1 An Overview and Brief History of Feedback Control 1. 2 Dynamic Models 23. Contents. Preface. xiii


 Agatha Patrick
 1 years ago
 Views:
Transcription
1 Contents 1 An Overview and Brief History of Feedback Control 1 A Perspective on Feedback Control 1 Chapter Overview A Simple Feedback System A First Analysis of Feedback Feedback System Fundamentals A Brief History An Overview of the Book 17 Summary 19 Review Questions 19 Problems 20 2 Dynamic Models 23 A Perspective on Dynamic Models 23 Chapter Overview Dynamics of Mechanical Systems Translational Motion Rotational Motion Combined Rotation and Translation Complex Mechanical Systems (W)** Distributed Parameter Systems Summary: Developing Equations of Motion for Rigid Bodies Models of Electric Circuits Models of Electromechanical Systems Loudspeakers Motors Gears Heat and FluidFlow Models Heat Flow Incompressible Fluid Flow Historical Perspective 68 Summary 71 Review Questions 71 Problems 72 Preface xiii **Sections with (W) indicates that additional material is located on the web at v A00_FRAN6598_07_SE_FM 2014/3/17 15:15 page v #5
2 vi Contents 3 Dynamic Response 84 A Perspective on System Response 84 Chapter Overview Review of Laplace Transforms Response by Convolution Transfer Functions and Frequency Response The L Laplace Transform Properties of Laplace Transforms Inverse Laplace Transform by PartialFraction Expansion The Final Value Theorem Using Laplace Transforms to Solve Differential Equations Poles and Zeros Linear System Analysis Using Matlab R System Modeling Diagrams The Block Diagram BlockDiagram Reduction Using Matlab Mason s Rule and the Signal Flow Graph (W) Effect of Pole Locations TimeDomain Specifications Rise Time Overshoot and Peak Time Settling Time Effects of Zeros and Additional Poles Stability Bounded Input Bounded Output Stability Stability of LTI Systems Routh s Stability Criterion Obtaining Models from Experimental Data: System Identification (W) Amplitude and Time Scaling (W) Historical Perspective 156 Summary 157 Review Questions 159 Problems A First Analysis of Feedback 180 A Perspective on the Analysis of Feedback 180 Chapter Overview The Basic Equations of Control Stability Tracking Regulation Sensitivity 186 A00_FRAN6598_07_SE_FM 2014/3/17 15:15 page vi #6
3 Contents vii 4.2 Control of SteadyState Error to Polynomial Inputs: System Type System Type for Tracking System Type for Regulation and Disturbance Rejection The ThreeTerm Controller: PID Control Proportional Control (P) Integral Control (I) Derivative Control (D) Proportional Plus Integral Control (PI) PID Control Ziegler Nichols Tuning of the PID Controller Feedforward Control by Plant Model Inversion Introduction to Digital Control (W) Sensitivity of Time Response to Parameter Change (W) Historical Perspective 215 Summary 217 Review Questions 218 Problems The RootLocus Design Method 234 A Perspective on the RootLocus Design Method 234 Chapter Overview Root Locus of a Basic Feedback System Guidelines for Determining a Root Locus Rules for Determining a Positive (180 ) Root Locus Summary of the Rules for Determining a Root Locus Selecting the Parameter Value Selected Illustrative Root Loci Design Using Dynamic Compensation Design Using Lead Compensation Design Using Lag Compensation Design Using Notch Compensation Analog and Digital Implementations (W) A Design Example Using the Root Locus Extensions of the RootLocus Method Rules for Plotting a Negative (0 ) Root Locus Consideration of Two Parameters Time Delay (W) Historical Perspective 287 A00_FRAN6598_07_SE_FM 2014/3/17 15:15 page vii #7
4 viii Contents Summary 289 Review Questions 290 Problems The FrequencyResponse Design Method 308 A Perspective on the FrequencyResponse Design Method 308 Chapter Overview Frequency Response Bode Plot Techniques SteadyState Errors Neutral Stability The Nyquist Stability Criterion The Argument Principle Application of The Argument Principle to Control Design Stability Margins Bode s Gain Phase Relationship ClosedLoop Frequency Response Compensation PD Compensation Lead Compensation (W) PI Compensation Lag Compensation PID Compensation Design Considerations Specifications in Terms of the Sensitivity Function Limitations on Design in Terms of the Sensitivity Function Time Delay Time Delay via the Nyquist Diagram (W) Alternative Presentation of Data Nichols Chart The Inverse Nyquist Diagram (W) Historical Perspective 404 Summary 405 Review Questions 408 Problems StateSpace Design 433 A Perspective on StateSpace Design 433 Chapter Overview Advantages of StateSpace System Description in StateSpace Block Diagrams and StateSpace 442 A00_FRAN6598_07_SE_FM 2014/3/17 15:15 page viii #8
