Chapter 1 - Teknik Kendali Lanjut (Introduction Course)

Teknik Kendali Lanjut
Advanced Control System

(Introduction Class)
Chapter 1
Presented by Fahmizal, S.T., M.Sc
Department of Electrical Engineering and Informatics, Vocational College, Gadjah Mada University
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Names
• Teknik Kendali Lanjut

• Advanced Control System
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Syarat Materi Perkuliahan
• Telah mengambil materi kuliah berikut:
– Linear Algebra,
– Engineering Mathematics,
– Mathematics for Electrical Engineer,
– Engineering Physics,
– Physics for Electrical Engineer,
– Control Systems
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Youtube Channel
• Brian Douglas
– https://www.youtube.com/user/ControlLectures
• Katkimshow
– https://www.youtube.com/channel/UCRCdl2SXma02BG38
4RuZPqg
• Steve Brunton
– https://www.youtube.com/watch?v=Pi7l8mMjYVE&list=PL
MrJAkhIeNNR20Mz-VpzgfQs5zrYi085m
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Blog Channel
• https://www.math24.net/
• Control Tutorials for MATLAB and Simulink
(CTMS)
– http://ctms.engin.umich.edu/CTMS/index.php?au
x=Home
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Recommended Books
1. Burns R. “Advanced Control Engineering, Butterworth
Heinemann”, Latest edition.
2. Mutanmbara A.G.O.; Design and analysis of Control
Systems, Taylor and Francis, Latest Edition
3. Modern Control Engineering, (5th Edition)
By: Katsuhiko Ogata.
4. Control Systems Engineering, (6th Edition)
By: Norman S. Nise
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What is Control System?
• A system Controlling the operation of another
system.
• A system that can regulate itself and another
system.
• A control System is a device, or set of devices
to manage, command, direct or regulate the
behaviour of other device(s) or system(s).
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Types of Control System
• Natural Control System
– Universe
– Human Body
• Manmade Control System
– Vehicles
– Aeroplanes
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• Manual Control Systems
– Room Temperature regulation Via Electric Fan
– Water Level Control
• Automatic Control System

– Room Temperature regulation Via A.C
– Human Body Temperature Control
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Open-Loop Control Systems
Open-Loop Control Systems utilize a controller or control actuator to
obtain the desired response.
• Output has no effect on the control action.
• In other words output is neither measured nor fed back.
Input Output
Controller Process
Examples:- Washing Machine, Toaster, Electric Fan

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Open-Loop Control Systems
• Since in open loop control systems reference input is not

compared with measured output, for each reference input there
is fixed operating condition.
• Therefore, the accuracy of the system depends on calibration.
• The performance of open loop system is severely affected by the

presence of disturbances, or variation in operating/
environmental conditions.
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Closed-Loop Control Systems
Closed-Loop Control Systems utilizes feedback to compare the actual

output to the desired output response.
Input Output
Comparator Controller Process
Measurement
Examples:- Refrigerator, Iron
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Control System
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Closed-loop Control System
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Closed-loop Control System
• Controller is an analog or digital circuit that
accepts data from the sensors, makes a decision,
and sends the appropriate commands to the
actuator
• Controller keeps the controlled variable (such as
temperature, liquid level, position, or velocity) at
a certain value called the set point (SP)
• Error (E) is the difference between where the
controlled variable is and where it should be
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Performance Criteria
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• Transient response is the exact path the
controlled variable takes when go from one
position to the next
• Rise time (T) is usually defined as the time it
takes for the controlled variable to go from 10 to
90% of the way to its new position
• Settling time (Ts) refers to the time it takes for the
response to settle down to within some small
percentage (typically 2-5%) of its final value
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• Overshoot happen when object's momentum
keep it going right on past where it was
supposed to stop
• Steady-state error (ESS) of the system is simply

the final position error, which is the difference
between where the controlled variable is and
where it should be
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Multivariable Control System
Temp Outputs
Humidity Comparator
Controller Process
Pressure
Measurements
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Feedback Control System
• A system that maintains a prescribed relationship between the output

and some reference input by comparing them and using the difference
(i.e. error) as a means of control is called a feedback control system.
Input + error Output

- Controller Process
Feedback
• Feedback can be positive or negative.
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Servo System
• A Servo System (or servomechanism) is a feedback control system in

which the output is some mechanical position, velocity or acceleration.
Antenna Positioning System Modular Servo System (MS150)

