Tripoli University Department of Electrical &

Electronic Engineering

Open loop control design

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Open loop Controller Design
from System model

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 Consider of first order system is given by

Consider of first order system is given by

0.1
Gp( s) 
(s  1)

Proportional controller also called Static controller. T he

controller improves steady state error for first order system
only.
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The transfer function of the static controller is
given by

q ( s )  kp

For above system to eliminate the steady state error the

value of proportional controller can be
chosen as

q( s )  kp 1 / k 1 / 0.1  10
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 Step Response
1

0.8
with controller

0.6
Amplitude

0.4

with outcontrooler
0.2

0
0 1 2 3 4 5 6
Time (seconds)
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Model base dynamic controller is given by

1
q( s )  f ( s ) g p ( s )
38699-60149-36808-21840-05491

Where
1
g p ( s)
Inverse transfer function of the plant 7
Where f (s )

Part of controller transfer function. It

gives desired over all transfer function of
plant and controller
1
f (s) 
Ts  1
T is time constant of desired out output
response
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 Physical Realizability of Controller

For a controller to be physically

realizable, the order of the
denominator of the controller
transfer function [q(s)] must be at
least as great as the order of the
numerator.

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 Definition.
A transfer function that satisfies
this condition is proper. If the order
of the denominator is greater than the
order of the numerator, then the
transfer function is strictly proper. If the
order of the numerator is equal to the
order of the denominator, then the
transfer function is often called
semiproper 10
 Example

Consider of first order system is given by

1
Gp( s ) 
(10 s  1)

It is desired to increase the speed of the system to ten times

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To increase the speed of the system to ten times, the over all
control system time constant will be = 1 sec
1
f (s) 
( s  1)

1
g p (s) 10 s  1
The transfer function of the control
(10s  1)
q(s) 
( s  1)
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 Step Response
1

0.9 With controller

0.8

0.7

0.6
Amplitude

Plant with out controller

0.5

0.4

0.3

0.2

0.1

0
0 10 20 30 40 50 60
Time (seconds)
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 Example (open loop control of unstable plant)

Consider of first order system is given by

1
Gp( s ) 
( s - 2)

It is desired to design open loop controller to stabilize the plant

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 Example (open loop controller of unstable plant)

Consider of first order system is given by

1
Gp( s ) 
( s - 2)

It is desired to design open loop controller to stabilize the plant

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The speed of control system time constant will be 1 sec

1
f (s) 
( s  1)

1
g p ( s)  s  2

The transfer function of the control

(s  2)
q(s) 
( s  1) 16
 25
x 10 Step Response
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4 Plant with out control

Amplitude

0
0 5 10 15 20 25 30
Time (seconds)

Step Response
1

0.8
Plant with control
Amplitude

0.6

0.4

0.2

0
0 1 2 3 4 5 6
Time (seconds) 17
 Second order systems
For second order systems the controller
to be physical relisted we need to chose

1
f (s) 
(Ts  1) (T  1)

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 Example
Consider of first order system is given by

1
Gp( s ) 
( s  1)(s  2)

Inverse model

1 / Gp( s )  ( s  1)(s  2)
For 0.1 second time constant controller
( s  1)(s  2)
f (s) 
(0.1 s  1)(0.1 s  1) 19
 Unstable Second order system
Consider of first order system is given by

1
Gp( s ) 
( s  1)(s - 2)

Inverse model
1 / Gp( s )  ( s  1)(s - 2)
For 1 second time constant controller
( s  1) (s - 2)
q( s) 
(0.1 s  1) (0.1 s  1)
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 ( s  1) (s - 2) 1
(0.1s  1) (0.1s  1) ( s  1)(s - 2)

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