Sistemas de Control

ILI04120

Diapositivas de contenido temático

Impartido por: Felipe de Jesús Torres del Carmen

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1. Introducción a los sistemas de control

 Definition
 Control is the process of:
 getting information,
 processing information and making decision,
 and acting on a system
 so that the system reponses as desired.

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Control
Real life

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Components of a control system

Note: Notation on the time domain use lower case letters,

when the Laplace domain is set, use capital letters.

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Applications

 Adapative Cruise Control (ACC)

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Applications

 Lane departure warning

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Applications

 Lane departure warning

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Applications

 Suspensions

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Applications

 Air to fuel ratio control (AFR)

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Applications

 Segway personal transporter

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Applications

 Process control

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Applications

 Robotics

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Applications

 Aeronautics and airspace

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Control system

 Plants, sensors and actuators

 Plants
 Electrical.
 Mechanical.
 Thermal.
 Fluid.
 Chemistry.
 Real systems consist of different kind of basic systems.
 Sensors
 Temperature.
 Pressure.
 Flow.
 Level.
 Velocity, position.
 Acceleration.
 Force (strain) / deformation.
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Control system

 Actuators
 Electrical motors (DC, brushless, step).
 Pumps.
 Valves.
 Heaters.

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Control schemes

 Closed-loop control
 Feedback control
 Need to measure system output

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Control schemes

 Open-loop control
 Feedforward control
 Control without feedback information

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Control system classification
 Continuous system
 All signals in the system are continous.
 Discrete system
 There exists discrete signals in the system
 Linear system
 The system satisfies the superposition principle.
 Nonlinear system
 The system don’t satisfies the superposition principle.
 Time Invariant System
 Parameters of the system don’t change over time.
 Time Varying System
 Parameters of the system change over time.
 SISO system
 Single Input Single Output system
 MIMO system
 Multi-Input Multi-Output system
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Tarea 1

 Definir, en relación a los sistemas de control:

 Variable controlada
 Variable manipulada
 Sistema
 Planta
 Proceso
 Perturbación

 Describir y dibujar el esquema de dos sistemas de

control de lazo abierto y dos sistemas de control de lazo
cerrado.

 Entrega: martes 30 de enero de 2018, a la hora de la

clase.
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Classical Control

 Mathematic models used in analysis and design control

systems are transfer functions.
 Features:
 Simple, easy to understand
 Advantages:
 Easy to apply to analysis and design SISO linear time –
invariant system.
 Frequency domain techniques.
 Analysis and design techniques:
 Root locus.
 Frequency response: Nyquist, Bode.
 Controllers:
 Lead – lag controllers
 PID (Proportional – Integral – Derivative)

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Modern Control

 Mathematical model used in analysis and design is

mainly the state-space equation.
 Features:
 Can be applied to nonlinear systems, time varying systems,
multiple input- multiple output system.
 Time domain technique
 Analysis and design method:
 Optimal control.
 Adaptive control.
 Robust Control
 Controller:
 State feedback controller

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Intelligent Control

 In principle, mathematic models are not required in

design intelligent control system.

 Features:
 Simulate / emulate biological intelligence system.
 The controller is capable of processing uncertain information,
learning, and handling large amounts of data.

 Intelligent control techniques:

 Fuzzy Control.
 Neural Networks.
 Genetic Algorithm.

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The Design Process

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The Design Process

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The Design Process

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The Design Process

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The Design Process

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Develop a Mathematical Model
Principal Laws

 Uses physical laws, such as Kirchhoff’s laws for electrical

networks and Newton’s law for mechanical systems.
 These laws are:
 Kirchhoff’s voltage law
 The sum of voltages around a closed path equals zero.
 Kirchhoff’s current law
 The sum of electric currents flowing from a node equals zero.
 Newton’s laws
 The sum of forces on a body equals zero; the sum of moments
on a body equals zero.

 Kirchhoff’s and Newton’s laws lead to mathematical

models that describe the relationship between the
input and output of dynamic systems.

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Develop a Mathematical Model
Differential Equation

 One such model is the linear, time-invariant differential

equation.

 Many systems can be approximately described by this

equation.
 Which relates
 the output, 𝑐 𝑡 ,
 to the input, 𝑟 𝑡 ,
 by way of the system parameters, 𝑎𝑖 and 𝑏𝑗 .

