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Lecture NotesLecture Notes
Fundamentals of Control SystemsFundamentals of Control Systems
Instructor: Assoc. Prof. Dr. Huynh Thai HoangDepartment of Automatic Control
Faculty of Electrical & Electronics EngineeringHo Chi Minh City University of Technology
Email: [email protected]@yahoo.com
Homepage: www4.hcmut.edu.vn/~hthoang/
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Thi i b h l i d d i f
Course objectivesCourse objectives
This course is about the analysis and design of control systems with emphasis on modeling, state variable representation computer solutionsvariable representation, computer solutions, modern design principles.
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Ch t 1 I t d ti
Course outlineCourse outline
Chapter 1: Introduction
Chapter 2: Mathematical model of continuous systems
Chapter 3: System dynamics
Chapter 4: Analysis of system stability
Chapter 5: Performances of control systems
Chapter 6: Design of control systems
Chapter 7: Mathematical model of continuous systems
Chapter 8: Analysis of discrete control systems
Chapter 9: Design of discrete control systems
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T tb k K t hik Ot M d C t l E i i
TextbookTextbook
Textbook: Katsuhiko Otaga, Modern Control Engineering,3rd ed., Prentice Hall
Reference: Franklin, Powell, and Emami-Naeini, Feedback Control
of Dynamic Systems 6th ed Prentice Hall 2009of Dynamic Systems, 6th ed., Prentice Hall, 2009 Farid Golnaraghi and Benjamin C. Kuo, Automatic
Control Systems, 9th ed., 2009, Prentice Hall.Ri h d C D f d R b t H Bi h M d C t l Richard C. Dorf and Robert H. Bishop, Modern ControlSystems, 11th ed, Peason.
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Cl ti i ti 10%
GradingGrading
Class participation: 10% Homework: 20% Midterm exam: 20%
Project presentation: 20% Final exam: 30% Final exam: 30%
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How to learn the course???How to learn the course???(*) After 2 weeks we
Reading
( ) After 2 weeks we tend to remember…10% of what we read
Watching a movieLooking at pictures
Hearing words20% of what we hear30% of what we see
S i it d l tiWatching a demostration
Watching a movieLooking at an exhibit50% of what we
see and hearPASSIVE
Participating in a discussionSeeing it done on location
Given a talk70% of whatwe say ACTIVE
Doing a dramatic presentationSimulating the real experience
Doing the real thing
90% of what we sayand do
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Doing the real thingand do
(*) Edgar Dale, “Audio-Visual Methods in Teching,” Holt, Rinehart and Winston
Chapter 1Chapter 1
INTRODUCTIONINTRODUCTION
pp
INTRODUCTIONINTRODUCTION
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Wh t i t l t ?
TopicsTopics
What is control system? Control principles Components of control systems Components of control systems Examples of control systems Review of complex variables and Laplace transforme e o co p e a ab es a d ap ace t a s o
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??What is control system?What is control system?
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ExerciseExercise
Find examples of control systems?
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ExerciseExercise
Explain how a control system works?Explain how a control system works?
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Example of a control processExample of a control process
Objective is to keep moving at constant speed. Activities in controlling the car:
1 di l i t1. reading velocimeter2. deciding to increase or decrease speed3. acting on the gas pedal
14
g g p
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Definition of control conceptDefinition of control concept
C t l i th f tti i f tiControl is the process of getting information,processing information and making decision, and
ti t th t th tacting on a system so that the system reponses asdesired.
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Control loopControl loop
Desired
+_Car speed
Desired speed
Measured speed
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Components of a control systemComponents of a control system
C(s) G(s)+_R(s) Y(s)E(s)
H(s)H(s)Yfb(s)
Notation:C(s): controller R(s): setpointG( ) l t Y( ) t ll d t tG(s): plant Y(s): controlled outputH(s): sensor Yfb(s): feedback signal
E( ) t l
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E(s): control error
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A simple level control systemA simple level control system
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Level control system in industryLevel control system in industry
LC
LVLV
LTLiquid tank
LC: Level ControllerLT: Level TransmitterLV L l l
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LV: Level valve
Speed control of steam engine Speed control of steam engine
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I d ti it
Why control?Why control?
Increase productivity
Increase quality
Increase economic benefit
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PlantsPlants Very diverse Very diverse
Class of systems:
Electrical Electrical
Mechanical
Th l Thermal
Fluid
Ch i t Chemistry
Real systems consist of different kind of basic systems.
