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McENG 6116: Advanced Control System
By: Dr.-Ing Gebremichael Te-ame
Gebremichael Teame
Mekelle University
Ethiopian Institute of Technology-Mekelle
Electrical and Computer Engineering
gtesfa@mu.edu.et/ gtesfa@spg.tu-darmstadt.de
www.mu.edu.et/ www.eitm.edu.et
March 31, 2017 | ECEG 6171: Ch–1 | Year I, Sem I | Ac. Yr.: 2016/17 | ECE: EiT-M | Gebremichael T. | 1
ECE: MU
Table of Contents
◮ Course Title: Advanced Control System
◮ Course Code: McENG 6116
◮ Credit Hours: 3 (3 Hrs Lecture, 2 Hrs Tutorial)
◮ Prerequisite: Introduction to Control Systems
◮ Course Rationale: The course will equip students with mathematical

background so as easily understand the advanced courses.
◮ course Objective: Students taking this course will revise the basic
mathematical background of control systems and computational methods.
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Course Description
◮ The course includes, Linear spaces and linear operators. Bases, subspaces,
eigenvalues and eigen vectors, canonical forms.
◮ Linear differential and difference equations. Mathematical representations:
◮ state equations, state variable modeling, linearization of state equations,
transfer functions, impulse response, matrix fraction and polynomial
descriptions.
◮ System-theoretic concepts: causality, controllability, observability, realizations,
canonical decomposition, stability theory for linear dynamical system
◮ Minimal realization of linear systems and canonical forms
◮ Introduction to Advanced Control systems; Optimal, Robust, Intelligent and
Adaptive Control systems
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Course Contents
1. Introduction to linear control systems
2. State Space Analysis Techniques
3. Quantitative and qualitative analysis of control systems
4. Design criteria of control systems
5. PID and Robust Control System
6. Introduction to Advanced Control Systems
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1.1 Empirical and Analytical Methods
◮ Ultimate goal: of engineering systems particularly Control Engineering is to

design and build real physical systems to perform given tasks.
◮ For example, an engineer may be asked to design a heat exchanger to control
the temperature and humidity of a large building.
◮ After determining geographical location total volume of the building, we
require the capacity of the heat exchanger and proceed to installation.
◮ If, after installation, the exchanger is found to be insufficient, it can be
replaced by a more powerful one.
◮ modeling a system using a past experience and repeated experiment is called
an empirical modeling.
◮ The empirical method, however, is inadequate, if there is no past experience
to draw or if experimentation is not possible because of cost and risk.
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◮ Examples are such as the task of sending Astronauts to the moon and
bringing them back safely or the design of fusion control in nuclear plant
Analytical Modeling Generally consist of four steps: Modeling, setting up

mathematical equation, analysis and design
◮ The first two steps are closely related. If we use simple mathematics, then
the model chosen must be correspondingly simple.
◮ If we use sophisticated mathematics, then the model will be more complex,
and realistic.
◮ Modeling is the most critical step in analytical design.
◮ If the model is adequately chosen, the performance of the implemented
system should resemble the performance predicted by analytical design.
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1.2. Control Systems
1. Velocity Control System: Consider
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◮ Speed control arise in a large number of industrial applications and other

wide range of applications.
◮ The desired speed is set using a potentiometer and the error is amplified
using a differential amplifier.
◮ The actual speed is measured using a tachometer.