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Develop a Mathematical Model
Transfer Function

 The transfer function of a linear, time-invariant,

differential equation system is defined as the ratio of
the Laplace transform of the output (response function)
to the Laplace transform of the input (driving function).

 Under the assumption that all initial conditions are

zero.

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Develop a Mathematical Model
Transfer Function

 Examples
 Find the transfer function of:

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Block Diagram

 A block diagram of a system is a pictorial representation of the

functions performed by each component and of the flow of
signals.
 In a block diagram all system variables are linked to each
other through functional blocks.
 The functional block or simply block is a symbol for the
mathematical operation on the input signal to the block that
produces the output.
 The transfer functions of the components are usually
entered in the corresponding blocks, which are connected by
arrows to indicate the direction of the flow of signals.

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Reduce the Block Diagram

 How to combine the blocks corresponding to individual

subsystems so that we can represent a whole system
as a single block, and therefore a single transfer
function.

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Block Diagram
Elements

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Block Diagram
Cascade Form

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Block Diagram
Parallel Form

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Block Diagram
Feedback Form

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Block Diagram
Moving Blocks

 Moved left or right past a summing junction

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Block Diagram
Moving Blocks

 Moved left or right past a pickoff point.

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Reducing Block Diagram
Example

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Reducing Block Diagram
Example

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Reducing Block Diagram
Classroom work

 Reduce this block diagram:

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TEMA 2
Modelación Matemática de Sistemas
Dinámicos

 Mechanical Systems Modeling

 Mechanical systems can be modeled by a transfer function,
G(s).
 We concentrate on translational mechanical systems.
 Mechanical systems have three passive, linear components.
 Two of them, the spring and the mass, are energy-storage
elements.
 One of them, the viscous damper, dissipates energy.
 The two energy-storage elements are analogous to the two
electrical energy-storage elements, the inductor and
capacitor.
 The energy dissipator is analogous to electrical resistance.
 𝐾, 𝑓𝑣 and 𝑀 are called spring constant, coefficient of viscous
friction, and mass, respectively.

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Mechanical systems
Components

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Mechanical systems
Components array

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Mechanical systems
Components array

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Mechanical systems
Example

𝑋 𝑠
 Find the transfer function, , for the system shown
𝐹 𝑠

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Mechanical systems
Example

𝑋2 𝑠
 Find the transfer function, , for the system shown
𝐹 𝑠

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Mechanical systems
Example

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Mechanical systems
Example

𝑌 𝑠
 Obtain the transfer function of the system shown in
𝑈 𝑠
the Figure. The input 𝑢 is a displacement input.

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Electrical systems

 Using Kirchoff´s voltage law.

 Loop or mesg analysis.

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Electrical systems
Example

 Given the network of the Figure, find the transfer

𝐼 𝑠
function, 2 .
𝑉 𝑠

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Rotational Mechanical Systems

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Rotational Mechanical Systems
Example

 Write the Laplace transform of the equations of motion

for the system shown in the Figure.

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Modeling systems
Classroom work 2

𝑋2 𝑠
 Find the transfer function, 𝐺 𝑠 = , for the
𝐹 𝑠
translational mechanical system shown in the Figure.

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Electromechanical Systems

 Systems that are hybrids of electrical and mechanical

variables, the electromechanical systems.
 A motor is an electromechanical component that yields a
displacement output for a voltage input, that is, a
mechanical output generated by an electrical input.

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Electromechanical Systems

 A magnetic field is developed by stationary permanent

magnets or a stationary electromagnet called the fixed
field.
 A rotating circuit called the armature, through which
current 𝑖𝑎 𝑡 flows, passes through this magnetic field at
right angles and feels a force, 𝐹 = 𝐵𝑙𝑖𝑎 𝑡 , where 𝐵 is the
magnetic field strength and 𝑙 is the length of the conductor.
 The resulting torque turns the rotor, the rotating member
of the motor.
 There is another phenomenon that occurs in the motor:
 A conductor moving at right angles to a magnetic field
generates a voltage at the terminals of the conductor equal
to 𝑒 = 𝐵𝑙𝑣,
 where 𝑒 is the voltage and 𝑣 is the velocity of the conductor
normal to the magnetic field.

