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Classical Control Theory

Classical control theory deals with mathematical modeling, analysis, and design of control systems. The document outlines key concepts like feedback, stability criteria, and controller design techniques. It discusses open and closed loop systems, modeling using differential equations and transfer functions, specifications in time and frequency domains, and design of proportional, integral, derivative, and combined controllers to achieve desired stability and performance.

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Salman Zafar
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61 views

Classical Control Theory

Classical control theory deals with mathematical modeling, analysis, and design of control systems. The document outlines key concepts like feedback, stability criteria, and controller design techniques. It discusses open and closed loop systems, modeling using differential equations and transfer functions, specifications in time and frequency domains, and design of proportional, integral, derivative, and combined controllers to achieve desired stability and performance.

Uploaded by

Salman Zafar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Classical Control Theory

Outline
• Introduction
• Mathematical Modelling
• Time Domain Specifications
• Stability
• Control System Design
Introduction
• Concept of Control System
• Provides desired response by controlling the output

• Input Reference value


• Control System Combination of physical components to attain ref value
• Output Actual response of the system
Introduction
• Classification
• Open Loop Control System(OLCS)
• Inaccurate
• Simple and economical
• No disturbance rejection
• Closed Loop Control System(CLCS)
• Accurate
• Complex and costly
• Disturbance rejection phenomenon exists
Introduction
• Types of Feedback
• Positive Feedback
• Decreased stability
• Less sensitive

• Negative Feedback
• Increased stability
• High sensitivity
Mathematical Modelling
• Concept of Mathematical Model
• Used for analysis and design of control system

• Types
• Differential equation model
• Transfer function model
• State space model
Time Domain Specifications

• Rise Time(tr)
• Time required to reach final value
• Delay Time(td)
• Time required to reach 50% of final
value
• Peak Time(tp)
• Time to reach peak value for the first
time
• Settling Time(ts)
• Time to reach and stay within 5% of
steady state value
• Percent Overshoot(Mp)
• Percentage of response that shoots from
final value
• Steady State Error
• Error between the acual and desired output
Frequency Domain Specifications

• Resonant Peak(Mr)
• Max value of magnitude of CLTF
• Resonant Frequency(ωr)
• Frequency at which resonant peak occurs
• Bandwidth(ωb)
• Range of frequencies where gain is more than 0.707 of peak value
• Gain cross-over frequency(ωcp)
• Frequency where gain is 0db
• Phase cross-over frequency(ωcg)
• Frequency where phase is -180°
• Gain and phase margin
Stability
• Concept
• Ability of a body to correct for conditions that act on it
• Stable system has controlled output

• Types
• Static stability
• Initial tendency of a body to reach its equilibrium condition when disturbed
• Dynamic stability
• Determines how a body responds to disturbance over time
Stability
• Types of static stability
• Positive
• Neutral
• Negative

• Types of dynamic stability


• Positive
• Neutral
• Negative
Stability
Stability

• Stability Criteria Techniques


• Root Locus
• Routh-Hurwitz
• Bode Plot
• Nyquist Plot
Stability
• Root locus
• Graphical representation of the closed-loop poles as gain is varied.
Stability
• Routh-Hurwitz
• Stability is checked using characteristic equation
Stability
• Bode Plot
• Frequency response of a system
• Magnitude and phase plot
• Phase and gain margin tells about
the stability of the system
Stability
• Nyquist Plot
• Frequency plot
• x-axis ---real part of the system
• y-axis---imaginary part of the system
Control System Design
• Control system design parameters
• Transient response
• Steady state response
• Stability
• Sensitivity/Robustness
• Optimality
Control System Design

• Lag compensator
• Lead compensator
• Lead-lag compensator
• Proportional(P) controller
• Integral(I) controller
• Derivative(D) controller
• Proportional-integral(PI) controller
• Proportional-derivative(PD) controller
• Proportional-integral-derivative(PID) controller
Control System Design

• Lag compensator
• Produces output with a phase lag
• Pole is dominating
• Effects
• Stability decreases
• Bandwidth decreases
• Transient response becomes poor
• Steady state response increases
Control System Design

• Lead compensator
• Produces output with a phase lead
• Zero is dominating
• Effects
• Stability increases
• Bandwidth increases
• Response becomes faster
• % Overshoot decreases
Control System Design

• Lead-lag compensator
• Incorporates lead and lag compensation
• Effects
• Stability increases
• Bandwidth increases
• Response becomes faster
• Improves Accuracy
• Reduces steady state error
Control System Design

• Proportional Controller

• Effects
• Response becomes faster
• Reduces steady state error
Control System Design

• Integral Controller

• Effects
• Eliminates steady state error
• Incorporates instability due to slow response
Control System Design

• Derivative Controller

• Effects
• Improves transient response of the system
• Reduces % overshoot
• Amplifies the noise signals
Control System Design

• PI Controller

• Effects
• Improves transient response of the system
• Reduces steady state error drastically
• Introduces instability
Control System Design

• PD Controller

• Effects
• Improves transient response of the system
• Enhances stability of the system
• No effect on steady state error
Control System Design

• PID Controller

• Effects
• Improves stability of the system
• Enhances steady state response of the system
• Improves transient response

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