Control System

analysis and design

• The performance of the elevator can beseen from the elevator
response curve in the figure.
• Two major measures of performance are apparent: (1) the transient
response and (2) the steady-state response .
We build control systems for four primary
reasons:
• 1. Power amplification
• 2. Remote control
• 3. Convenience of input form
• 4. Compensation for disturbances
Analysis
• Analysis is the process by which a system's performance is
determined
• Evaluate its transient response and steady-state error to determine if
• they meet the desired specifications
Design
• Design is the process by which a system's performance is created or
changed.
• if a system's transient response and steady-state error are analyzed
and found not to meet the specifications, then we change parameters
or add additional components to meet the specifications.
Analysis and Design Objective
• Producing the desired transient response, reducing steady-state error,
and achieving stability.
Transient Response
• Transient response contributes to the time required to controller
work
• We then analyze the system for its existing transient response
• Finally, we adjust parameters or design components to yield a desired
transient response
Steady-State Response
• Another analysis and design goal focuses on the steady-state
response.
• As we have seen, this response resembles the input and is usually
what remains after the transients have decayed to zero
Stability
• Discussion of transient response and steady-state error is moot if the
system does not have stability.
• In order to explain stability, we start from the fact that the total
response of a system is the sum of the natural response and the
forced response
• Natural response describes the way the system dissipates or acquires
energy. The form or nature of this response is dependent only on the
system, not the input.
• On the other hand, the form or nature of the forced response is
dependent on the input.
Stability
• For a control system to be useful, the natural response must :
• (1) eventually approach zero, thus leaving only the forced response, or
• (2) oscillate.
• the natural response grows without bound rather than diminish to zero or
oscillate
• the natural response is so much greater than the forced response that the
system is no longer controlled. This condition, called instability, could lead
to self-destruction of the physical device if limit stops are not part of the
design
• A time plot of an unstable system would show a transient response that
grows without bound and without any evidence of a steady-state response.
Analysis and Design
• Another consideration is robust design. Kekokohan parameter yang
telah didesain selama dinamika sistem berlangsung.
• Konsistensi response transient, steady state, dan stabilitas sepanjang
waktu selama sistem dibangun
• Kinerja pun berubah
• Maka engineer perlu membuat desain yang kokoh sehingga sistem
tidak terlalu sensitif ketika parameter berubah
Sasaran Desain
• Kinerja sistem mencakup penentuan response transien, steady state
error, dan stabilitas
• Compensator digunakan agar mencapai sasaran kinerja dan beberapa
metode untuk memperoleh sasaran ini.
Analysis and Design
• Engineer menganalisis sistem untuk memperoleh gambaran
spesifikasi tanggapan dan kinerja yang diinginkan melalui pengaturan
parameter sistem
• Jika spesifikasi tidak diperoleh, maka perlu adanya penambahan
perangkat keras untuk mencapai kinerja yang diinginkan
Analysis and Design
• Digunakan pengujian sinyal, selama proses analisis dan desain
• Engineer memilih masukan standar sinyal pengujian, antara lain sinyal
impuls, sinyal step, ramps, parabola dan sinusoidal
Analysis and Design
• Jika digunakan sinyal impuls, dilakukan proses pendekatan untuk
memperoleh bentuk gelombang tanggapan transien
• Jika digunakan sinyal step, merupakan representasi dari sinyal set point
yang diberikan. Maka, tanggapan sistem yang diperoleh ketika sinyal ini
diujikan ke sistem akan merepresentasi nilai aktual sistem saat ini. Sinyal
step digunakan karena ketika sinyal ini diujikan ke sistem maka tanggapan
transien dan steady state dapat terlihat jelas dan dapat dievaluasi
• Jika digunakan sinyal ramp, maka artinya sistem sedang diperintah untuk
luaran sistem dituntut menanjak secara linier. Hasil pengujian ini informasi
tambahan terkait eror steady state.
• Jika digunakan sinyal parabola, maka mirip dengan sinyal ramp akan
memberikan informasi tambahan terkait eror steady state
Analysis and Design
• Analisis sensitivitas akan menghasilkan persentase perubahan
parameter sistem.