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SensorsSensors
Temperature sensor Temperature sensor Position sensor
V l it Velocity sensor Accelocity sensor Distant sensor Flow sensor Level sensor Pressure sensor Force sensor Color sensor
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ControllersControllers
M h i l ll Mechanical controller
Electrical controller
Analog controller
Digital controllerDigital controller
Microcontroller, DSP based control
Computer based control
Programmable Logic Controller (PLC)
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Basic problems in controlBasic problems in control
System Analysis
System Design
System Identification
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Control schemesControl schemes
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OpenOpen--loop controlloop control
n(t)
Controllery(t)r(t)
Plantu(t)
Feedforward control Control without feedback information
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ClosedClosed--loop controlloop control
y(t)r(t) (t)(t)
n(t)
Controllery(t)r(t)
Plantu(t)e(t)
ym(t)
Sensor
Feedback control Need to measure system output
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ExerciseExercise
Open loop or closed loop control s stem? Open-loop or closed-loop control system? Plant? Sensor? Controller?
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Feedback and feedforward controlFeedback and feedforward control
n(t)FF control
FB controly(t)r(t)
Plante(t)
ym(t)
++
Sensor
ym(t)
This combined control scheme is widely used ini d tindustry
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MultiMulti--loop control systemloop control system
C1Setpoint
P1C2 P2Output
r(t) y(t)
S1
r(t) y(t)
S1
S2S2
Multi-loop control is widely used in industry
This control scheme is also refered as Cascade Control
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Hierachy controlHierachy control
Decentralized controlDi t ib t d t l Distributed control
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Hierachy controlHierachy controlExample: SCADA (Supervisory Control And Data Acquisition)Example: SCADA (Supervisory Control And Data Acquisition)
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Beer making processBeer making process
Chiết chai
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Control system clasificationControl system clasification
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Control system classificationControl system classification
C i All i l i h i 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 Linear system: The system satisfies the superposition principle.Nonlinear system: The system don’t satisfies the y ysuperposition principle.
Time Invariant System: Parameters of the system don’t change over timechange over time. Time Varying System: Parameters of the system change over time.
SISO system: Single Input Single Output systemMIMO system: Multi-Input Multi-Output system
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History of control theoryHistory of control theory
Classical control Modern control Intelligent control
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Classical controlClassical control
Mathematic models used in analysis and design control Mathematic models used in analysis and design controlsystems are transfer functions.
Features: Simple, easy to understand Advantages: easy to apply to analysis and design SISO
li ti i i t tlinear time – invariant system. Frequency domain techniques.
Analysis and design techniques: Analysis and design techniques: Root locus. Frequency response: Nyquist, Bode.q y p yq ,
Controllers: Lead – lag controllers
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PID (Proportional – Integral – Derivative)
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Modern controlModern control
Mathematical model sed in anal sis and design is mainl the Mathematical model used in analysis and design is mainly the state-space equation.
Features: Features: Can be applied to nonlinear systems, time varying
systems, multiple input- multiple output system.y p p p p y Time domain technique
Analysis and design method:Optimal control. Adaptive control. Robust Control
Controller:
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State feedback controller
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Intelligent controlIntelligent control
In principle, mathematic models are not required in design intelligent control system.
F t Features: Simulate / emulate biological intelligence system. The controller is capable of processing uncertain The controller is capable of processing uncertain
information, learning, and handling large amounts of data Intelligent control techniques: Intelligent control techniques:
Fuzzy Control Neural NetworksNeural NetworksGenetic Algorithm…
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Course objectiveCourse objective
Th F d l f C l S i l The course Fundamental of Control Systems mainly presents the classic method for analysis and design of SISO linear time invariant systems.
The knowledge gained from the course help student to analyze and design control systems at the executive level.
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Related coursesRelated courses
T b bl t d i th t l t t th To be able to design the control system at the implementation level, in addition to knowledge of automatic control theory a designer needs to master theautomatic control theory, a designer needs to master the relevant knowledge, such as:Circuits Electronic circuitsCircuits, Electronic circuits Industrial MeasurementDigital system MicroprocessorDigital system, MicroprocessorComputer based control system, ...
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Graphic Symbols forGraphic Symbols forGraphic Symbols forGraphic Symbols forProcess DisplaysProcess Displays
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Th f thi t d d i t t bli h t f
Standard ISA 5.5Standard ISA 5.5
The purpose of this standard is to establish a system of graphic symbols for process displays that are used by plant operators, engineers, etc., for process monitoring and control.g g
The standard is intended to facilitate rapid comprehension by the users of the information that is conveyed through displays, and to establish uniformity of practice throughout the processand to establish uniformity of practice throughout the process industries.
