Transfer function Based
CLASSICAL
Feedback CONTROL
state equation base
Modern
THEORY
control Theory 2024 Spring
Byungcho Choi
Kyungpook National University
School of Electronics Engineering
Copyright@ 2024 Byungcho Choi
CLASSICAL CONTROL THEORY: 2024 Spring
General Information
bchoi@ee.knu.ac.kr
Home Page: eeclassroom.org
OCW Site: http://bkict-ocw.knu.ac.kr Lecture Videos Postlecture slides
Course Outline: The objective of this lecture is to provide for students with theoretical fundamentals, engineering
skills, and design techniques of the classical control systems so that the students could use the acquired
knowledge as their career-long intellectual resources. The former part of the lecture addresses the basic
principles and functional techniques of classical control theory:
Concept, benefits, and potential problems of closed-loop feedback control,
Mathematical description and engineering modeling of feedback systems, and
Stability analysis using the Routh-Hurwitz method and root locus technique.
The later part of the class focuses on the analysis and design of feedback control systems using frequency-
domain techniques:
Stability analysis using Nyquist criterion and stability margins as performance metrics,
p
Use of Bode plot as a graphical analysis and design tool,
Frequency response-based system design techniques, and
Compensation design and loop gain shaping for system performance optimization.
Lecture Note: Classical Control Theory: downloadable from LMS site
Textbook: R. Dorf and R. Bishop, “Modern Control Systems,” 2017, 13th Edition, Pearson.
Tentative Course Outline
Topic Major Contents Week
Chapter 2 Transfer Functions for Linear Systems 1 week
Models of Systems Block Diagram Models
Chapter 5 Performance of Second-Order Systems 2 weeks
Performance of Steady-State Errors in Feedback Control Systems
Control Systems Effects of a Third Pole or Zero
Chapter 6 BIBO Stability 2 weeks
Stability of Linear Basics of Stability Analysis
Systems Routh-Hurwitz Method
Chapter 7 Root Locus Fundamentals 2 weeks
Root Locus Method Features of Root Locus
Root Locus Design Method
Midterm Test
Chapter 8 Frequency Response and Bode Plot of Dynamic 3 weeks
Frequency Systems
Response Method Polar Plot of Transfer Functions
Loop Gain of Feedback Systems
Construction of Transfer Functions from Bode Plots
Bode Plot as an Analysis and Design Tool
Chapter 9 Conformal Contour Mapping 5 weeks
Stability Analysis, Nyquist Stability Criterion
Performance Relative Stabilities: Gain and Phase Margins
Evaluation, and Loop Gain Shaping Technique
Controller Design Equivalent Second-Order System
in Frequency Frequency Response Design Techniques
Domain Compensation Design Examples
Op Amp Compensations
Final Exam
Grading Policy: Midterm Test: 45-50% Final Exam: 45-50% Attendance and Homework: 0-10%
Lecture Contents
Chapter Introduction to Control systems
1.1 Turn Table Control System 1
Chapter 2 Mathematical Models of systems
2.5 Transfer Functions for linear systems 8
2 6 Block
Diagram Models in
Chapter 5 Performance of Feedback Control Systems
5.1 Introduction 30
5.3 Performance of Second Order Systems 33
5.4 Effects of a Third Pole or Zero 51
5.6 Steady state Errors in Feedback systems 60
Chapter 6 Stability of Linear systems
6.1 BIBO Stability 62
6.2 Routh Hurwitz Method 73
Chapter 17 The Root Locus Method
7.1 Introduction 83
7.2 RootLocus Fundamentals 85
7 3 Root Locus Construction Rules 92
17.4 Features of Root Loci 100
104
7.5 Pale Assignment
Chapter 8 Frequency Response Method
8 1 Introduction to Bode Plot 106
8.2 Bode Plot Examples 120
8 4 Polar Plots of Transfer Functions 125
8.5 Construction of TransferFunctions from Their 127
Asymptotic plots
Chapter 9 stability and Performance ins domain
9 1 Introduction 129
9.2 Contour Mapping from 5 domain to 137
7115 domain
9.3 Nyquiststability Criterion 144
9.4 Nyquist Analysis 148
167
9.5 RelativeStability Stability Margins
9.6 Equivalent second order system 171
9 7 Frequency Response Design Method 185
The Method of Loop Gain Shaping 185
Illustration of Loop Gain shaping 186
1917
Compensation or Controller structure
Loop Gain Bode Plot and steady state
202
error
Feedback compensation using operational 208
Voltage Amplifiers
Isolated Feedback compensation with 214
Optocoupter
Chapter 1
Introduction
Chapter 1 Introduction to Control system 1
Control Example 1.31 P 31
Turn Table System
1 Open Loop system
Ease
0ns
wasnt
Ws Angular
7 velocity
100
k effffrush
L
VR Ws Curve
iEE.
VR CV
Get UR IV for Ws 10215
on
0
2 Closed Loop Control system for Ws Regulation 2
Mixer or
aiiteremeamm.tt ei
1pct
fEt
10k
Us 10k
iiiii Eti t ti
t.EE End.ua
1
I
nsinr e i ieei tI
sensor
i Negative feedback mechanism
Mst ws Us Vet Veb VAT Ws
Negative feedback
Ii Node equation at the inverting terminal of the
5
integrator 151
Vr
Effort o in steady state
finite
Because
gfo.US
s
iii ws regulation Us UR O Vs VR IV
Us 15Ws IV Ws 10
Op amp property
FIITIÉ.jp VIII
v4 Not
virtualshort or vigilance
g
2
Quiz 1 Due Next Class Hour
w
UR wt
n
Find The expression between No Us and Vr
3 Closed Loop Operation at the predators 3
adulation
a
FEILE.IE
I Ju
iIEt fEEetffio
ve Vr Us 0
error signal
dfEfr
jwQgyfg
FR
w.EE owo Ws 10VR
www.t
4 Block Diagram Representation 4
Plpercess
Hittin
E i ÉÉ
i
ie.tt
i
f
i
figqgqyyy qy
gq.ge
t.aevariable
Ve Vr Us when DCgain of Erroramp is
infinite
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