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Linear Vs Nonlinear Control System
• A Control System in which output varies linearly with the input is called a
linear control system.
u(t) Process y(t)
y(t ) = −2u(t ) + 1 y(t ) = 3u(t ) + 5

y=3*u(t)+5
y=-2*u(t)+1
35
5
30
0
25
-5
y(t)
y(t)
20
-10
15
-15
10
-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t) u(t)
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• When the input and output has nonlinear relationship the system is said
to be nonlinear.
Adhesion Characteristics of Road
0.4
Adhesion Coefficient
0.3
0.2
0.1
0
0 0.02 0.04 0.06 0.08
Creep
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• Linear control System Does not
exist in practice. Adhesion Characteristics of Road
0.4
• Linear control systems are
Adhesion Coefficient
idealized models fabricated by
0.3
the analyst purely for the
simplicity of analysis and design. 0.2
• When the magnitude of signals 0.1

in a control system are limited to
range in which system 0
0 0.02 0.04 0.06 0.08
components exhibit linear Creep
characteristics the system is
essentially linear.
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• Temperature control of petroleum product in a distillation column.
°C
Temperature
500°C
Valve Position
0% 25% 100%
% Open
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Time invariant vs Time variant
• When the characteristics of the system do not depend upon time

itself then the system is said to time invariant control system.
y(t ) = −2u(t ) + 1
• Time varying control system is a system in which one or more

parameters vary with time.
y(t ) = 2u(t ) − 3t
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Lumped parameter vs Distributed Parameter
• Control system that can be described by ordinary differential equations

are lumped-parameter control systems.
d 2x dx
M =C + kx
dt 2 dt
• Whereas the distributed parameter control systems are described by
partial differential equations.
2
x x  x
f1 + f2 =g 2
dy dz dz
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Continuous Data Vs Discrete Data System
• In continuous data control system all system variables are function of a

continuous time t.
x(t)
• A discrete time control system involves one or more variables that are
known only at discrete time intervals.
X[n]
n
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Deterministic vs Stochastic Control System
• A control System is deterministic if the response to input is predictable

and repeatable.
x(t) y(t)
t t
• If not, the control system is a stochastic control system

z(t)
t
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Adaptive Control System
• The dynamic characteristics of most control systems

are not constant for several reasons.
• The effect of small changes on the system

parameters is attenuated in a feedback control
system.
• An adaptive control system is required when the

changes in the system parameters are significant.
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Learning Control System
• A control system that can learn from the

environment it is operating is called a learning
control system.
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Classification of Control Systems
Control Systems
Natural Man-made
Manual Automatic
Open-loop Closed-loop
Non-linear linear
Non-linear linear
Time variant Time invariant

Time variant Time invariant
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Examples of Control Systems
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Examples of Modern Control Systems
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Transfer Function
• Transfer Function is the ratio of Laplace transform of the
output to the Laplace transform of the input. Assuming
all initial conditions are zero.
u(t) Plant y(t)
If u(t ) = U ( S ) and
y(t ) = Y ( S )
• Where  is the Laplace operator.

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Transfer Function
• Then the transfer function G(S) of the plant is given
as
Y (S )
G( S ) =
U (S )
U(S) G(S) Y(S)
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Why Laplace Transform?
• By use of Laplace transform we can convert many
common functions into algebraic function of complex
variable s.
• For example

 sin t =
s2 + 2
Or
− at 1
e =
s+a
• Where s is a complex variable (complex frequency) and
is given as
s =  + j
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Laplace Transform of Derivatives
• Not only common function can be converted into
simple algebraic expressions but calculus operations
can also be converted into algebraic expressions.
• For example
dx(t )
 = sX ( S ) − x( 0)
dt
2
d x(t ) 2 dx( 0)
 2
= s X ( S ) − x( 0) −
dt dt
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Laplace Transform of Derivatives
• In general
d x(t )
n
n −1 n −1
 n
= s X (S ) − s
n
x( 0) −  − x ( 0)
dt
• Where x(0) is the initial condition of the system.
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Example: RC Circuit
• u is the input voltage applied at t=0