5 Contents ix 7.4 Analysis of the State Equations Block Diagrams and Canonical Forms Dynamic Response from the State Equations ControlLaw Design for FullState Feedback Finding the Control Law Introducing the Reference Input with FullState Feedback Selection of Pole Locations for Good Design Dominant SecondOrder Poles Symmetric Root Locus (SRL) Comments on the Methods Estimator Design FullOrder Estimators ReducedOrder Estimators Estimator Pole Selection Compensator Design: Combined Control Law and Estimator (W) Introduction of the Reference Input with the Estimator (W) General Structure for the Reference Input Selecting the Gain Integral Control and Robust Tracking Integral Control Robust Tracking Control: The ErrorSpace Approach ModelFollowing Design The Extended Estimator Loop Transfer Recovery Direct Design with Rational Transfer Functions Design for Systems with Pure Time Delay Solution of State Equations (W) Historical Perspective 559 Summary 562 Review Questions 565 Problems Digital Control 590 A Perspective on Digital Control 590 Chapter Overview Digitization Dynamic Analysis of Discrete Systems ztransform ztransform Inversion 595 A00_FRAN6598_07_SE_FM 2014/3/17 15:15 page ix #9
6 x Contents Relationship Between s and z Final Value Theorem Design Using Discrete Equivalents Tustin s Method ZeroOrder Hold (ZOH) Method Matched Pole Zero (MPZ) Method Modified Matched Pole Zero (MMPZ) Method Comparison of Digital Approximation Methods Applicability Limits of the Discrete Equivalent Design Method Hardware Characteristics AnalogtoDigital (A/D) Converters DigitaltoAnalog Converters AntiAlias Prefilters The Computer SampleRate Selection Tracking Effectiveness Disturbance Rejection Effect of AntiAlias Prefilter Asynchronous Sampling Discrete Design Analysis Tools Feedback Properties Discrete Design Example Discrete Analysis of Designs Discrete StateSpace Design Methods (W) Historical Perspective 628 Summary 629 Review Questions 631 Problems Nonlinear Systems 637 A Perspective on Nonlinear Systems 637 Chapter Overview Introduction and Motivation: Why Study Nonlinear Systems? Analysis by Linearization Linearization by SmallSignal Analysis Linearization by Nonlinear Feedback Linearization by Inverse Nonlinearity Equivalent Gain Analysis Using the Root Locus Integrator Antiwindup 655 A00_FRAN6598_07_SE_FM 2014/3/17 15:15 page x #10
7 Contents xi 9.4 Equivalent Gain Analysis Using Frequency Response: Describing Functions Stability Analysis Using Describing Functions Analysis and Design Based on Stability The Phase Plane Lyapunov Stability Analysis The Circle Criterion Historical Perspective 690 Summary 691 Review Questions 691 Problems Control System Design: Principles and Case Studies 703 A Perspective on Design Principles 703 Chapter Overview An Outline of Control Systems Design Design of a Satellite s Attitude Control Lateral and Longitudinal Control of a Boeing Yaw Damper AltitudeHold Autopilot Control of the Fuel Air Ratio in an Automotive Engine Control of the Read/Write Head Assembly of a Hard Disk Control of RTP Systems in Semiconductor Wafer Manufacturing Chemotaxis or How E. Coli Swims Away from Trouble Historical Perspective 786 Summary 788 Review Questions 790 Problems 790 Appendix A Laplace Transforms 804 A.1 The L Laplace Transform 804 A.1.1 Properties of Laplace Transforms 805 A.1.2 Inverse Laplace Transform by PartialFraction Expansion 813 A.1.3 The Initial Value Theorem 816 A.1.4 Final Value Theorem 817 A00_FRAN6598_07_SE_FM 2014/3/17 15:15 page xi #11
8 xii Contents Appendix B Solutions to the Review Questions 819 Appendix C Matlab Commands 835 Bibliography 840 Index 848 List of Appendices on the web at Appendix WA: A Review of Complex Variables Appendix WB: Summary of Matrix Theory Appendix WC: Controllability and Observability Appendix WD: Ackermann s Formula for Pole Placement Appendix W2.1.4: Complex Mechanical Systems Appendix W3.2.3: Mason s Rule and Signal Flow Graph Appendix W : Routh Special Cases Appendix W3.7: System Identification Appendix W3.8: Amplitude and Time Scaling Appendix W : The Filtered Case Appendix W : Truxal s Formula for the Error Constants Appendix W4.5: Introduction to Digital Control Appendix W4.6: Sensitivity of Time Response to Parameter Change Appendix W5.4.4: Analog and Digital Implementations Appendix W5.6.3: Root Locus with Time Delay Appendix W6.7.2: Digital Implementation of Example 6.15 Appendix W6.8.1: Time Delay via the Nyquist Diagram Appendix W6.9.2: The Inverse Nyquist Diagram Appendix W7.8: Digital Implementation of Example 7.31 Appendix W7.9: Digital Implementation of Example 7.33 Appendix W7.14: Solution of State Equations Appendix W8.7: Discrete StateSpace Design Methods A00_FRAN6598_07_SE_FM 2014/3/17 15:15 page xii #12
Feedback Control of Dynamic Systems
THIRD EDITION Feedback Control of Dynamic Systems Gene F. Franklin Stanford University J. David Powell Stanford University Abbas EmamiNaeini Integrated Systems, Inc. TT AddisonWesley Publishing Company
More informationContents. PART I METHODS AND CONCEPTS 2. Transfer Function Approach Frequency Domain Representations... 42
Contents Preface.............................................. xiii 1. Introduction......................................... 1 1.1 Continuous and Discrete Control Systems................. 4 1.2 OpenLoop