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Electromechanical Systems

 Since the current-carrying armature is rotating in a magnetic field, its

voltage is proportional to speed. Thus,

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Electromechanical Systems

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Liquid-Level Systems

 It is necessary to divide flow regimes into laminar flow

and turbulent flow, according to the magnitude of the
Reynolds number.
 If the Reynolds number is greater than about 3000 to
4000, then the flow is turbulent.
 The flow is laminar if the Reynolds number is less than
about 2000.
 In the laminar case, fluid flow occurs in streamlines with no
turbulence.
 Systems involving laminar flow may be represented by
linear differential equations.
 Systems involving turbulent flow often have to be
represented by nonlinear differential equations.
 If the region of operation is limited, however, such
nonlinear differential equations can be linearized.

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Liquid-Level Systems
Resistance and Capacitance of Liquid-Level
Systems

 Resistance
 Consider the flow through a short pipe connecting two
tanks.
 The resistance R for liquid flow in such a pipe or
restriction is defined as the change in the level difference
(the difference of the liquid levels of the two tanks)
necessary to cause a unit change in flow rate; that is:

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Liquid-Level Systems
Resistance and Capacitance of Liquid-Level
Systems

 Resistance in laminar flow

 The relationship between the steady-state flow rate and
steady-state head at the level of the restriction is given by:
 𝑄 = 𝐾𝐻
 Where:
 𝑄 = steady-state liquid flow rate, 𝑚3 𝑠
 𝐾 = coefficient, 𝑚2 𝑠
 𝐻 = steady-state head, 𝑚

 For laminar flow, the resistance 𝑅𝑙 is obtained as:

𝑑𝐻 𝐻
 𝑅𝑙 = =𝑄
𝑑𝑄

 The laminar-flow resistance is constant and is

analogous to the electrical resistance.

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Liquid-Level Systems
Resistance and Capacitance of Liquid-Level
Systems

 Resistance in turbulent flow

 The steady-state flow rate is given by:
 𝑄=𝐾 𝐻
 Where:
 𝑄 = steady-state liquid flow rate, 𝑚3 𝑠
 𝐾 = coefficient, 𝑚2.5 𝑠
 𝐻 = steady-state head, 𝑚

 For turbulent flow, the resistance 𝑅𝑡 is obtained as:

𝑑𝐻 2𝐻
 𝑅𝑡 = 𝑑𝑄 = 𝑄

 The value of the turbulent-flow resistance 𝑅𝑡 depends on the

flow rate and the head.
 The value of 𝑅𝑡 , however, may be considered constant if the
changes in head and flow rate are small.

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Liquid-Level Systems
Resistance and Capacitance of Liquid-Level
Systems

 If the value of the coefficient 𝐾 is not known.

 Then the resistance 𝑅𝑡 may be determined by plotting the
head-versus-flow-rate curve based on experimental data and
measuring the slope of the curve at the operating condition.

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Liquid-Level Systems
Resistance and Capacitance of Liquid-Level
Systems

 Capacitance
 The capacitance 𝐶 of a tank is defined to be the change in
quantity of stored liquid necessary to cause a unit change
in the potential (head).
 The potential is the quantity that indicates the energy level of
the system.
 It should be noted that the capacity 𝑚3 and the capacitance
𝑚2 are different.
 The capacitance of the tank is equal to its cross-sectional area.
 If this is constant, the capacitance is constant for any head.

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Liquid-Level Systems
Example

 Consider the system shown in the Figure:

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Liquid-Level Systems with Interactions
Example

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Modelado con diagrama de bloques

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Tarea 2

 Modelar a través de diagramas de bloques el siguiente

sistema mecánico. Use 𝑦2 como salida.

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Tema 3
Modelos en variables de estado

 To establish the state-space approach as an alternate

method for representing physical systems.
 State
 The state of a dynamic system is the smallest set of
variables (called state variables) such that knowledge of
these variables at 𝑡 = 𝑡0 , together with knowledge of the
input for 𝑡 ≥ 𝑡0 , completely determines the behavior of the
system for any time.
 State Variables.
 The state variables of a dynamic system are the variables
making up the smallest set of variables that determine the
state of the dynamic system.
 Variables that do not represent physical quantities and
those that are neither measurable nor observable can be
chosen as state variables.