• y is the capacitor voltage
• If the capacitor is not already charged then

y(0)=0.
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Laplace Transform of Integrals
1
  x(t )dt = X ( S )
s
• The time domain integral becomes division by

s in frequency domain.
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Calculation of the Transfer Function
• Consider the following ODE where y(t) is input of the system and
x(t) is the output.
d 2 x(t ) dy(t ) dx(t )
A =C −B
• or dt 2 dt dt
Ax' ' (t ) = Cy' (t ) − Bx' (t )
• Taking the Laplace transform on either sides
A[ s 2 X ( s ) − sx(0) − x' (0)] = C[ sY ( s ) − y(0)] − B[ sX ( s ) − x(0)]
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Calculation of the Transfer Function
A[ s 2 X ( s ) − sx(0) − x' (0)] = C[ sY ( s ) − y(0)] − B[ sX ( s ) − x(0)]
• Considering Initial conditions to zero in order to find the transfer

function of the system
As 2 X ( s ) = CsY ( s ) − BsX ( s )
• Rearranging the above equation
As 2 X ( s ) + BsX ( s ) = CsY ( s )
X ( s )[ As 2 + Bs ] = CsY ( s )
X (s) Cs C
= =
Y ( s ) As + Bs As + B
2
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Example
1. Find out the transfer function of the RC network shown in figure-1.
Assume that the capacitor is not initially charged.
Figure-1
2. u(t) and y(t) are the input and output respectively of a system defined by
following ODE. Determine the Transfer Function. Assume there is no any
energy stored in the system.
6u' ' (t ) − 3u(t ) +  y(t )dt = −3 y' ' ' (t ) − y(t )
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Transfer Function
• In general
• Where x is the input of the system and y is the output of

the system.
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Transfer Function
• When order of the denominator polynomial is greater

than the numerator polynomial the transfer function is
said to be ‘proper’.
• Otherwise ‘improper’
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Transfer Function
• Transfer function helps us to check
– The stability of the system
– Time domain and frequency domain characteristics of the
system
– Response of the system for any given input
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Stability of Control System
• There are several meanings of stability, in general
there are two kinds of stability definitions in control
system study.
– Absolute Stability
– Relative Stability
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• Roots of denominator polynomial of a transfer

function are called ‘poles’.
• And the roots of numerator polynomials of a

transfer function are called ‘zeros’.
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• Poles of the system are represented by ‘x’ and

zeros of the system are represented by ‘o’.
• System order is always equal to number of
poles of the transfer function.
• Following transfer function represents nth
order plant.
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• Poles is also defined as “it is the frequency at which
system becomes infinite”. Hence the name pole
where field is infinite.
• And zero is the frequency at which system becomes

0.
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• Poles is also defined as “it is the frequency at which
system becomes infinite”.
• Like a magnetic pole or black hole.
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Example
• Consider the Transfer function calculated in previous
slides.
X (s) C
G( s ) = =
Y ( s ) As + B
the denominato
r polynomialis As + B = 0
• The only pole of the system is
B
s=−
A
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Examples
• Consider the following transfer functions.
– Determine
• Whether the transfer function is proper or improper
• Poles of the system
• zeros of the system
• Order of the system
s+3 G( s ) =
s
i) G( s ) = ii)
s( s + 2) ( s + 1)( s + 2)( s + 3)
( s + 3)2 s 2 ( s + 1)
iii) G( s ) = iv) G( s ) =
s( s 2 + 10) s( s + 10)
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Stability of Control Systems
• The poles and zeros of the system are plotted in s-plane
to check the stability of the system.
j
LHP RHP
Recall s =  + j

s-plane
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• If all the poles of the system lie in left half plane the
system is said to be Stable.
• If any of the poles lie in right half plane the system is said
to be unstable.
• If pole(s) lie on imaginary axis the system is said to be
marginally stable. j
• Absolute stability does not

LHP RHP
depend on location of
zeros of the transfer 
function
s-plane
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Examples
Pole-Zero Map
5
3
stable
2
Imaginary Axis
-1
-2
-3
-4
-5
-5 -4 -3 -2 -1 0 1 2 3 4 5
Real Axis
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Examples
Pole-Zero Map
5
4
stable
3
2
Imaginary Axis
-1
-2
-3
-4
-5
-5 -4 -3 -2 -1 0 1 2 3 4 5
Real Axis
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Examples
Pole-Zero Map
5
4
unstable
3
2
Imaginary Axis
-1
-2
-3
-4
-5
-5 -4 -3 -2 -1 0 1 2 3 4 5
Real Axis
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Examples
Pole-Zero Map
5
3
stable
2
Imaginary Axis
-1
-2
-3
-4
-5
-5 -4 -3 -2 -1 0 1 2 3 4 5
Real Axis
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Examples
Pole-Zero Map
5
3 Marginally stable
2
Imaginary Axis
-1
-2
-3
-4
-5
-5 -4 -3 -2 -1 0 1 2 3 4 5
Real Axis
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Examples
Pole-Zero Map
5
4 stable
3
2
Imaginary Axis
-1
-2
-3
-4
-5
-3 -2 -1 0 1 2 3
Real Axis
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Examples
Pole-Zero Map
4
3
Marginally stable
1
Imaginary Axis
-1
-2
-3
-4
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Real Axis
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Examples
• Relative Stability
Pole-Zero Map Pole-Zero Map