More informationCONTROL SYSTEMS ENGINEERING Sixth Edition International Student Version
CONTROL SYSTEMS ENGINEERING Sixth Edition International Student Version Norman S. Nise California State Polytechnic University, Pomona John Wiley fir Sons, Inc. Contents PREFACE, vii 1. INTRODUCTION, 1
More informationAnalysis and Synthesis of SingleInput SingleOutput Control Systems
Lino Guzzella Analysis and Synthesis of SingleInput SingleOutput Control Systems l+kja» \Uja>)W2(ja»\ um Contents 1 Definitions and Problem Formulations 1 1.1 Introduction 1 1.2 Definitions 1 1.2.1 Systems
More informationTable of Laplacetransform
Appendix Table of Laplacetransform pairs 1(t) f(s) oct), unit impulse at t = 0 a, a constant or step of magnitude a at t = 0 a s t, a ramp function e at, an exponential function s + a sin wt, a sine fun
More informationIndex. Index. More information. in this web service Cambridge University Press
Atype elements, 4 7, 18, 31, 168, 198, 202, 219, 220, 222, 225 Atype variables. See Across variable ac current, 172, 251 ac induction motor, 251 Acceleration rotational, 30 translational, 16 Accumulator,
More informationChapter 2. Classical Control System Design. Dutch Institute of Systems and Control
Chapter 2 Classical Control System Design Overview Ch. 2. 2. Classical control system design Introduction Introduction Steadystate Steadystate errors errors Type Type k k systems systems Integral Integral
More informationCONTROL * ~ SYSTEMS ENGINEERING
CONTROL * ~ SYSTEMS ENGINEERING H Fourth Edition NormanS. Nise California State Polytechnic University, Pomona JOHN WILEY& SONS, INC. Contents 1. Introduction 1 1.1 Introduction, 2 1.2 A History of Control
More informationDigital Control Engineering Analysis and Design
Digital Control Engineering Analysis and Design M. Sami Fadali Antonio Visioli AMSTERDAM BOSTON HEIDELBERG LONDON NEW YORK OXFORD PARIS SAN DIEGO SAN FRANCISCO SINGAPORE SYDNEY TOKYO Academic Press is
More informationFeedback Control of Linear SISO systems. Process Dynamics and Control
Feedback Control of Linear SISO systems Process Dynamics and Control 1 OpenLoop Process The study of dynamics was limited to openloop systems Observe process behavior as a result of specific input signals
More informationIndex 669 Arrival angles rules for positive locus Assigned zeros 399 Associative law for addition 631 Associative law for multiplication 632 Å
目錄 i Index A A/D converters 468 digitization 453 Abscissa of convergence 610 Absolute value complex number 622 acker.m 361, 366, 377 Ackermann s estimator formula 380 Ackermann s formula derivation 648
More informationDynamic Systems. Modeling and Analysis. Hung V. Vu. Ramin S. Esfandiari. THE McGRAWHILL COMPANIES, INC. California State University, Long Beach
Dynamic Systems Modeling and Analysis Hung V. Vu California State University, Long Beach Ramin S. Esfandiari California State University, Long Beach THE McGRAWHILL COMPANIES, INC. New York St. Louis San
More informationCourse Summary. The course cannot be summarized in one lecture.
Course Summary Unit 1: Introduction Unit 2: Modeling in the Frequency Domain Unit 3: Time Response Unit 4: Block Diagram Reduction Unit 5: Stability Unit 6: SteadyState Error Unit 7: Root Locus Techniques
More informationKINGS COLLEGE OF ENGINEERING DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
KINGS COLLEGE OF ENGINEERING DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING QUESTION BANK SUB.NAME : CONTROL SYSTEMS BRANCH : ECE YEAR : II SEMESTER: IV 1. What is control system? 2. Define open
More informationVALLIAMMAI ENGINEERING COLLEGE SRM Nagar, Kattankulathur
VALLIAMMAI ENGINEERING COLLEGE SRM Nagar, Kattankulathur 603 203. DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING SUBJECT QUESTION BANK : EC6405 CONTROL SYSTEM ENGINEERING SEM / YEAR: IV / II year
More informationFEEDBACK and CONTROL SYSTEMS
SCHA UM'S OUTLINE OF THEORY AND PROBLEMS OF FEEDBACK and CONTROL SYSTEMS Second Edition CONTINUOUS (ANALOG) AND DISCRETE (DIGITAL) JOSEPH J. DiSTEFANO, III, PhD. Departments of Computer Science and Mediane
More informationIntroduction to. Process Control. Ahmet Palazoglu. Second Edition. Jose A. Romagnoli. CRC Press. Taylor & Francis Group. Taylor & Francis Group,
Introduction to Process Control Second Edition Jose A. Romagnoli Ahmet Palazoglu CRC Press Taylor & Francis Group Boca Raton London NewYork CRC Press is an imprint of the Taylor & Francis Group, an informa
More informationDr Ian R. Manchester Dr Ian R. Manchester AMME 3500 : Review
Week Date Content Notes 1 6 Mar Introduction 2 13 Mar Frequency Domain Modelling 3 20 Mar Transient Performance and the splane 4 27 Mar Block Diagrams Assign 1 Due 5 3 Apr Feedback System Characteristics
More information6.1 Sketch the zdomain root locus and find the critical gain for the following systems K., the closedloop characteristic equation is K + z 0.