2. Temperature Control System
◮ Temperature control can arise in systems such as an oven, a refrigerator, an
automobile compartment, cold rooms, a house, a furnace.
◮ such systems are approached using an empirical method.
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3. Level control
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◮ The mechanism is designed to to close the valve automatically whenever the

water level reaches a preset height.
◮ The float translates the water level into valve position.
◮ Once the mechanism of controlling the valve is understood, the water level
can easily be controlled by trial and error.
4. Cloth Drier
◮ A schematic diagram of the control of a clothes drier is shown below
◮ In a manual clothes drier, depending on the amount of clothes and depending
on experience, we set the timer to say, 40 minutes.
◮ At the end of 40 minutes, the drier will automatically turn off even if the
clothes are still wet.
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1.2 Problem Formulation and Terminology
◮ Control system is an interconnection of components or devices so that the

output so that the output of the overall system will follow as closely as
possible a desired signal.
There are many reasons to design control systems:
1. Automatic Control: Temperature of a house can be automatically maintained
once we set a desired temperature.
* are widely used and essential in automation industry and manufacturing.
2. Remote Control: The quality of a TV channel can be improved by pointing

the antenna toward the emitting station.
* If we install an antenna rotor, then we can control the direction remotely by
pressing a knob sitting in front of the TV.
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3. Power Amplification: The antenna used to receive signals have diameter over
70 m and weighs several tons, which is difficult to rotate by hand.
* However, using control systems, we can control them by tuning a knob.
Conclusion
◮ Control systems are widely used in practice since they can be designed to
achieve the above applications.

◮ Consider the antenna position control system, where the
◮ objective is to control the direction of the antenna
◮ the motor which drives the antenna is the actuator of the system
◮ The combination of the actuator and the object to be controlled is the plant
◮ the input signal to the plant is actuating or control signal
◮ the output signal also called the controlled variable or plant output
◮ the output will follow the input or reference or desired-output signal
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Basically, there are two types of control systems

◮ Open loop: Actuator is predetermined by the reference signal, which doesn’t
depend on the actual output.

◮ Closed loop: The actuator signal is obtained as a comparison of the desired
and the actual outputs.
* In these transformations, a comparator and sensing elements or transducers
are included in addition to the components of open loop system.
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◮ The actuating signal of the open loop system is given by
u(t) = f (r (t)) (1)

◮ However, the actuating signal of the closed loop system is given by
u(t) = h(r (t), y (t)) (2)

◮ In every feedback system, the plant output must be measured and used to
generate the actuating signal.
◮ Plant output can be position, velocity, voltage, temperature or anything.
◮ Often, is transformed into voltage and compared with the reference signal.
◮ The result of the comparison is used to drive a compensator or controller.
◮ If the controller is designed properly, the actuating signal signal will drive the
plant to follow the desired signal.
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1.3 Physical systems and Models
◮ Depending on the question asked and depending on the operational ranges,

Physical systems may have different models.
◮ A space ship may be modeled as a particle is the study of trajectory;however,
it must be modeled as a rigid body in the study of maneuvering.
◮ In order to develop a suitable model for a physical system, we must
understand thoroughly the physical system.
◮ The output y (t) will be measurable or observable at the output terminal of a
system.
◮ The unique relationship between excitation and response, input and output,
or cause and effect is implicit for every physical system
◮ A system is called a single variable system if it has one input terminal and
one output terminal, otherwise it is called multivariable system.
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1.4 Linear Time-invariant Systems
◮ The choice of model for physical system depends on the mathematics to be

used.
◮ Modeling is often accomplished by a compromise between ease of analysis
and resemblance to the real systems.
◮ LTI systems are systems which can be represented by ordinary linear
differential equations with constant real coefficients, such as:
d 2 y (t) dy (t) du(t)

3 +2 + y (t) = 2 − 3u(t) (3)
dt 2 dt dt
or more generally,
d n y (t) dy (t) d m u(t) du(t)

an + · · · + a 1 + a 0 y (t) = b m + · · · + b1 + b0 u(t) (4)
dt n dt dt m dt
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◮ Where ai and bi are real constants ans n ≥ m.

