CONTROL SYSTEMS

disturbance

actuating control plant

reference + error signal input controlled
input Σ controller actuator plant variable
_

feedback
information measuring
device

MEASURE

ALTER COMPARE
PLANT WITH
INPUT REFERENCE

PRODUCE
CONTROL
SIGNAL

!! AIM IS TO MAKE ERROR ZERO !!

Dr. Yiğit Taşcıoğlu MAK 305 System Dynamics and Control
TOBB ETU Mechanical Engineering http://sites.google.com/site/ytcourses/mak305
CONTROL SYSTEMS
D(s)
+
+ E(s) U(s) + V(s)
R(s) Σ G1(s) Σ G2(s) C(s)
_
B(s)
H(s)

G 1 ( s)G 2 ( s) G 2 ( s)
C (s)= R (s)+ D (s)
1+G 1 (s)G 2 ( s) H ( s) 1+G1 ( s)G 2 ( s) H ( s )
G CR ( s) G CD ( s)

● C(s) = controlled variable ● G1(s) = combined transfer function of the

● B(s) = measurement (feedback information) controller and the actuator
● R(s) = reference input ● G2(s) = transfer function of the plant
● E(s) = actuating error ● H(s) = transfer function of the measurement
● U(s) = controlled input device
● D(s) = disturbance (uncontrolled input)
● V(s) = total plant input
Dr. Yiğit Taşcıoğlu MAK 305 System Dynamics and Control
TOBB ETU Mechanical Engineering http://sites.google.com/site/ytcourses/mak305
CONTROL SYSTEMS

G 1 ( s)G 2 ( s) G 2 ( s)
C (s)= R (s)+ D (s)
1+G 1 (s)G 2 ( s) H ( s) 1+G1 ( s)G 2 ( s) H ( s )

G CR ( s) G CD ( s)

● The functionality of a Control System is described by the following criteria.

1. Regulator Characteristics:
Ability to suppress the effects of the disturbances [D(s)] on the system output as much as
possible.
2. Servo Characteristics:
Ability to follow the reference input [R(s)] as closely as possible.
3. Parameter Sensitivity:
Ability to keep the effects of parameter variations and/or uncertainties in G1(s), G2(s) and
H(s) on the system output, minimal.
● There are two basic control systems depending on the criterion which their design is based:
1. Regulators
2. Servomechanisms

Dr. Yiğit Taşcıoğlu MAK 305 System Dynamics and Control

TOBB ETU Mechanical Engineering http://sites.google.com/site/ytcourses/mak305
REGULATORS
● Regulators are control systems designed primarily to suppress the effects of disturbances on the
system output.
D(s)
+
+ E(s) +
R(s)=0 Σ G1(s) Σ G2(s) C(s)
_
E (s)= − H ( s)C (s)
H(s)

+ G ' (s)= G 2 (s)

D(s) Σ G'(s) C(s)
_ H ' (s)= G 1 ( s) H ( s)

C (s) G ' (s) G 2 (s)

H'(s) = =
D (s) 1+G ' ( s) H ' ( s) 1+G 1 ( s)G 2 (s) H (s)

E (s) E (s) C ( s) − G 2 ( s) H (s)

error due to disturbance = =
D (s) C (s) D (s) 1+G1 ( s)G 2 (s) H (s)

Dr. Yiğit Taşcıoğlu MAK 305 System Dynamics and Control

TOBB ETU Mechanical Engineering http://sites.google.com/site/ytcourses/mak305
SERVOMECHANISMS
● Servomechanisms are control systems designed primarily to follow the reference input.

D(s)=0
+
+ E(s) +
R(s) Σ G1(s) Σ G2(s) C(s)
_
E (s)= R (s)− H (s)C (s)
H(s)

+
R(s) Σ G(s) C(s)
G (s)= G 1 (s)G 2 ( s)
_
C (s) G (s) G 1 (s)G 2 ( s)
= =
H(s) R( s) 1+G (s) H (s) 1+G 1 (s)G 2 ( s) H ( s)

E (s) C (s) G1 ( s)G 2 ( s) H (s) 1

structural error = 1− H (s) = 1− =
R( s) R( s) 1+G 1 (s)G 2 ( s) H ( s) 1+G 1 ( s)G 2 (s) H (s)

Dr. Yiğit Taşcıoğlu MAK 305 System Dynamics and Control

TOBB ETU Mechanical Engineering http://sites.google.com/site/ytcourses/mak305
HOW TO MINIMIZE ERRORS ?

E (s) − G 2 (s) H (s) E (s) 1

= =
D (s) 1+G 1 (s)G 2 (s) H ( s) R( s) 1+G 1 (s)G 2 (s) H (s)

● In order to minimize both errors the denominator needs to be very large;

∣1+G1 ( s)G 2 (s) H (s)∣≫ 1 → ∣G1 ( s)G 2 (s) H (s)∣≫ 1 → ∣G1 ( s) H (s)∣≫ 1

controller plant measurement

FIXED!!! device
When ∣G 1 (s) H ( s)∣ is made very large;
● Regulator characteristics :
C (s) G 2 (s) 1
= ≃ ≈ 0 The system becomes insensitive to disturbances
D (s) 1+G 1 (s)G 2 (s) H ( s) G1 (s) H (s)
● Servo characteristics :
C (s) G 1 (s)G 2 (s) 1
= ≃ The system becomes independent of G1(s) and G2(s)
R( s) 1+G 1 (s)G 2 (s) H ( s) H (s)
THEREFORE;
● G1(s) needs to be very large but can be inaccurate.
● H(s) must be very accurate.
Dr. Yiğit Taşcıoğlu MAK 305 System Dynamics and Control
TOBB ETU Mechanical Engineering http://sites.google.com/site/ytcourses/mak305
BASIC NOMENCLATURE FOR CONTROL SYSTEMS

