒔) 𝑼(𝒔)

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Proportional-plus-integral-plus-derivative controller is popularly

 Where, 𝑲𝑷 , 𝑲𝑰 and 𝑲𝑫 are called proportional, integral and derivative

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

Set Point 𝑬(𝒔) 𝟏 𝑼(𝒔)

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

The ratio of feedback signal 𝑩(𝒔) to the error signal 𝑬(𝒔)

Lecture 26 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

𝑻𝑭 Where 𝑻𝑭 = 𝑻𝑭𝒎𝑻𝑭𝒈 𝑻𝑭𝑾