5 5
4 4
stable stable
3 3
2 2
Imaginary Axis
Imaginary Axis
1 1
0 0
-1 -1
-2 -2
-3 -3
-4 -4
-5 -5
-5 -4 -3 -2 -1 0 1 2 3 4 5 -6 -4 -2 0 2 4
Real Axis Real Axis
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• For example
C
G( s ) = , if A = 1, B = 3 and C = 10
As + B
• Then the only pole of the system lie at
pole = −3
j
LHP RHP
X 
-3
s-plane
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Examples
• Consider the following transfer functions.
▪ Determine whether the transfer function is proper or improper
▪ Calculate the Poles and zeros of the system
▪ Determine the order of the system
▪ Draw the pole-zero map
▪ Determine the Stability of the system
s+3 G( s ) =
s
i) G( s ) = ii)
s( s + 2) ( s + 1)( s + 2)( s + 3)
( s + 3)2 s 2 ( s + 1)
iii) G( s ) = iv) G( s ) =
s( s 2 + 10) s( s + 10)
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Another definition of Stability
• The system is said to be stable if for any bounded
input the output of the system is also bounded
(BIBO).
• Thus the for any bounded input the output either
remain constant or decrease with time.
u(t) overshoot
y(t)
1
Plant 1
t
t
Unit Step Input
Output
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Another definition of Stability
• If for any bounded input the output is not
bounded the system is said to be unstable.
u(t)
y(t)
1
e at
Plant
t
t
Unit Step Input
Output
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Types of Systems
• Static System: If a system does not change
with time, it is called a static system.
• Dynamic System: If a system changes with
time, it is called a dynamic system.
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Dynamic Systems
• A system is said to be dynamic if its current output may depend on
the past history as well as the present values of the input variables.
• Mathematically,
y(t ) = [u( ),0    t ]

u : Input,t : Tim e
Example: A moving mass
y
u
M
Model: Force=Mass x Acceleration
My = u
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Ways to Study a System
System
Experiment with actual Experiment with a

System model of the System
Physical Model Mathematical Model
Analytical Solution
Simulation
Frequency Domain Time Domain Hybrid Domain
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Model
• A model is a simplified representation or
abstraction of reality.
• Reality is generally too complex to copy
exactly.
• Much of the complexity is actually irrelevant
in problem solving.
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Types of Models
Model
Physical Mathematical Computer
Static Dynamic Static Dynamic Static Dynamic
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What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that
describes the input-output behavior of a system.
What is a model used for?
• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
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Classification of Mathematical Models
• Linear vs. Non-linear
• Deterministic vs. Probabilistic (Stochastic)
• Static vs. Dynamic
• Discrete vs. Continuous
• White box, black box and gray box
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Black Box Model
• When only input and output are known.
• Internal dynamics are either too complex or
unknown.
Input Output
• Easy to Model
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Black Box Model
• Consider the example of a heat radiating system.
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Black Box Model
• Consider the example of a heat radiating system.
Heat Raadiating
Heat System
Raadiating System
Room 3535
Valve
Temperature Room Temperature
Temperature in Degree Celsius (y)

Temperature in Degree Celsius
3030
Position Room Temperature
(oC) quadratic Fit
25
25
0 0
20
20 y = 0.31*x 2 + 0.046*x + 0.64
2 3
15
15
4 6
10
10
6 12
5
5
8 20
0
10 33 00 2 4 6 8 10
0 2 4 6 8 10
Valve Position
Valve Position (x)
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Grey Box Model
• When input and output and some information
about the internal dynamics of the system is
known.
u(t) y(t)
y[u(t), t]
• Easier than white box Modelling.
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White Box Model
• When input and output and internal dynamics
of the system is known.
dy(t ) du(t ) d 2 y(t )

u(t) =3 − y(t)
dt dt dt 2
• One should know have complete knowledge

of the system to derive a white box model.
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Mathematical Modelling Basics
Mathematical model of a real world system is derived using a

combination of physical laws and/or experimental means
• Physical laws are used to determine the model structure (linear

or nonlinear) and order.
• The parameters of the model are often estimated and/or
validated experimentally.
• Mathematical model of a dynamic system can often be expressed
as a system of differential (difference in the case of discrete-time
systems) equations
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Different Types of Lumped-Parameter Models
System Type Model Type
Nonlinear Input-output differential equation
Linear State equations
Linear Time
Invariant Transfer function
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Approach to dynamic systems
• Define the system and its components.

