Design and Analysis of Control System for an Unmanned Free-

Swimming Submersible Vehicle under Hydrodynamic Disturbances

Design with Lead, PID and LQR Controllers

Submitted by:
Amna Sami - F2017019102
Hafsa Kahif - F2017019026
Haleema Shehzad - F2017019085

Submitted to:
Mr. Waseem Iqbal

Bachelor of Science in Electrical

Engineering School of Engineering
University of Management & Technology
June 2020
Design and Analysis of Control System for an
Unmanned Free-Swimming Submersible
Vehicle under Hydrodynamic Disturbances
Design with Lead, PID and LQR Controllers
Submitted by:
Amna Sami - F2017019102
Hafsa Kashif - F2017019026
Haleema Shehzad - F2017019085
This report is submitted in partial fulfillment of the requirements for the Subject of
Control Systems
code
EE-360.

Supervised by:
Mr. Waseem Iqbal

Advisor
(Mr. Waseem Iqbal)

Bachelor of Science in Electrical

Engineering School of Engineering
University of Management & Technology
 Declaration
We, Amna Sami, Hafsa Kashif, Haleema Shehzad declare that
all the work and images that have been displayed here, are the
result of our own endeavors and we have not copied it from
anywhere. And this work has not been displayed anywhere else
for assessment.

Signed:
Signed:
Signed:
 Abbreviations

PID Proportional Integral Derivative

LQR Linear Quadratic Regulator

OLS Open Loop System

CLS Close Loop System

MATLAB Matrix Laboratory

We have our overshoot 26%, this is the given parameter along other
parameters that we are supposed to follow.
 Contents:
• Introduction on control system

• Derivation of System’s Transfer

Function

• System Response of Transfer function to check stability.

• To enhance the Stability we add PID Controller.

• State Space of Transfer functions:

• Designing of Lead Compensator through Root Locus.

• Designing of LQR Controller

 Abstract
Doing this complex engineering problem is expected to analyze system for stability
compensator/controller to provide ample stability and realistic responses to inputs. The designing
and analyzing of Control System for an Unmanned Free Swimming Submersible Vehicle under
Hydrodynamic Disturbances that required the knowledge of analyzing the system in either time
domain or frequency domain and the understanding the system nature with its behavior on
different gain of the different controllers. All these knowledge related to control engineering is
combined together to get our desired output with different controllers.
Introduction on control system

Several characteristics of Control System can be linked to human behavior. Control System
can “think” in the sense that they can replace to some extent, human operation. Control System
can distinguish between open-loop and closed-loop Control System and it is a concept or
principle that seems to fundamental in nature and not necessarily peculiar to engineering. In
human social and political organizations, for example, a leader remains the leader only as long
as he or she is successful in realizing the desires of the group. Nowadays everything is
integrated with the control system. In our surrounding there are a lot of applications which are
using the concept of control system. These application includes satellite which is moving around
earth, automatic Gear transmission of the automobiles, automatic temperature control using Air
Condition and many more.

Literature Review
In designing the control system for any application, our task is to meet the desired output
with nominal overshoot, less steady state error and the system stability. All these
information helps to design and chose the best controller for a system. These systems can be
controlled through any controller using open loop or close loop feedback.
Derivation of System’s Transfer
Function

Introduction
In engineering, a transfer function of an electronic or control system component is a
mathematical function which theoretically models the device's output for each possible
input.

Deriving The Transfer Function from the block diagram:

Open-loop system
Open-loop system, also referred to as non-feedback system, is a type of continuous control
system in which the output has no influence or effect on the control action of the input signal.

Closed-loop System
Closed-loop Control System, also known as a feedback control system is a control system which
uses the concept of an open loop system as its forward path but has one or more
feedback loops hence its output has an effect on system.
For Pitch Control for UFSS
We can easily derive the transfer function of any control system , for open loop we multiply the pitch
gain, vehicle dynamic, heading rise, and elavator actuator blocks by one and another for pitch of
vehicle. And for closed loop we multiply the feedback given (-K2s).

Open Loop
For open loop we will multiply all the factors except the feedback one and that is how we will get
open loop gain of pitch control:

G(s)=[(-K1)(2/s+2)(-0.125(s+0.435))/((s+1.23)(s2+0.226s+0.0169))]

The answer we get after solving it is:

G(s)=[0.25s2K1+0.1096sK1/(s4+3.456s3+3.203s2+0.607s+0.04)]

Closed Loop

For closed loop we will multiply the feedback given in the system so we can see what effect the
feedback imposes on system:

Feedback formula is used:

Feedback= [G(s)/1+G(s)H(s)]

While keeping K1=K2=1

We found out the stability range of the transfer function by Routh’s Table from which this
value is taken, which is -0.382<K1<25.87

After plugging in the values in the feedback formula we obtain the following Transfer Function
of closed loop:

T(s)=[(0.25s+0.1087K1)/(s4+3.456s3+(3.203+0.25K1)s2+(0.719+0.1097K1)s+0.0415]
For Heading Control for UFSS
We can easily derive the transfer function of any control system , for open loop we multiply the pitch
gain, vehicle dynamic, heading rise, and elavator actuator blocks by one and another for pitch of
vehicle. And for closed loop we multiply the feedback given (-K2s).