◮ Such a system is called an nth order, linear time-invariant lamped system.
◮ A system is linear if it satisfies the superposition or additivity property and
homogeneity.
◮ Linearity implies, output of u1 (t) + u2 (t) is the sum of responses to u1 (t) and
u2 (t)
◮ Homogeneity implies the response of αu(t) equals α times the response of
u(t).
◮ A system is time-invariant if the characteristics does not change through time.
◮ A system is lamped if the effect of any past input u(t), t ≤ t0 on future
output y (t) for t ≥ t0 is summarized by finite number of initial conditions at
t = t0
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RLC Networks: The input output of RLC networks are related as:
Resistor: v (t) = ri(t)
Capacitor: i(t) = C dvdt(t)
Inductor: v (t) = L di(t)
dt
Determine the differential equations relating the input out variables of the
following LTI electrical systems.
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Industrial Process
◮ In chemical plants it is often necessary to maintain the levels of liquids. A
simplified model of such a system is shown below
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Industrial Process
qi , q1 , q2 are flow rates of the fluid
A1 , A2 areas of the cross section of the tanks
h1 , h2 are liquid levels
R1 , R2 are flow resistances, controlled by valves
It is assumed that q1 and q2 are governed by
h1 − h2 h2
q1 = and q2 =
R1 R2
◮ There are proportional and relative liquid levels and inversely proportional to
the flow resistance.
◮ The changes in liquid levels are governed by:
dh1
A1 dh1 = (qi − q1 )dt ⇒ A1 = qi − q1
dt
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Industrial Process
dh2
A2 dh2 = (q1 − q2 )dt ⇒ A2 = q1 − q2
dt
◮ The equations are linearized and we can relate the input-output variables
using linear differential equations.
◮ Let qi is the input and q2 be the output of the system
dh2 dq2 dh1 dq1 dh2 dq1 dq2

= R2 and = R1 + = R1 + R2
dt dt dt dt dt dt dt
◮ Substitution yields
d 2 q2 dq2
A1 A2 R1 R2 + (A1 (R1 + R2 ) + A2 R2 ) + q2 (t) = qi (t) (5)
dt 2 dt
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1. Introduction to Digital Control
1.5 Basic Elements of Discrete Control System
◮ Basic elements of discrete control system include, Computer, analog to

digital converter and digital to analog converter.
◮ The digital computer controls numerous loops, thus its position in the loop
depends up on the function it performs.
◮ Typically, the computer replaces the cascade compensator and is thus
positioned as shown below
◮ Loops containing both analog and digital signals must provide a means for
conversion from one form to other as require by each subsystem
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Analog to Digital Converter

◮ A/D conversion is a three-step process and is not instantaneous
◮ There is a delay between the input analog and output digital
◮ In ADC, the analog signal is first converted to a sampled signal and then
converted to a sequence of binary numbers, the digital signal.
◮ The sampling rate must be at least twice of the bandwidth of the signal, else
there will be a deterioration.
◮ This minimum sampling frequency is called the Nyquist sampling rate
◮ An analog signal is sampled at periodic intervals and hold over the sampling
interval by ZOH, that yields staircase approximation to analog signal
◮ Higher order holds such as first order, second order, generate more complex
and more accurate wave shapes between samples
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◮ After sampling, the ADC converts sample to a digital number by the process
of quantization and encoding.
◮ A three-bit digital number can represent each of 23 = 8, eight levels.
◮ Thus, the difference between quantization levels is M/8, where M is the
maximum analog value.
◮ In general, for any system, this difference is M/2n , where n is the number of
binary bits use for the conversion of A/D.
◮ There is an associated error for each digitized analog value except at the
boundaries such as M/8 and 2M/8
◮ We called this error the quantization error and in general for any system
using roundoff, the quantization error will be M/2n+1
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Digital to Analog Converter

◮ D/A conversion is simple and effectively instantaneous
◮ Properly weighted values are assumed together to yield the analog output
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1.5 Examples of Digital Control
Closed loop drug delivery system

◮ Several chronic diseases require the regulation of the patient’s blood levels of
a specific drug or hormone.
◮ For example, some diseases involve the failure of the body’s natural closed
loop control of blood levels of nutrients.
◮ Most prominent among these diseases is the diabetes, where the production
of the hormone Insulin that controls blood glucose level is impaired.
◮ To design a closed loop drug delivery system, a sensor is utilized to measure
the levels of the regulated drug or nutrient in the blood.
◮ This measurement is converted to digital form and fed to the controlling
computer, which drives a pump that injects the drug in to the patients blood.
ECE: MU
ECE: MU
Computer control of an aircraft engine

◮ To achieve the high performance required for the aircraft, turbojet engine
employ sophisticated computer control strategies.

