Control System Engineering Course

Semester II 2009/10 Lecture 14 Design of Control Systems

Azeddien Mo. Salah Kinsheel

Design of Control Systems

All the foundation analysis that we have laid in the preceding chapters led to the ultimate goal of design of control systems. Control system design involves the following three steps: 1-Detrmine what the system should do and how to do it ( design specification). 2-Determine the controller configuration, relative to how it is connected to the controlled process. 3- determine the parameter values of the controller to achieve the design goals.

Design of Control Systems

Design Specifications: - Steady state error, - Transient response: rise time, settling time, overshoot. - Frequency response characteristics: Mr, Bw - Relative stability

Controller Configuration
Series or cascade compensation Feedback compensation State-feedback compensation Series-feedback compensation Feedforward compensation

Fundamental design principles

After the a controller configuration is chosen, the designer must choose a controller type that, with proper selection of its parameter values will satisfy all the design requirements. Engineering practice usually dictates that one choose the simplest controller that meets all the design requirements. The more complex a controller is, the more it costs, the less reliable it is, and the more difficult it is to design. The choice of the controller for a specific application depends on the control engineer experience. After the controller is chosen, its parameter values are determined using the approaches explained in the previous chapters.

Summery of T-D and F-D Characteristics

Complex conjugate poles of the closed-loop transfer function leads to step response that is underdamped. If all poles are real the response is overdamped. However, zeros may cause overshoot even if the poles are real. The response of a system is dominant by the poles closest to the origin in the s-plane The farther to the left in the s-plane the systems dominant poles are, the faster the response and greater the bandwidth. The farther to the left in the s-plane the systems dominant poles are, the more expensive it will be and the larger its internal signal it will be. When a pole and zero of a system transfer function nearly cancel each other the portion of the system response associated with pole will have a small magnitude. T-D and F-D specifications are loosely associated with each other. Rise time and BW are inversely proportional, Larger the PM, GM, and lower Mr will improve damping.

Controllability, Observability, and Sensitivity

Controllability: the process is said to be completely controllable if every state variable of the process can be controlled to reach a certain objective in finite time by some unconstrained signal u(t). In state space the system is controllable if the rank of the following matrix is n no of state variables. S=[B AB A2B.An-1B] Sensitivity: is the ratio of percentage change in the system transfer function to the percentage change in the plant transfer function.

let T(s)

G 1 GH T G 1 G T S G G T (1 GH ) 2 G /(1 GH ) 1 T S G 1 GH

Commonly Used Controllers

On-Off Proportional-Integral- Derivative PID Lead, lag, lead-lag

PID Controllers
P controller PD controller PI controller PID controller
de(t ) u (t ) Kpe(t ) Ki e(t )dt Kd dt U (s) Kp Ki / s Kds E (s)

Example: Design with PI controller

R(s)

Kp+Ki/ s

1 ( s 2)

C(s)

Example: Design with PD controller

R(s)

Kp+Kds

1 s ( s 2)

C(s)