Open Loop
For open loop we will multiply all the factors except the feedback one and that is how we will get
open loop gain of heading control:

G(s)=[(-K1)(2/s+2)(1/s)(-0.125(s+0.437))/(s+1.29)(s+0.193)]

The answer we get after solving it is:

G(s)=[0.25s2K1+0.1096sK1/(s4+3.48s3+3.2089s2+0.489s+)]
Closed Loop

For closed loop we will multiply the feedback given in the system so we can see what effect the
feedback imposes on system:

Feedback formula is used:

Feedback= [G(s)/1+G(s)H(s)]

While keeping K1=K2=1

We found out the stability range of the transfer function by Routh’s Table from which this
value is taken, which is -0.789<K1<35.026

After plugging in the values in the feedback formula we obtain the following Transfer Function
of closed loop:

T(s)=[(0.25s+0.1087K1)/(s4+3.48s3+(3.2089+0.25K1)s2+(0.489+0.1097K1)s+0.0415]

System Response of Transfer function to check

stability:
The step response of a system in a given initial state consists of the time evolution of its outputs
when its control inputs are Heaviside step functions. The concept can be extended to the abstract
mathematical notion of a dynamical system using an evolution parameter.

The System-response of Loop open for Pitch control is given below:

The System-response of Closed open for Pitch control is given below:
The System-response of open Loop for Heading control is given below:
The System-response of Closed Loop for Heading control is given below:
To enhance the Stability we add PID Controller:
PID controller
A PID controller is an instrument used in industrial control applications to regulate temperature,
flow, pressure, speed and other process variables. PID (proportional integral
derivative) controllers use a control loop feedback mechanism to control process variables and
are the most accurate and stable controller.

We have our overshoot 26%, settling time 8, rise time 5 and steady state error 0.02, these are the
given parameters that we are supposed to follow, for pitch and heading.

Hydraulic-Disturbance Wave:
This is the hydraulic disturbance that we are going to apply to a system and will get its output:
PID of Pitch Control:
We have the PID controller attached with pitch control and that is how the output
of it is given:
Pitch disturbance PID
When pitch is attached to PID controller and with that we supply it the hydraulic disturbance
wave and so the out we get is shown in the figure below:

Pitch Disturbance:

Simulink Block Diagram

:
Pitch scope graph with disturbance:
The scope that was achieved after the Simulink block diagram was run, and by clicking the scope
we get the graph, shown below:

Heading PID
We have the PID controller attached with heading control to enhance its stability
and that is how the output of it is given
PID tuned graph of heading with disturbance:
When pitch is attached to PID controller and with that we supply it the hydraulic disturbance
wave and so the out we get is shown in the figure below:
Simulink block diagram

Heading with disturbance scope:

The scope that was achieved after the Simulink block diagram was run, and by clicking the scope
we get the graph, shown below:
State Space of Transfer functions:
The "state space" is the Euclidean space in which the variables on the axes are the state variables.
The state of the system can be represented as a vector within that space. To abstract from the
number of inputs, outputs and states, these variables are expressed as vectors.

In state space transformation we deal with state variables which tell us a lot about what system
Is doing how it works.

State Space of Pitch Control Transfer Function:

State Space of Heading Control Transfer Function:
Designing of Lead Compensator through Root
Locus:
The root locus of a feedback system is the graphical representation in the complex s-plane of the
possible locations of its closed-loop poles for varying values of a certain system parameter. The
points that are part of the root locus satisfy the angle condition.

A first-order lead compensator C(s) can be designed using the root locus. A lead compensator in
root locus form is given by:

The magnitude of z0 is less than the magnitude of p0. This results in an improvement in the
system's stability and an increase in its response speed.
By finding the asymptotes of the root locus that lead to the zeros at infinity, the equation to
determine the intersection of the asymptotes along the real axis is the following:

We have our overshoot 26%, settling time 4, rise time 1 and steady state error 0.02, these are the
given parameters that we are supposed to follow, for pitch and heading.

For uncompensated pitch control:

For that we have to find dominant poles of the transfer function and after that by solvling the
dominant poles with the given poles and zeroes of the system we get the values of magnitudes
and angles of the system and then to find K=(Multiply Magnitude of poles)/(Multiply the
magnitude of zeroes)
In order to get dominant poles, we will first find the damping ratio, by formula

Tau=[-ln(%OS/100)]/[sqrt(pi2+ln2(%OS/100))]
By putting the overshoot value 26, and after solving the formula we get the value of tau=0.3942.