◮ The control requires feedback of the engine state, (speed, temperature and
pressure), measurements of the aircraft state (speed and direction), and pilot
command
ECE: MU
Control of Robotic manipulator

◮ Robotic manipulators are capable of performing repetitive tasks at speeds
and accuracies that far exceed those of human operators.
◮ They are now widely used in manufacturing processes such as spot welding
and painting.
◮ To perform their tasks accurately and reliably, manipulator hand (end
effector) positions and velocities are controlled digitally.
◮ Each motion or degrees of freedom of the manipulator is positioned using a
separate position control system.
◮ All motions are coordinated by a supervisory computer to achieve the desired
speed and positioning of the hand.
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◮ The computer also provides an interface between the robot and the operator
that allows programming the lower level controllers and directing their
actions.
◮ The controller algorithms are downloaded from the supervisory computer to
the control computers, which are typically specialized microprocessors called
Digital signal processors
ECE: MU
1.7 Zero-input and Zero-state responses
◮ The response of a LTI system can be always decomposed into the zero-input
and zero-state responses.
◮ Consider a simple example

2
+3 + 2y (t) = 3 − u(t)
dt dt dt
◮ Many methods are available to solve this equation, the simplest is the
Laplace transform
s 2 Y (s)−sy (0− )− ẏ (0− )+3[sY (s)−y (0− )]+2Y (s) = 3[sU(s)−u(0− )]−U(s)
dy (t)
where ẏ = dt and the capital letters denote the Laplace transforms
◮ The grouping of the inputs and outputs yields
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˙ )(0− ) + 3y (0− ) − 3u(0− ) + (3s − 1)U(s)

(s 2 + 3s + 2)Y (s) = s(0− ) + (y
which implies
(s + 3)y (0− ) + ẏ (0− ) − 3u(0− ) 3s − 1

Y (s) = + 2 U(s)
s 2 + 3s + 2 s + 3s + 2
| {z } | {z }
zero−input response Zero−state response
◮ The equation shows that the system is partly excited by the input and partly
by the initial states
The initial state is excited by the input at t = 0
◮
Consider, the above differential equation, if u(t) = 0, for t ≥ 0, then

ECE: MU
d 2 y (t) dy (t)
2
+3 + 2y (t) = 0
dt dt
This is called homogenous equation, and the Laplace transform gives
s 2 Y (s) − sy (0− ) − ẏ (0− ) + 3[sY (s) − y (0− )] + 2Y (s) = 0
which implies
(s + 3)y (0− ) + ẏ (0− ) (s + 3)y (0− ) + ẏ (0− )
Y (s) = 2
=
s + 3s + 2 (s + 1)(s + 2)
This can be expanded as

k1 k2
Y (s) = +
s +1 (s + 2)
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where
k1 = 2y (0− ) + ẏ (0− ) and k2 = −[y (0− ) + ẏ (0− )]
Thus the zero input response is
y (t) = k1 e −t + k2 e −2t
The modes, roots of the denominator, governs the form of the zero input response.
◮ When we extend to the general case, we have a transfer function which
relates the input and output variables
D(p)y (t) = N(p)u(t)
◮ In the study of zero-input response, we assume u(t) = 0. Then we have
D(p)y (t) = 0
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◮ This is the homogenous equation, its solution is excited exclusively by the

initial conditions
◮ The application of Laplace transform yields
I (s)
Y (s) =
D(s)
◮ where D(s) is a characteristic polynomial as defined above, p replaced by s,

because it governs the free, unforced, or natural response.
◮ I (s) is a polynomial of s depending on the initial conditions