6. Sketch the zdomain root locus and find the critical gain for the following systems K (i) Gz () z 4. (ii) Gz K () ( z+ 9. )( z 9. ) (iii) Gz () Kz ( z. )( z ) (iv) Gz () Kz ( + 9. ) ( z. )( z 8. ) (i)
More informationVALLIAMMAI ENGINEERING COLLEGE
VALLIAMMAI ENGINEERING COLLEGE SRM Nagar, Kattankulathur 603 203 DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING QUESTION BANK V SEMESTER IC650 CONTROL SYSTEMS Regulation 203 Academic Year 207 8 Prepared
More informationSAMPLE SOLUTION TO EXAM in MAS501 Control Systems 2 Autumn 2015
FACULTY OF ENGINEERING AND SCIENCE SAMPLE SOLUTION TO EXAM in MAS501 Control Systems 2 Autumn 2015 Lecturer: Michael Ruderman Problem 1: Frequencydomain analysis and control design (15 pt) Given is a
More informationEET 3212 Control Systems. Control Systems Engineering, 6th Edition, Norman S. Nise December 2010, A. Goykadosh and M.
NEW YORK CITY COLLEGE OF TECHNOLOGY The City University of New York 300 Jay Street Brooklyn, NY 112012983 Department of Electrical and Telecommunications Engineering Technology TEL (718) 2605300  FAX:
More informationAutomatic Control Systems
Automatic Control Systems Edited by Dr. Yuri Sokolov Contributing Authors: Dr. Victor Iliushko, Dr. Emaid A. AbdulRetha, Mr. Sönke Dierks, Dr. Pascual Marqués. Published by Marques Aviation Ltd Southport,
More information(b) A unity feedback system is characterized by the transfer function. Design a suitable compensator to meet the following specifications:
1. (a) The open loop transfer function of a unity feedback control system is given by G(S) = K/S(1+0.1S)(1+S) (i) Determine the value of K so that the resonance peak M r of the system is equal to 1.4.
More informationDesign of Nonlinear Control Systems with the Highest Derivative in Feedback
SERIES ON STAB1UTY, VIBRATION AND CONTROL OF SYSTEMS SeriesA Volume 16 Founder & Editor: Ardeshir Guran CoEditors: M. Cloud & W. B. Zimmerman Design of Nonlinear Control Systems with the Highest Derivative
More informationOutline. Classical Control. Lecture 1
Outline Outline Outline 1 Introduction 2 Prerequisites Block diagram for system modeling Modeling Mechanical Electrical Outline Introduction Background Basic Systems Models/Transfers functions 1 Introduction
More informationME 475/591 Control Systems Final Exam Fall '99
ME 475/591 Control Systems Final Exam Fall '99 Closed book closed notes portion of exam. Answer 5 of the 6 questions below (20 points total) 1) What is a phase margin? Under ideal circumstances, what does
More informationIC6501 CONTROL SYSTEMS
DHANALAKSHMI COLLEGE OF ENGINEERING CHENNAI DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING YEAR/SEMESTER: II/IV IC6501 CONTROL SYSTEMS UNIT I SYSTEMS AND THEIR REPRESENTATION 1. What is the mathematical
More informationVideo 5.1 Vijay Kumar and Ani Hsieh
Video 5.1 Vijay Kumar and Ani Hsieh Robo3x1.1 1 The Purpose of Control Input/Stimulus/ Disturbance System or Plant Output/ Response Understand the Black Box Evaluate the Performance Change the Behavior
More informationDESIGN USING TRANSFORMATION TECHNIQUE CLASSICAL METHOD
206 Spring Semester ELEC733 Digital Control System LECTURE 7: DESIGN USING TRANSFORMATION TECHNIQUE CLASSICAL METHOD For a unit ramp input Tz Ez ( ) 2 ( z ) D( z) G( z) Tz e( ) lim( z) z 2 ( z ) D( z)
More informationEC CONTROL SYSTEM UNIT I CONTROL SYSTEM MODELING
EC 2255  CONTROL SYSTEM UNIT I CONTROL SYSTEM MODELING 1. What is meant by a system? It is an arrangement of physical components related in such a manner as to form an entire unit. 2. List the two types
More informationCYBER EXPLORATION LABORATORY EXPERIMENTS
CYBER EXPLORATION LABORATORY EXPERIMENTS 1 2 Cyber Exploration oratory Experiments Chapter 2 Experiment 1 Objectives To learn to use MATLAB to: (1) generate polynomial, (2) manipulate polynomials, (3)
More informationECEn 483 / ME 431 Case Studies. Randal W. Beard Brigham Young University
ECEn 483 / ME 431 Case Studies Randal W. Beard Brigham Young University Updated: December 2, 2014 ii Contents 1 Single Link Robot Arm 1 2 Pendulum on a Cart 9 3 Satellite Attitude Control 17 4 UUV Roll
More informationDepartment of Electronics and Instrumentation Engineering M. E CONTROL AND INSTRUMENTATION ENGINEERING CL7101 CONTROL SYSTEM DESIGN Unit I BASICS AND ROOTLOCUS DESIGN PARTA (2 marks) 1. What are the
More informationDigital Control Systems