After finding the value of tau, now we will find the value of “Wn” is the natural frequency of the
poles of system.

So to find out we will apply the formula Ts=[4/(tau)(Wn)]

Wn=1.2683

After that we find the dominant poles of the system:

The dominant poles we get are -0.1+0.69j

The poles of the system are, s=0.113-0.06j, s=0.113+0.06j, s=-2, s=1.23

And the zeroes of the system 0.435

So by subtracting each pole and zero from the dominant poles we get the value of K, which is
our gain, K=6.470

Root locus of the uncompensated pitch control system is:

Step response of the uncompensated pitch control system is:
For compensated pitch system finding a new pole and zero:
For that we have the formula of

[(2.3)/P-0.5]=tanθ

So by putting the values we get the value of new pole 2.5794, and the value of zero 0.5.
And now our dominant poles are -0.5+2.3j.

The poles of the system are, s=0.113-0.06j, s=0.113+0.06j, s=-2, s=1.23, s=2.5794

And the zeroes of the system 0.435 and -0.5

So by subtracting each pole and zero from the dominant poles we get the value of K, which is
our gain, K=10
So the results we get for lead compensator are:

Root locus of the compensated pitch control system is:

Step response of the compensated pitch control system is:
For uncompensated heading control:
For that we have to find dominant poles of the transfer function and after that by solvling the
dominant poles with the given poles and zeroes of the system we get the values of magnitudes
and angles of the system and then to find K=(Multiply Magnitude of poles)/(Multiply the
magnitude of zeroes)
In order to get dominant poles, we will first find the damping ratio, by formula

Tau=[-ln(%OS/100)]/[sqrt(pi2+ln2(%OS/100))]
By putting the overshoot value 26, and after solving the formula we get the value of tau=0.3942.
After finding the value of tau, now we will find the value of “Wn” is the natural frequency of the
poles of system.

So to find out we will apply the formula Ts=[4/(tau)(Wn)]

Wn=1.2683

After that we find the dominant poles of the system:

The dominant poles we get are -0.1+0.69j

The poles of the system are, s=0.7756, s=5.1080, s=0, s=-2

And the zeroes of the system 0.435

So by subtracting each pole and zero from the dominant poles we get the value of K, which is
our gain, K=11.2597

Root locus of the uncompensated heading control system is:

Step response of the uncompensated heading control system is:

For compensated heading system finding a new pole and zero:
For that we have the formula of

[(2.3)/P-0.5]=tanθ

So by putting the values we get the value of new pole 15.38, and the value of zero 0.5.
And now our dominant poles are -0.5+2.3j.

The poles of the system are, s=0.7756, s=5.1080, s=-2, s=-5.1080, s=0, s=15.38

And the zeroes of the system 0.435 and -0.5

So by subtracting each pole and zero from the dominant poles we get the value of K, which is
our gain, K=30
So the results we get for lead compensator are:
Root locus of the compensated heading control system is:

Step response of the compensated heading control system is:

Effect of Phase Lead Compensation
The slope of the magnitude plot reduces at the gain crossover frequency so that relative stability
improves and error decrease due to error is directly proportional to the slope.
Designing of LQR Controller:
The theory of optimal control is concerned with operating a dynamic system at minimum cost.
One of the main results in the theory is that the solution is provided by the linear–quadratic
regulator (LQR), a feedback controller. It is one of the most fundamental controllers in control
theory.
The LQR algorithm is essentially an automated way of finding an appropriate state-feedback
controller. As such, it is not uncommon for control engineers to prefer alternative methods,
like full state feedback, also known as pole placement, in which there is a clearer relationship
between controller parameters and controller behavior.

The values of P and Q basically balances out the cost function, so the required output in the form
of settling time, overshoot is not achievable so that is why we add a lead compensator and
integrator. The output LQR provides is 1, parameters were not exactly available of L and Q and
Simulink also has its error but still the value R=1 was achieved.

So first to design LQR for pitch control system but here LQR does not have sound values of, so
we need a compensator, integrator, pole and zero to measure that.
We have our overshoot 26%, settling time 5, rise time 2 and steady state error 0.02, these are the
given parameters that we are supposed to follow:
A stable system has a very less value of overshoot, quick response and fast error elimination.

Bode Plot, Root Locus and Step response of Pitch control are shown in the graph below:
Disturbance of the pitch control:
Bode Plot, Root Locus and Step response of heading control are shown in the graph below:
Step-Response of the heading control:
Disturbance of Heading Control:

Conclusion by comparison:
While comparing LQR, Lead and PID controllers in order to check which controller stabilized
the pitch control and heading control system the maximum, by the graphs. So if we do a
comparison of them then, LQR stabilizes the system the most. We can say that
the LQR controllers are able to response faster than PID controllers. It shows that LQR control
method has better performance as compared to PID control method