• Perubahan lingkungan diharapkan tidak mempengaruhi sistem secara
berlebihan
Analysis and Design
• Kesimpulan
• Hasilkan tanggapan transien yang diharapkan
• Reduksi eror steady state
• Temukan stabilitas
• Respon transien berakibat pada kecepatan sistem dan mempengaruhi
kenyamanan
• Respon steady state menentukan akurasi sistem kendali dan
pengaturannya seberapa jauh luaran sistem cocok dengan tanggapan
yang diinginkan
Tanggapan Transien
• Sub sistem perlu didefinisikan representasi model matematikanya
• Sub sistem dianalisis untuk melihat karakteristik perilaku yang
dihasilkan dan diinginkan berdasarkan tanggapan transien dan steady
state
• Saat ini, fokus kita pada analisis tanggapan transien sistem
Tanggapan Transien
• Tanggapan keluaran sistem adalah penjumlahan dua tanggapan :
• Tanggapan paksa dan
• Tanggapan natural
• Teknik analisis ini menggunakan persamaan matematika sebagai
basisnya (ingat ini laboratoris dan makan waktu)
Tanggapan Transien
• Spesifikasi kinerja tanggapan transien
• Time constant : waktu yang diperlukan agar luaran sistem bergerak mencapai
37 % dari nilai awal
• Atau : waktu yang diperlukan agar sistem mencapai 63 % dari total luaran
akhirnya yang dihasilkan dari pemberian sinyal step sebagai sinyal uji
Tanggapan Transien
• Spesifikasi kinerja tanggapan transien
• Rise time : waktu untuk gelombang tanggapan bergerak dari nilai 0,1 sampai
0,9 nilai akhirnya
• Settling time : waktu untuk tanggapan mencapai dan bernilai berosilas tetap
pada angka 2% dari nilai akhirnya
Tanggapan Transien
• Spesifikasi kinerja tanggapan transien
• Rise time : waktu untuk gelombang tanggapan bergerak dari nilai 0,1 sampai
0,9 nilai akhirnya
• Settling time : waktu untuk tanggapan mencapai dan bernilai berosilas tetap
pada angka 2% dari nilai akhirnya
• Natural Frequency : Frekuensi osilasi dari sistem tanpa redaman
• Damping ration : Rasio exponential decay frequency terhadap natural
frequency
• Peak time : Waktu yang dibutuhkan untuk mencapai puncak maksimum
pertama
• Percent Overshoot : jumlah gelombang yang melebihi steady state, atau nilai
final (kumpulan jumlah peak time yang melebihi steady state)
Tanggapan Transien
• Spesifikasi kinerja tanggapan transien
• Rise time, peak time, dan settling time memberikan informasi terkait
kecepatan tanggapan transien
• Informasi ini memberikan bantuan kepada engineer menentukan kecepatan
atau tanggapan nature membuat kinerja sistem semakin bagus atau menurun
Tanggapan Transien
• Spesifikasi kinerja tanggapan transien
• Damping ratio memberikan ide terkait dengan tanggapan alami dari sebuah
tanggapan transien dan seberapa banyak overshoot dan osilasi terjadi
• Natural frequency memberikan indikasi tentang kecepatan tanggapan
• Natural frequency adalah frekuensi osilasi jika selurug redaman dihilangkan.
Parameter ini bekerja sebagai faktor skala dari tanggapan
Tanggapan Transien
• Spesifikasi kinerja tanggapan transien
• Peak time, percent overshoot dan settling time berelasi dengan posisi pole
• Desain tanggapan transien dibuat dengan merelasikan tanggapan yang
diinginkan terhadap posisi pole dan merelasikan kembali posisi pole terhadap
fungsi alih dan komponen sistem
Form of the response / System Behaviour
• Changes in the parameters can change the form of the response
• The wide range of response is :
• Overdamped response
• Underdamped response
• Undamped response
• Critical damped response
Stability
• If a system is unstable, transient response and steady state error are
moot points
• An unstable system cannot be designed for a specific transient
response or steady state error requirement
Stability
• The steady-state response consists of only the forced response.
• But the total response of a system is the sum of the forced and natural responses,
• definitions of stability, instability, and marginal stability:
• System is stable if the natural response approaches zero as time approaches infinity
• System is unstable if the natural response grows without bound as time approaches infinity
• System is marginally stable if the natural response neither decay nor grows but remains constant or
oscillates as time approaches infinity
• Thus, the definition of stability implies that only the forced response remains as the natural
response approaches zero.
Stability
• A system is stable if every bounded input yields a bounded output.
• We call this statement the bounded-input, bounded-output (BIBO) definition of stability.
• if the input is bounded but the total response is unbounded, the system is unstable, since we can conclude that the
natural response approaches infinity as time approaches infinity.
• If the input is unbounded, we will see an unbounded total response, and we cannot draw any conclusion about the
stability of the system; we cannot tell whether the total response is unbounded because the forced response is
unbounded or because the natural response is unbounded.
• A system is unstable if any bounded input yields an unbounded output.
• These definitions help clarify our previous definition of marginal stability, which really means that
the system is stable for some bounded inputs and unstable for others.
Stability
• From the perspective of the time response plot of a physical system,
instability is displayed by transients that grow without bound and,
consequently, a total response that does not approach a steady-state
value or other forced response
• Care must be taken here to distinguish between natural responses growing
without bound and a forced response, such as a ramp or exponential
increase, that also grows without bound. A system whose forced response
approaches infinity is stable as long as the natural response approaches zero.