Digital Control Systems Lecture Summary #4 This summary discussed some graphical methods their use to determine the stability the stability margins of closed loop systems. A. Nyquist criterion Nyquist
More informationSRI VENKATESWARA COLLEGE OF ENGINEERING
COURSE DELIVERY PLAN  THEORY Page 1 of 7 Department of Chemical Engineering B.E/B.Tech/M.E/M.Tech : Chemical Engineering Regulation:2013 PG Specialisation : NA Sub. Code / Sub. Name : CH 6605  Process
More informationControls Problems for Qualifying Exam  Spring 2014
Controls Problems for Qualifying Exam  Spring 2014 Problem 1 Consider the system block diagram given in Figure 1. Find the overall transfer function T(s) = C(s)/R(s). Note that this transfer function
More informationEC6405  CONTROL SYSTEM ENGINEERING Questions and Answers Unit  I Control System Modeling Two marks 1. What is control system? A system consists of a number of components connected together to perform
More informationEE 422G  Signals and Systems Laboratory
EE 4G  Signals and Systems Laboratory Lab 9 PID Control Kevin D. Donohue Department of Electrical and Computer Engineering University of Kentucky Lexington, KY 40506 April, 04 Objectives: Identify the
More informationD(s) G(s) A control system design definition
R E Compensation D(s) U Plant G(s) Y Figure 7. A control system design definition x x x 2 x 2 U 2 s s 7 2 Y Figure 7.2 A block diagram representing Eq. (7.) in control form z U 2 s z Y 4 z 2 s z 2 3 Figure
More informationControl Systems. EC / EE / IN. For
Control Systems For EC / EE / IN By www.thegateacademy.com Syllabus Syllabus for Control Systems Basic Control System Components; Block Diagrammatic Description, Reduction of Block Diagrams. Open Loop
More informationControl Systems. University Questions
University Questions UNIT1 1. Distinguish between open loop and closed loop control system. Describe two examples for each. (10 Marks), Jan 2009, June 12, Dec 11,July 08, July 2009, Dec 2010 2. Write
More informationSRM UNIVERSITY DEPARTMENT OF BIOMEDICAL ENGINEERING ODD Semester DAY floor
SRM UNIVERSITY DEPARTMENT OF BIOMEDICAL ENGINEERING ODD Semester20142015 CONTROL SYSTEMS Course Code: Course Title: Control Systems Semester: V SEM B. Tech Third Year Course Timings: STAFF NAME: Anitha.G
More informationAnswers to multiple choice questions
Answers to multiple choice questions Chapter 2 M2.1 (b) M2.2 (a) M2.3 (d) M2.4 (b) M2.5 (a) M2.6 (b) M2.7 (b) M2.8 (c) M2.9 (a) M2.10 (b) Chapter 3 M3.1 (b) M3.2 (d) M3.3 (d) M3.4 (d) M3.5 (c) M3.6 (c)
More informationControl Systems. LMIs in. GuangRen Duan. Analysis, Design and Applications. HaiHua Yu. CRC Press. Taylor & Francis Croup
LMIs in Control Systems Analysis, Design and Applications GuangRen Duan HaiHua Yu CRC Press Taylor & Francis Croup Boca Raton London New York CRC Press is an imprint of the Taylor & Francis Croup, an
More informationIndex. INDEX_p /15/02 3:08 PM Page 765
INDEX_p.765770 11/15/02 3:08 PM Page 765 Index N A Adaptive control, 144 Adiabatic reactors, 465 Algorithm, control, 5 Allpass factorization, 257 Allpass, frequency response, 225 Amplitude, 216 Amplitude
More informationECSE 4962 Control Systems Design. A Brief Tutorial on Control Design
ECSE 4962 Control Systems Design A Brief Tutorial on Control Design Instructor: Professor John T. Wen TA: Ben Potsaid http://www.cat.rpi.edu/~wen/ecse4962s04/ Don t Wait Until The Last Minute! You got
More information1 Chapter 9: Design via Root Locus
1 Figure 9.1 a. Sample root locus, showing possible design point via gain adjustment (A) and desired design point that cannot be met via simple gain adjustment (B); b. responses from poles at A and B 2
More informationRaktim Bhattacharya. . AERO 422: Active Controls for Aerospace Vehicles. Basic Feedback Analysis & Design
AERO 422: Active Controls for Aerospace Vehicles Basic Feedback Analysis & Design Raktim Bhattacharya Laboratory For Uncertainty Quantification Aerospace Engineering, Texas A&M University Routh s Stability
More informationMASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Mechanical Engineering 2.04A Systems and Controls Spring 2013
MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Mechanical Engineering 2.04A Systems and Controls Spring 2013 Problem Set #4 Posted: Thursday, Mar. 7, 13 Due: Thursday, Mar. 14, 13 1. Sketch the Root
More informationR a) Compare open loop and closed loop control systems. b) Clearly bring out, from basics, Forcecurrent and ForceVoltage analogies.