+
X(s) Σ G(s) Y(s)
_

H(s)

G (s) : Feedforward (FF) transfer function

H (s) : Feedback (FB) transfer function

H (s)= 1 : Unity feedback

G (s) H (s) : Open-loop transfer function

G (s)
: Closed-loop transfer function
1+G (s) H (s)

Dr. Yiğit Taşcıoğlu MAK 305 System Dynamics and Control

TOBB ETU Mechanical Engineering http://sites.google.com/site/ytcourses/mak305
SENSITIVITY OF CONTROL SYSTEMS TO PARAMETER VARIATIONS
● Some of the parameters in control systems may change due to ageing, wear, manufacturing
tolerances etc. In some cases, numerical values may not be known exactly, causing certain amount
of uncertainty.

fractional change in the

system transfer function

sensitivity of the system F δ F /F P δF

S FP = =
to the system parameter P δP/P F δP

fractional change in the

parameter

Dr. Yiğit Taşcıoğlu MAK 305 System Dynamics and Control

TOBB ETU Mechanical Engineering http://sites.google.com/site/ytcourses/mak305
SENSITIVITY OF CONTROL SYSTEMS TO PARAMETER VARIATIONS

+
R(s) Σ G(s) C(s)
C (s) G (s)
_ F ( s)= =
R( s) 1+G (s) H (s)
H(s)

● Assume that the changes/uncertainties in FF and FB transfer functions are given as δG and δH
respectively. If the resulting total change in C is δC then;

δ F ( s)/ F (s) G ( s) δ F (s) G ( s) (1+G ( s) H (s))− (G (s) H (s)) 1

S G= = ⋅ = ⋅ =
F
δG ( s)/G ( s) F (s) δG (s) G ( s) (1+G ( s) H ( s))
2
1+G (s) H (s)
1+G ( s) H (s)

δ F (s)/ F (s) H (s) δ F (s) H (s) − G ( s) − G (s) H ( s)

2
S = = ⋅ = ⋅ =
F
H
δ H (s)/ H ( s) F (s) δ H ( s) G (s) (1+G (s) H ( s))2 1+G ( s) H ( s)
1+G (s) H ( s)

δ F (s) δ(C (s)/ R(s)) 1 δG ( s) G (s) H (s) δ H (s)

= = −
F ( s) C ( s)/ R( s) 1+G (s) H (s) G (s) 1+G ( s) H (s) H ( s)

Dr. Yiğit Taşcıoğlu MAK 305 System Dynamics and Control

TOBB ETU Mechanical Engineering http://sites.google.com/site/ytcourses/mak305
SENSITIVITY OF CONTROL SYSTEMS TO PARAMETER VARIATIONS

+
R(s) Σ G(s) C(s)
C (s) G (s)
_ F ( s)= =
R( s) 1+G (s) H (s)
H(s)

δ F (s) δ(C (s)/ R(s)) 1 δG ( s) G (s) H (s) δ H (s)

= = −
F ( s) C ( s)/ R( s) 1+G (s) H (s) G (s) 1+G ( s) H (s) H ( s)

To have small sensitivity:

∣1+G (s) H (s)∣≫ 1 → ∣G (s) H (s)∣≫ 1

When ∣G ( s) H ( s)∣ is made very large;

1 The effects of the parameter variations

SG= ≃0
F
1+G ( s) H ( s) in FF elements ARE SUPPRESSED

− G (s) H (s) − G (s) H (s) The effects of the parameter variations

S = ≃ ≃−1
F
in FB elements CAN NOT BE SUPPRESSED,
H
1+G ( s) H ( s) G ( s) H ( s)
they are all reflected to the system output

Dr. Yiğit Taşcıoğlu MAK 305 System Dynamics and Control

TOBB ETU Mechanical Engineering http://sites.google.com/site/ytcourses/mak305
EXAMPLE
Determine the sensitivity of the I/O relationship to changes in K1, K2 and P

+ K1 K1
R(s) Σ s( s+ P) C(s) C (s) s (s+ P ) K1
_ F ( s)= = =
R( s) K K s s (s+ P + K 1 K 2 )
1+ 1 2
K2s s (s + P )

δ F ( s)/ F (s) K1 s (s+ P + K 1 K 2 )− K 1 K 2 s s+ P

S = = ⋅ =
F
K1
δ K 1/ K 1 K1 s2 (s+ P + K 1 K 2 )2 s+ P+ K 1 K 2
s( s+ P+ K 1 K 2 )

δ F (s)/ F ( s) K2 − K 12 s − K1 K 2
S = = ⋅ 2 =
F
K2
δ K 2/ K 2 K1 s (s+ P + K 1 K 2) s + P + K 1 K 2
2

s (s+ P + K 1 K 2 )

δ F ( s)/ F (s) P − K1 s −P
S P= = ⋅ 2 =
F

δP/P K1 s ( s+ P+ K 1 K 2)2 s+ P + K 1 K 2
s( s+ P + K 1 K 2 )

Dr. Yiğit Taşcıoğlu MAK 305 System Dynamics and Control

TOBB ETU Mechanical Engineering http://sites.google.com/site/ytcourses/mak305