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 State-space representation

 State Vector
 If 𝑛 state variables are needed to
completely describe the behavior of
a given system, then these 𝑛 state
variables can be considered the 𝑛
components of a vector 𝒙.
 Such a vector is called a state
vector.
 A state vector is thus a vector that
determines uniquely the system
state 𝒙 𝑡 for any time 𝑡 ≥ 𝑡0 , once
the state at 𝑡 = 𝑡0 is given and the
input 𝑢(𝑡) for 𝑡 ≥ 𝑡0 is specified.
 State Space
 The n-dimensional space whose
axes are the state variables.
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State-space representation

 State equations
 A set of 𝑛 simultaneous, first-order differential
equations with 𝑛 variables, where the 𝑛 variables to be
solved are the state variables.
 Output equation
 The algebraic equation that expresses the output variables
of a system as linear combinations of the state variables
and the inputs.
 A system is represented in state space by the following
equations:

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State-space representation

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State-space representation
Example

 Consider the mechanical system shown in the

Figure.
 Assume that the system is linear.
 The external force 𝑢(𝑡) is the input to the
system, and the displacement 𝑦(𝑡) of the
mass is the output.
 The displacement 𝑦(𝑡) is measured from the
equilibrium position in the absence of the
external force.
 This system is a single-input, single-output
system.

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State-space representation
It’s your turn

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State-space representation
Example

 Given the electrical network of the Figure, find a state-

space representation if the output is the current through
the resistor.

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State-space representation
It’s your turn

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Converting a Transfer Function to State
Space

 To convert a transfer function into state equations in

phase variable form,
 we first convert the transfer function to a differential
equation by cross-multiplying and taking the inverse
Laplace transform, assuming zero initial conditions.
 Then we represent the differential equation in state space
in phase-variable form.
 Phase variables
 Each subsequent state variable is defined to be the derivative
of the previous state variable.
 A representation of a general, nth-order, linear differential
equation with constant coefficients in state space in the phase-
variable form is given by:
1. Consider the differential equation:

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Converting a Transfer Function to State
Space

2. A convenient way to choose state variables is to choose the output,

𝑦(𝑡), and its (𝑛 − 1) derivatives as the state variables.

This choice is called the phase-variable choice.

Choosing the state variables, 𝑥𝑖 , and differentiating both sides yields:

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Converting a Transfer Function to State
Space

3. To build the phase-variable form of the state equations, i.e., in vector-

matrix form:

4. Finally, since the solution to the differential equation is 𝑦(𝑡), or 𝑥1 , the

output equation is:

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Converting a Transfer Function to State
Space
Example

 Find the state-space representation in phase-variable

form for the transfer function:

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Converting a Transfer Function to State
Space

 If a transfer function has a polynomial in 𝑠 in the numerator

that is of order less than the polynomial in the denominator,
the numerator and denominator can be handled separately.
 First separate the transfer function into two cascaded transfer
functions.
 The first is the denominator, and the second is just the numerator.
 The denominator of the transfer function yields the state
equations.
 The numerator yields the output equation.

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Converting a Transfer Function to State
Space
Example

 Find the state-space representation of the transfer

function:

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Converting a Transfer Function to State
Space
Example with Matlab

 clear all
 num=[1 7 2]; %numerador de la TF
 den=[1 9 26 24]; %denominador de la TF
 [A,B,C,D]=tf2ss(num,den); %convierte de TF a SS
 P=[0 0 1;0 1 0;1 0 0]; %matriz variable de fase
 Ap=inv(P)*A*P; %convierte a forma p-v
 Bp=inv(P)*B;
 Cp=C*P;
 Dp=D;
 modss=ss(Ap,Bp,Cp,Dp) %genera el modelo en SS

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Converting from State Space to a
Transfer Function

 Given the state and output equations:

Take the Laplace transform assuming zero initial conditions:

Solving for X(s):

where I is the identity matrix.

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Converting from State Space to a
Transfer Function

 Substituting 𝑿 𝑠 in the output equation:

So, the transfer function is given by:

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Converting from State Space to a
Transfer Function
Example

𝑌 𝑠
 Find the transfer function, 𝑇 𝑠 = , where 𝑈(𝑠) is the
𝑈 𝑠
input and 𝑌(𝑠) is the output from the system defined by

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Converting from State Space to a
Transfer Function
Example

𝑌 𝑠
 Find the transfer function, 𝑇 𝑠 = , where 𝑈(𝑠) is the
𝑈 𝑠
input and 𝑌(𝑠) is the output from the system defined by

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