SET  1 II B. Tech II Semester Supplementary Examinations Dec 01 1. a) Compare open loop and closed loop control systems. b) Clearly bring out, from basics, Forcecurrent and ForceVoltage analogies..
More informationSTABILITY OF CLOSEDLOOP CONTOL SYSTEMS
CHBE320 LECTURE X STABILITY OF CLOSEDLOOP CONTOL SYSTEMS Professor Dae Ryook Yang Spring 2018 Dept. of Chemical and Biological Engineering 101 Road Map of the Lecture X Stability of closedloop control
More informationmagnitude [db] phase [deg] frequency [Hz] feedforward motor load 
ITERATIVE LEARNING CONTROL OF INDUSTRIAL MOTION SYSTEMS Maarten Steinbuch and René van de Molengraft Eindhoven University of Technology, Faculty of Mechanical Engineering, Systems and Control Group, P.O.
More informationUnit 11  Week 7: Quantitative feedback theory (Part 1/2)
X reviewer3@nptel.iitm.ac.in Courses» Control System Design Announcements Course Ask a Question Progress Mentor FAQ Unit 11  Week 7: Quantitative feedback theory (Part 1/2) Course outline How to access
More informationControl Systems Lab  SC4070 Control techniques
Control Systems Lab  SC4070 Control techniques Dr. Manuel Mazo Jr. Delft Center for Systems and Control (TU Delft) m.mazo@tudelft.nl Tel.:0152788131 TU Delft, February 16, 2015 (slides modified from
More informationCBE507 LECTURE III Controller Design Using Statespace Methods. Professor Dae Ryook Yang
CBE507 LECTURE III Controller Design Using Statespace Methods Professor Dae Ryook Yang Fall 2013 Dept. of Chemical and Biological Engineering Korea University Korea University III 1 Overview States What
More informationOverview of the Seminar Topic
Overview of the Seminar Topic Simo Särkkä Laboratory of Computational Engineering Helsinki University of Technology September 17, 2007 Contents 1 What is Control Theory? 2 History
More informationEEE 184 Project: Option 1
EEE 184 Project: Option 1 Date: November 16th 2012 Due: December 3rd 2012 Work Alone, show your work, and comment your results. Comments, clarity, and organization are important. Same wrong result or same
More informationEC 8391CONTROL SYSTEMS ENGINEERING. Questions and Answers PARTA. Unit  I Systems Components And Their Representation
EC 8391CONTROL SYSTEMS ENGINEERING Questions and Answers PARTA Unit  I Systems Components And Their Representation 1. What is control system? A system consists of a number of components connected together
More informationNADAR SARASWATHI COLLEGE OF ENGINEERING AND TECHNOLOGY Vadapudupatti, Theni
NADAR SARASWATHI COLLEGE OF ENGINEERING AND TECHNOLOGY Vadapudupatti, Theni625531 Question Bank for the Units I to V SE05 BR05 SU02 5 th Semester B.E. / B.Tech. Electrical & Electronics engineering IC6501
More informationExam. 135 minutes + 15 minutes reading time
Exam January 23, 27 Control Systems I (559L) Prof. Emilio Frazzoli Exam Exam Duration: 35 minutes + 5 minutes reading time Number of Problems: 45 Number of Points: 53 Permitted aids: Important: 4 pages
More informationChapter 7  Solved Problems
Chapter 7  Solved Problems Solved Problem 7.1. A continuous time system has transfer function G o (s) given by G o (s) = B o(s) A o (s) = 2 (s 1)(s + 2) = 2 s 2 + s 2 (1) Find a controller of minimal
More informationAutomatic Control (MSc in Mechanical Engineering) Lecturer: Andrea Zanchettin Date: Student ID number... Signature...
Automatic Control (MSc in Mechanical Engineering) Lecturer: Andrea Zanchettin Date: 29..23 Given and family names......................solutions...................... Student ID number..........................