Stability
• That is, stable systems have closed-loop transfer functions with poles
only in the left half-plane.
• Thus, unstable systems have closedloop transfer functions with at
least one pole in the right half-plane and/or poles of multiplicity
greater than 1 on the imaginary axis.
• Thus, marginally stable systems have closed-loop transfer functions
with only imaginary axis poles of multiplicity! and poles in the left
half-plane
Routh-Hurwitz criterion for stability
• The method requires two steps:
• (1) Generate a data table called a Routh table (dengan memanfaatkan fungsi
alih)
• and (2) interpret the Routh table to tell how many closed-loop system poles
are in the left half-plane, the right half-plane, and on the jco-axis
Steady-state
• Steady-state error is the difference between the input and the output
for a prescribed test input as t —> oo.
• Test inputs used for steady-state error analysis and design are
summarized in Table 7.1.
Steady-state
• let us assume a position control system, where the output position
follows the input commanded position.
• Step inputs represent constant position and thus are useful in determining
the ability of the control system to position itself with respect to a stationary
target,
• Since we are concerned with the difference between the input and the
output of a feedback control system after the steady state has been reached,
our discussion is limited to stable systems, where the natural response
approaches zero as t —> oo.
• Thus, the engineer must check the system for stability while performing
steady-state error analysis and design
Steady-state
• define parameters that we can use as steady-state error performance
specifications, just as we defined damping ratio, natural frequency,
settling time, percent overshoot, and so on as performance
specifications for the transient response.
• These steady-state error performance specifications are called static error
constants.
Steady-state
• Static error constants can be used to specify the steady-state error
characteristics of control systems,
• damping ratio, f, settling time, Ts, peak time, Tp, and percent
overshoot, % OS, are used as specifications for a control system's
transient response
• the position constant, Kp, velocity constant, Kv, and acceleration
constant, Ka, can be used as specifications for a control system's
steady-state errors.
Sensitivity
• The degree to which changes in system parameters affect system
transfer functions, and hence performance, is called sensitivity.
• A system with zero sensitivity (that is, changes in the system
parameters have no effect on the transfer function) is ideal. The
greater the sensitivity, the less desirable the effect of a parameter
change.
Sensitivity
• Sensitivity is the ratio of the fractional change in the function to the
fractional change
• in the parameter as the fractional change of the parameter
approaches zero. That
Root Locus
Improving Steady-State Error and Transient
Response
• we first design for transient response and then design for steady-state
error.
• The design can use either active or passive compensators
• If we design an active PD controller followed by an active PI controller,
the resulting compensator is called a proportional-plus-integral-plus-
derivative (PID) controller
• If we first design a passive lead compensator and then design a
passive lag compensator, the resulting compensator is called a lag-
lead compensator
Improving Steady-State Error and Transient
Response
• The design technique, FOR PID controller, which is demonstrated in Example 9.5,
consists of the following steps:
• 1. Evaluate the performance of the uncompensated system to determine how
much improvement in transient response is required.
• 2. Design the PD controller to meet the transient response specifications. The
design includes the zero location and the loop gain.
• 3. Simulate the system to be sure all requirements have been met.
• 4. Redesign if the simulation shows that requirements have not been met.
• 5. Design the PI controller to yield the required steady-state error.
• 6. Determine the gains, K\, K2, and K3, in Figure 9.30.
• 7. Simulate the system to be sure all requirements have been met.
• 8. Redesign if simulation shows that requirements have not been met.
Improving Steady-State Error and Transient
Response
• we improve both transient response and the steady-state error by
using a lead compensator and a lag compensator rather than the
ideal PID.
• We first design the lead compensator to improve the transient
response. Next we evaluate the improvement in steady-state error
still required. Next
• we evaluate the improvement in steady-state error still required.
Finally, we design the lag compensator to meet the steady-state error
requirement.
Improving Steady-State Error and Transient
Response
• The following steps summarize the design procedure:
• 1. Evaluate the performance of the uncompensated system to determine how much
• improvement in transient response is required.
• 2. Design the lead compensator to meet the transient response specifications. The
• design includes the zero location, pole location, and the loop gain.
• 3. Simulate the system to be sure all requirements have been met.
• 4. Redesign if the simulation shows that requirements have not been met.
• 5. Evaluate the steady-state error performance for the lead-compensated system to
• determine how much more improvement in steady-state error is required.
• 6. Design the lag compensator to yield the required steady-state error.
• 7. Simulate the system to be sure all requirements have been met.
• 8. Redesign if the simulation shows that requirements have not been met.
• Lag-Lead Compensator Design
Frequency Response
• Design compensator
Design Via State Space
• Alternative Approaches to Controller Design
Digital Control System