Zero-state Response
◮ Consider the differential equation
ECE: MU

2
+3 + 2y (t) = 3 − u(t)
dt dt dt
◮ If all the initial conditions are equal to zero, the response is excited
exclusively by the input and is called zero-state response.
◮ The Laplace transform setting all the initial conditions to zero
3s − 1
Y (s) = U(s) := G (s)U(s)
s 2 + 3s + 2
◮ The rational function on s is called the transfer function, which is the ratio of
the Laplace transform of the output to the input.
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Proper Transfer Function

◮ Consider a transfer function
N(s)
G (s) =
D(s)
◮ Where N(s) and D(s) are two polynomials with real coefficients
◮ If deg (N(s)) > deg (D(s)), G (s) is an improper rational function
◮ Otherwise G (s) is called a proper rational function, and strictly proper if
deg (N(s)) < deg (D(s))
◮ Most LTI control systems have proper transfer functions.
◮ Improper rational functions are difficult to realize and amplify high frequency
signals
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McENG 6116: Advanced Control System

By: Dr.-Ing Gebremichael Te-ame

◮ Course Title: Advanced Control System

◮ Course Code: McENG 6116

◮ Credit Hours: 3 (3 Hrs Lecture, 2 Hrs Tutorial)

◮ Prerequisite: Introduction to Control Systems

◮ Course Rationale: The course will equip students with mathematical

1. Introduction to linear control systems

2. State Space Analysis Techniques

3. Quantitative and qualitative analysis of control systems

4. Design criteria of control systems

5. PID and Robust Control System

6. Introduction to Advanced Control Systems

◮ Ultimate goal: of engineering systems particularly Control Engineering is to

Analytical Modeling Generally consist of four steps: Modeling, setting up

1. Velocity Control System: Consider

◮ Speed control arise in a large number of industrial applications and other

◮ The actual speed is measured using a tachometer.

◮ The mechanism is designed to to close the valve automatically whenever the

◮ Control system is an interconnection of components or devices so that the

2. Remote Control: The quality of a TV channel can be improved by pointing

achieve the above applications.

Basically, there are two types of control systems

depend on the actual output.

◮ The actuating signal of the open loop system is given by

u(t) = f (r (t)) (1)

u(t) = h(r (t), y (t)) (2)

◮ Depending on the question asked and depending on the operational ranges,

◮ The choice of model for physical system depends on the mathematics to be

d 2 y (t) dy (t) du(t)

d n y (t) dy (t) d m u(t) du(t)

◮ Where ai and bi are real constants ans n ≥ m.

simplified model of such a system is shown below

dh2 dq2 dh1 dq1 dh2 dq1 dq2

◮ Basic elements of discrete control system include, Computer, analog to

Analog to Digital Converter

Digital to Analog Converter

Closed loop drug delivery system

Computer control of an aircraft engine

employ sophisticated computer control strategies.

Control of Robotic manipulator

d 2 y (t) dy (t) du(t)

˙ )(0− ) + 3y (0− ) − 3u(0− ) + (3s − 1)U(s)

(s + 3)y (0− ) + ẏ (0− ) − 3u(0− ) 3s − 1

Consider, the above differential equation, if u(t) = 0, for t ≥ 0, then

s 2 Y (s) − sy (0− ) − ẏ (0− ) + 3[sY (s) − y (0− )] + 2Y (s) = 0

This can be expanded as

D(p)y (t) = N(p)u(t)

◮ In the study of zero-input response, we assume u(t) = 0. Then we have

◮ This is the homogenous equation, its solution is excited exclusively by the

◮ The application of Laplace transform yields

◮ where D(s) is a characteristic polynomial as defined above, p replaced by s,

◮ I (s) is a polynomial of s depending on the initial conditions

d 2 y (t) dy (t) du(t)

◮ The Laplace transform setting all the initial conditions to zero

Proper Transfer Function

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