More informationECE 388 Automatic Control
Lead Compensator and PID Control Associate Prof. Dr. of Mechatronics Engineeering Çankaya University Compulsory Course in Electronic and Communication Engineering Credits (2/2/3) Course Webpage: http://ece388.cankaya.edu.tr
More informationInverted Pendulum. Objectives
Inverted Pendulum Objectives The objective of this lab is to experiment with the stabilization of an unstable system. The inverted pendulum problem is taken as an example and the animation program gives
More informationYTÜ Mechanical Engineering Department
YTÜ Mechanical Engineering Department Lecture of Special Laboratory of Machine Theory, System Dynamics and Control Division Coupled Tank 1 Level Control with using Feedforward PI Controller Lab Date: Lab
More informationRoot Locus Design Example #4
Root Locus Design Example #4 A. Introduction The plant model represents a linearization of the heading dynamics of a 25, ton tanker ship under empty load conditions. The reference input signal R(s) is
More information1 x(k +1)=(Φ LH) x(k) = T 1 x 2 (k) x1 (0) 1 T x 2(0) T x 1 (0) x 2 (0) x(1) = x(2) = x(3) =
567 This is often referred to as Þnite settling time or deadbeat design because the dynamics will settle in a Þnite number of sample periods. This estimator always drives the error to zero in time 2T or
More informationCompensatorTuning for Didturbance Rejection Associated with Delayed Double Integrating Processes, Part II: Feedback Laglead Firstorder Compensator
CompensatorTuning for Didturbance Rejection Associated with Delayed Double Integrating Processes, Part II: Feedback Laglead Firstorder Compensator Galal Ali Hassaan Department of Mechanical Design &
More informationMethods for analysis and control of. Lecture 4: The root locus design method
Methods for analysis and control of Lecture 4: The root locus design method O. Sename 1 1 Gipsalab, CNRSINPG, FRANCE Olivier.Sename@gipsalab.inpg.fr www.lag.ensieg.inpg.fr/sename Lead Lag 17th March
More informationStability of Feedback Control Systems: Absolute and Relative
Stability of Feedback Control Systems: Absolute and Relative Dr. Kevin Craig Greenheck Chair in Engineering Design & Professor of Mechanical Engineering Marquette University Stability: Absolute and Relative
More informationResearch Article. World Journal of Engineering Research and Technology WJERT.
wjert, 2015, Vol. 1, Issue 1, 2736 Research Article ISSN 2454695X WJERT www.wjert.org COMPENSATOR TUNING FOR DISTURBANCE REJECTION ASSOCIATED WITH DELAYED DOUBLE INTEGRATING PROCESSES, PART I: FEEDBACK
More informationIntroduction to Aircraft Flight. Mechanics
Introduction to Aircraft Flight. Mechanics i Performance, Static Stability, Dynamic Stability, Classical Feedback Control, and StateSpace Foundations Second Edition Thomas R. Yechout with contributions
More informationINTRODUCTION TO DIGITAL CONTROL
ECE4540/5540: Digital Control Systems INTRODUCTION TO DIGITAL CONTROL.: Introduction In ECE450/ECE550 Feedback Control Systems, welearnedhow to make an analog controller D(s) to control a lineartimeinvariant
More informationECE 486 Control Systems
ECE 486 Control Systems Spring 208 Midterm #2 Information Issued: April 5, 208 Updated: April 8, 208 ˆ This document is an info sheet about the second exam of ECE 486, Spring 208. ˆ Please read the following
More informationCDS 101/110a: Lecture 81 Frequency Domain Design
CDS 11/11a: Lecture 81 Frequency Domain Design Richard M. Murray 17 November 28 Goals: Describe canonical control design problem and standard performance measures Show how to use loop shaping to achieve
More informationContents. 1 StateSpace Linear Systems 5. 2 Linearization Causality, Time Invariance, and Linearity 31
Contents Preamble xiii Linear Systems I Basic Concepts 1 I System Representation 3 1 StateSpace Linear Systems 5 1.1 StateSpace Linear Systems 5 1.2 Block Diagrams 7 1.3 Exercises 11 2 Linearization
More informationAutonomous Mobile Robot Design
Autonomous Mobile Robot Design Topic: Guidance and Control Introduction and PID Loops Dr. Kostas Alexis (CSE) Autonomous Robot Challenges How do I control where to go? Autonomous Mobile Robot Design Topic:
More informationChapter 7. Digital Control Systems
Chapter 7 Digital Control Systems 1 1 Introduction In this chapter, we introduce analysis and design of stability, steadystate error, and transient response for computercontrolled systems. Transfer functions,
More informationLecture 6 PME Feedback Control of System. Instructor : ChengHsien Liu 劉承賢 2018/10/6.