Resulting benefits are intended to be as follows:g A decrease in operator errors A shortening of operator training Better communication of the intent of the control system
designer to the system users
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Symbol of process equipmentsSymbol of process equipments
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Symbol of process equipmentsSymbol of process equipments
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Symbol of valvesSymbol of valves
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Symbol of control valvesSymbol of control valves
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Symbol of electrial component (cont.)Symbol of electrial component (cont.)
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Symbol of electrial component (cont.)Symbol of electrial component (cont.)
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Symbol of measurement equipment and indicator Symbol of measurement equipment and indicator
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Symbol of power supplySymbol of power supply
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Symbol of power supply (cont.)Symbol of power supply (cont.)
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Symbol of power supply (cont.)Symbol of power supply (cont.)
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Symbol of signalsSymbol of signals
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Symbol of connectionSymbol of connection
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Symbol of measument equipmentSymbol of measument equipment
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Symbol of level measurement equipment (cont.)Symbol of level measurement equipment (cont.)
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Symbol of level measurement equipment (cont.)Symbol of level measurement equipment (cont.)
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Symbol of flow measurement equipmentSymbol of flow measurement equipment
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Symbol of flow measurement equipment (cont.)Symbol of flow measurement equipment (cont.)
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Symbol of function blocksSymbol of function blocks
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Symbol of function blocksSymbol of function blocks
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Equipment Identification LabelEquipment Identification Label
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Equipment Identification LabelEquipment Identification Label
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Control process diagram Control process diagram –– Example 1Example 1
PT100
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Control process diagram Control process diagram –– Example 2Example 2
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Control process diagram Control process diagram –– Example 3Example 3
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Control process diagram Control process diagram –– Example 4Example 4
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Applications of control systemsApplications of control systems
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Applications of control theoryApplications of control theory
Feedback control can be found in many applications:Feedback control can be found in many applications: Production system: cement plants, sugar mills, .... Industrial processes: temperature, flow, pressure, speed, ...dust a p ocesses te pe atu e, o , p essu e, speed, Mechatronics: robot arms, computer numerical control
(CNC), ... Information systems Power generation and transmission Transportation s stems cars trains aircraft spacecraft Transportation systems: cars, trains, aircraft, spacecraft, ... Military equipments Measurement Measurement Home appliances: air conditioners, televisions, refrigerators,
washing machines, cameras, rice cookers, ...
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Medical equipments
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Temperature controlTemperature control
Temperature control plays an important role in manymanufacturing systems: production of cement, ceramic tiles,pulp and paper rubber and plastic oil and gas food andpulp and paper, rubber and plastic, oil and gas, food andbeverage,…
Cement factory Paper factory
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Examples of temperature controlExamples of temperature control
A i lt l d t d i t ( ff h t Agricultural product drying system (coffee, cashew nut,black pepper,…)
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Agricultural product drying system
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Block diagram of a temperature control systemBlock diagram of a temperature control system
ControllerPower
amplifierHeaterDifferential
amplifier pamplifier
Measurement
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4.7k 4.7kVCC
4.7k 4.7k
Temperature controller and user interfaceTemperature controller and user interface
1k
D6LED 7DOAN1 4 5 7
1kPORTD<6>
Q2
A1015
Q3
A1015PORTD<4> 1k 1k
Q1
A1015PORTD<5>
Q4
A1015PORTD<7>
. . . .