• Formulate the mathematical model and list the necessary
assumptions.
• Write the differential equations describing the model.
• Solve the equations for the desired output variables.
• Examine the solutions and the assumptions.
• If necessary, reanalyze or redesign the system.
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Simulation
• Computer simulation is the discipline of
designing a model of an actual or theoretical
physical system, executing the model on a
digital computer, and analyzing the execution
output.
• Simulation embodies the principle of
``learning by doing'' --- to learn about the
system we must first build a model of some
sort and then operate the model.
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Advantages to Simulation
❑ Can be used to study existing systems without
disrupting the ongoing operations.
❑ Proposed systems can be “tested” before committing

resources.
❑ Allows us to control time.
❑ Allows us to gain insight into which variables are

most important to system performance.
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Disadvantages to Simulation
❑ Model building is an art as well as a science. The
quality of the analysis depends on the quality of the
model and the skill of the modeler.
❑ Simulation results are sometimes hard to interpret.
❑ Simulation analysis can be time consuming and

expensive.
❑ Should not be used when an analytical method would

provide for quicker results.
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Teknik Kendali Lanjut

Advanced Control System

Presented by Fahmizal, S.T., M.Sc

• Teknik Kendali Lanjut

• Automatic Control System

Examples:- Washing Machine, Toaster, Electric Fan

• Since in open loop control systems reference input is not

• Therefore, the accuracy of the system depends on calibration.

• The performance of open loop system is severely affected by the

Closed-Loop Control Systems utilizes feedback to compare the actual

Examples:- Refrigerator, Iron

• Steady-state error (ESS) of the system is simply

• A system that maintains a prescribed relationship between the output

Input + error Output

• Feedback can be positive or negative.

• A Servo System (or servomechanism) is a feedback control system in

Antenna Positioning System Modular Servo System (MS150)

u(t) Process y(t)

y(t ) = −2u(t ) + 1 y(t ) = 3u(t ) + 5

Adhesion Characteristics of Road

• When the magnitude of signals 0.1

• When the characteristics of the system do not depend upon time

• Time varying control system is a system in which one or more

• Control system that can be described by ordinary differential equations

• In continuous data control system all system variables are function of a

• A control System is deterministic if the response to input is predictable

• If not, the control system is a stochastic control system

• The dynamic characteristics of most control systems

• The effect of small changes on the system

• An adaptive control system is required when the

• A control system that can learn from the

Time variant Time invariant

u(t) Plant y(t)

• Where  is the Laplace operator.

U(S) G(S) Y(S)

• Where x(0) is the initial condition of the system.

• u is the input voltage applied at t=0

• If the capacitor is not already charged then

• The time domain integral becomes division by

Ax' ' (t ) = Cy' (t ) − Bx' (t )

• Taking the Laplace transform on either sides

A[ s 2 X ( s ) − sx(0) − x' (0)] = C[ sY ( s ) − y(0)] − B[ sX ( s ) − x(0)]

• Considering Initial conditions to zero in order to find the transfer

6u' ' (t ) − 3u(t ) +  y(t )dt = −3 y' ' ' (t ) − y(t )

• Where x is the input of the system and y is the output of

• When order of the denominator polynomial is greater

– The stability of the system

– Time domain and frequency domain characteristics of the

– Response of the system for any given input

• Roots of denominator polynomial of a transfer

• And the roots of numerator polynomials of a

• Poles of the system are represented by ‘x’ and

• And zero is the frequency at which system becomes

• The only pole of the system is

• Absolute stability does not

Pole-Zero Map Pole-Zero Map

y(t ) = [u( ),0    t ]

Experiment with actual Experiment with a

Physical Model Mathematical Model

Frequency Domain Time Domain Hybrid Domain

Physical Mathematical Computer

Static Dynamic Static Dynamic Static Dynamic

What is a model used for?

• Linear vs. Non-linear