PME320700 s Lecture 6 Instructor : ChengHsien Liu 劉承賢 liuch@pme.nthu.edu.tw http://mx.nthu.edu.tw/~chhsliu Lecture 6 1 http://mx.nthu.edu.tw/~chhsliu/control/ta_hours.pdf Lecture 6 2 1 Chapter 1: An Overview
More informationAdditional ClosedLoop Frequency Response Material (Second edition, Chapter 14)
Appendix J Additional ClosedLoop Frequency Response Material (Second edition, Chapter 4) APPENDIX CONTENTS J. ClosedLoop Behavior J.2 Bode Stability Criterion J.3 Nyquist Stability Criterion J.4 Gain
More informationFATIMA MICHAEL COLLEGE OF ENGINEERING & TECHNOLOGY
FATIMA MICHAEL COLLEGE OF ENGINEERING & TECHNOLOGY Senkottai Village, Madurai Sivagangai Main Road, Madurai  625 020. An ISO 9001:2008 Certified Institution DEPARTMENT OF ELECTRONICS AND COMMUNICATION
More informationCHAPTER 1 Basic Concepts of Control System. CHAPTER 6 Hydraulic Control System
CHAPTER 1 Basic Concepts of Control System 1. What is open loop control systems and closed loop control systems? Compare open loop control system with closed loop control system. Write down major advantages
More informationSECTION 5: ROOT LOCUS ANALYSIS
SECTION 5: ROOT LOCUS ANALYSIS MAE 4421 Control of Aerospace & Mechanical Systems 2 Introduction Introduction 3 Consider a general feedback system: Closed loop transfer function is 1 is the forward path
More informationHYDRAULIC CONTROL SYSTEMS
HYDRAULIC CONTROL SYSTEMS Noah D. Manring Mechanical and Aerospace Engineering Department University of MissouriColumbia WILEY John Wiley & Sons, Inc. vii Preface Introduction xiii XV FUNDAMENTALS 1 Fluid
More informationAircraft Stability & Control
Aircraft Stability & Control Textbook Automatic control of Aircraft and missiles 2 nd Edition by John H Blakelock References Aircraft Dynamics and Automatic Control  McRuler & Ashkenas Aerodynamics, Aeronautics
More informationFEEDBACK CONTROL SYSTEMS
FEEDBAC CONTROL SYSTEMS. Control System Design. Open and ClosedLoop Control Systems 3. Why ClosedLoop Control? 4. Case Study  Speed Control of a DC Motor 5. SteadyState Errors in Unity Feedback Control
More informationYTÜ Mechanical Engineering Department
YTÜ Mechanical Engineering Department Lecture of Special Laboratory of Machine Theory, System Dynamics and Control Division Coupled Tank 1 Level Control with using Feedforward PI Controller Lab Report
More informationControl System Design
ELEC4410 Control System Design Lecture 19: Feedback from Estimated States and DiscreteTime Control Design Julio H. Braslavsky julio@ee.newcastle.edu.au School of Electrical Engineering and Computer Science
More informationIndex Accumulation, 53 Accuracy: numerical integration, sensor, 383, Adaptive tuning: expert system, 528 gain scheduling, 518, 529, 709,
Accumulation, 53 Accuracy: numerical integration, 8384 sensor, 383, 772773 Adaptive tuning: expert system, 528 gain scheduling, 518, 529, 709, 715 input conversion, 519 reasons for, 512517 relay autotuning,
More informationCourse roadmap. ME451: Control Systems. What is Root Locus? (Review) Characteristic equation & root locus. Lecture 18 Root locus: Sketch of proofs
ME451: Control Systems Modeling Course roadmap Analysis Design Lecture 18 Root locus: Sketch of proofs Dr. Jongeun Choi Department of Mechanical Engineering Michigan State University Laplace transform
More informationChapter 2 Review of Linear and Nonlinear Controller Designs
Chapter 2 Review of Linear and Nonlinear Controller Designs This Chapter reviews several flight controller designs for unmanned rotorcraft. 1 Flight control systems have been proposed and tested on a wide
More informationPID Tuning of Plants With Time Delay Using Root Locus
San Jose State University SJSU ScholarWorks Master's Theses Master's Theses and Graduate Research Summer 2011 PID Tuning of Plants With Time Delay Using Root Locus Greg Baker San Jose State University
More informationR10. IV B.Tech II Semester Regular Examinations, April/May DIGITAL CONTROL SYSTEMS JNTUK
Set No. 1 1 a) Explain about the shifting and scaling operator. b) Discuss briefly about the linear time invariant and causal systems. 2 a) Write the mapping points between SPlane and Zplane. b) Find
More informationECE317 : Feedback and Control
ECE317 : Feedback and Control Lecture : Steadystate error Dr. Richard Tymerski Dept. of Electrical and Computer Engineering Portland State University 1 Course roadmap Modeling Analysis Design Laplace
More informationCourse roadmap. Step response for 2ndorder system. Step response for 2ndorder system
ME45: Control Systems Lecture Time response of ndorder systems Prof. Clar Radcliffe and Prof. Jongeun Choi Department of Mechanical Engineering Michigan State University Modeling Laplace transform Transfer
More informationMAS107 Control Theory Exam Solutions 2008
MAS07 CONTROL THEORY. HOVLAND: EXAM SOLUTION 2008 MAS07 Control Theory Exam Solutions 2008 Geir Hovland, Mechatronics Group, Grimstad, Norway June 30, 2008 C. Repeat question B, but plot the phase curve
More informationECE317 : Feedback and Control
ECE317 : Feedback and Control Lecture : RouthHurwitz stability criterion Examples Dr. Richard Tymerski Dept. of Electrical and Computer Engineering Portland State University 1 Course roadmap Modeling
More informationAnalysis of DiscreteTime Systems
TU Berlin DiscreteTime Control Systems 1 Analysis of DiscreteTime Systems Overview Stability Sensitivity and Robustness Controllability, Reachability, Observability, and Detectabiliy TU Berlin DiscreteTime
More informationDr Ian R. Manchester
Week Content Notes 1 Introduction 2 Frequency Domain Modelling 3 Transient Performance and the splane 4 Block Diagrams 5 Feedback System Characteristics Assign 1 Due 6 Root Locus 7 Root Locus 2 Assign
More information