LED_7DOAN4 5 7
VC
C1
AF
VC
C2
VC
C3
VC
C4
G CDO
T
DE B
DOT
238 910 1112 6
AFG CD DE B
G
C
ED
VCCVCC F
AB
D
SW4A
V_sensor
GF
B
VREF+SW4
10k
E
PIC16F877A
234567
3334353637383940
1
RA0/AN0RA1/AN1RA2/AN2/VREF-/CVREFRA3/AN3/VREF+RA4/T0CKI/C1OUT
RB0/INTRB1RB2
RB3/PGMRB4RB5
RB6/PGC
MCLR*/VPPDOT
10k
C
SW5
SW2
SW3
PORTD<5>
10MHz
C16
33p
SW3
SW4
PORTD<6>
PORTD<4>
G
SW1
SW2
7 40
1516171823242526
1920212227282930
1389
RA5/AN4/SS*/C2OUT RB7/PGD
RC0/T1OSO/T1CKIRC1/T1OSI/CCP2RC2/CCP1RC3/SCK/SCLRC4/SDI/SDARC5/SDORC6/TX/CKRC7/RX/DT
RD0/PSP0RD1/PSP1RD2/PSP2RD3/PSP3RD4/PSP4RD5/PSP5RD6/PSP6RD7/PSP7
OSC1/CLKINRE0/RD*/AN5
SW2
SW3
PORTC<2>
PORTD<7>
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10MHzCRYSTAL
VCC SW1
C17
33p
SW114
3211
3112
910
OSC2/CLKOUT
VDDVDD
VSSVSS
RE1/WR*/AN6RE2/CS*/AN7
Temperature measurement using thermocoupleTemperature measurement using thermocouple
5V
U27 1
5V
5VU1
LM35
1VC
C
2C1
10uF
-
+
OP07
3
26
4 8
5 5V 5
352
GN
D
VOUT
V V2 R1
25k
0
0
-5V
-
+
U4
OP07
3
26
7 1
5V 5V
-
+
U5
OP07
3
26
7 1
R5 PA0/ADC0
3G
V3 Vout
OP07
4 85V
R6R2J1Thermo couple
1 +
U3
36
7 1
OP07
4 8-5V -5VR41.8k
100
V1 R3
C210uF
3.9k1001
-5V
-OP07
26
4 8
V1 R3
100
0
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0 00
Power circuitPower circuit
+12V
6
HeaterFUSER3
470
220Vac0Vdc
Q2BTA16
Q1R1
U15MOC3020
1
2
4PORTC<2>Q2SC1815
47k
R2330
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An industrial temperature control systemAn industrial temperature control system
Temperature controller
Furnace
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Thermocouple
© H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Motor controlMotor control Motors (DC AC) are one of the most common actuators used Motors (DC, AC) are one of the most common actuators used
machinery and manufacturing factory. Three basic control problems: speed control, position control,
torque control
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Antenna position controlAntenna position control
Potentiometer
Antenna
(t)
i(t)
Azimuthangleoutput
Desiredazimuth angle
input
o(t)
Differential amplifier
output
PotentiometerMotor
and power amplifier
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Analog PID Analog PID control of DC motorcontrol of DC motor
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Digital PID control of DC motor Digital PID control of DC motor
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An industrial DC motor control systemAn industrial DC motor control system
DC Motor
E dEncoder
DC Driver
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Level controlLevel control
f Level control can be found in industrial processes such as food and beverage, waste water treatment,…
Level control, flow control
Sensor:
Level sensor: presure sensor, capacitor sensor, ultra sonicsonic
Flow sensor: ultra sonic
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Level control system in industryLevel control system in industry
LC
LVLV
LTLi id t kLiquid tank
LC: Level ControllerLT: Level Transmitter
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LV: Level Valve
Pulp concentration controlPulp concentration control
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Pitch angle controlPitch angle control
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Block diagram of pitch angle control systemBlock diagram of pitch angle control system
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CNC diagramCNC diagram
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Block diagram of CNC control systemBlock diagram of CNC control system
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Distillation ProcessDistillation Process
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Steam Steam Power GeneratorPower Generator
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Explain the concepts of open-loop and closed-loop control systems
Course learning outcomesCourse learning outcomes Explain the concepts of open loop and closed loop control systems Describe continuous and discrete control systems using transfer function
and state space model Calculate the equivalent transfer function of control systems using block Calculate the equivalent transfer function of control systems using block
diagram and signal flow graph Analyze the dynamics of control systems in time domain and frequency
domaindomain Analyze the stability of control systems Analyze the transient and steady-state performances of control systems Analyze the controllability and observerbility of control systems Analyze the controllability and observerbility of control systems Design lead-lag compensator using root locus and frequency response Design PID controller using frequency response, Zeigler-Nichols method
D i t t f db k t ll i l l t th d Design state feedback controller using pole placement method Use teamwork and comunication skills in collaborating course design
projects
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Use modern software in analysis and design control systems
© H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Review of complex Review of complex ppvariables and matrix theoryvariables and matrix theory
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ReviewReview
C l i bl A di B F db k C t l f Complex variables: Appendix B, Feedback Control ofDynamic Systems, Franklin, Powell, and Emami-Naeini, 6thed Prentice Hall 2009ed., Prentice Hall, 2009
Matrix theory: Appendix C, Feedback Control of DynamicSystems Franklin Powell and Emami Naeini 6th edSystems, Franklin, Powell, and Emami-Naeini, 6th ed.,Prentice Hall, 2009
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