Linear Control Theory (EE 326):

Case Study: Antenna Azimuth Position

Control

Krishnan C.M.C.
Dept. of Electrical and Electronics Engineering
NITK Surathkal
Azimuth Antenna position control
𝜃𝑖 𝑡 potentiometer
Desired
azimuth
angle
𝜃0 𝑡
input
Azimuth
angle
System Concept output

𝜃𝑖 𝑡
Desired
potentiometer
azimuth
angle 𝜃0 𝑡
input Azimuth
angle
output

Differential amplifier potentiometer

and Power amplifier

motor
Detailed Layout
EE326 Dept. of E & E, NITK Surathkal
2
 Azimuth𝜃 Antenna
𝑡
position control
𝑖
Desired
potentiometer
azimuth
angle 𝜃0 𝑡
input Azimuth
angle
output

Differential amplifier potentiometer

and Power amplifier
+
motor
potentiometer
Detailed Layout
𝜃𝑖 𝑡 −
Differential Motor
and power Fixed Field Gear
amplifier 𝐾 DC motor
Gear
+ 𝜃0 𝑡
Viscous
Schematic Inertia damping
potentiometer
− Gear

EE326 Dept. of E & E, NITK Surathkal

3
 Azimuth Antenna position control
+

potentiometer
𝜃𝑖 𝑡
−
Differential Motor
and power Fixed Field Gear
amplifier 𝐾 DC motor
Gear
+ 𝜃0 𝑡
Viscous
Inertia damping
Schematic potentiometer
− Gear

Functional Block Diagram

𝜃𝑖 𝑡 + error Signal and 𝜃0 𝑡
Motor, load
Potentiometer Power
and gears
− amplifiers

Potentiometer

EE326 Dept. of E & E, NITK Surathkal

4
 Problems
P1: A temperature control system operates by sensing the difference between the
thermostat setting and the actual temperature and then opening a fuel valve an
amount proportional to this difference. Draw a functional closed loop block diagram
identifying the input and output transducers, the controller, and the plant. Further,
identify the input and output signals of all subsystems previously described.

Functional Block Diagram of a Temperature control system

Desired/reference
Actual
temperature
temperature
𝑟 𝑡 Fuel/current
+ error Amplifier and flow 𝑦 𝑡
Potentiometer Heater
Valve
−
Temperature
Sensor

EE326 Dept. of E & E, NITK Surathkal

5
The design process
Step-1: Transform Requirements Into a Physical System

Step-2: Draw a Functional Block Diagram

Step-3: Create a Schematic

Step-4: Develop a Mathematical Model (Block Diagram)

Step-5: Reduce the Block Diagram

Step-6: Analyze and design

EE326 Dept. of E & E, NITK Surathkal

6
 The design process
Step-1: Transform Requirements Into a Physical System

• control position remotely

• Height/weight/dimensions etc. to be given
• Specification, transient requirement etc.
• Will result in overall system concept

Step-2: Draw a Functional Block Diagram

• Component parts (H/W)
• Connections
• H/W description of motor, amplifier
• A detailed layout

EE326 Dept. of E & E, NITK Surathkal

7
The design process
Step-3: Create a Schematic
With approximations
Observe results
layout schematic error

Antenna position example: Reconsider the approximations and

Update the schematic
Natural response

Gain 𝑲

Time

• Smaller time constant for the pot+amp

• dynamics can be neglected

• Similarly other non-linearities (e.g., Friction) are neglected initially

EE326 Dept. of E & E, NITK Surathkal
8
 The design process
Step-4: Develop a Mathematical Model (Block Diagram)
order
output Input

𝑑𝑛 𝑐 𝑡 𝑑𝑛−1 𝑐 𝑡 𝑑𝑚 𝑟 𝑡 𝑑𝑚−1 𝑟 𝑡
+ 𝑑𝑛−1 + ⋯ + 𝑑0 𝑐 𝑡 = 𝑏𝑚 + 𝑏𝑚−1 + ⋯ + 𝑏0 𝑟(𝑡)
𝑑𝑡 𝑛 𝑑𝑡 𝑛−1 𝑑𝑡 𝑚 𝑑𝑡 𝑚−1
Linear Time-Invariant (LTI) Systems
𝑚<𝑛
𝑑𝑖 , 𝑏𝑖 ∈ ℝ

𝑁 𝑠
𝐺 𝑠 = 𝑥ሶ ҧ = 𝐴𝑥ҧ + 𝐵 𝑢ത
𝐷 𝑠 𝑦ത = 𝐶 𝑥ҧ + 𝐷 𝑢ത

Transfer Function Model State-Space Model

Frequency Domain Time Domain
*supports non-linear
time-varying systems
Step-5: Block Diagram Reduction
Single block with a mathematical description
EE326 Dept. of E & E, NITK Surathkal
9
The design process
Step-6:Analyze and Design

System

Specifications YES
met?
NO
Change system
parameters Final Design
𝑑𝑛 , … 𝑑0 , 𝑏𝑚 , … , 𝑏0

Specifications
YES
met now?
NO

Design Additional
Hardware

EE326 Dept. of E & E, NITK Surathkal

10
The design process
Step-6:Analyze and Design (2)

Standard test Input waveforms

Input Description Sketch Use Example

Impulse 𝛿 𝑡 = 0 when 𝑡 ≠ 0 Transient Hammer Test on

𝛿(𝑡) response structures
න 𝛿 𝑡 𝑑𝑡 = 1 modeling

Step 𝑢(𝑡) 𝑢 𝑡 = 1 when 𝑡 > 0 Transient Temperature set point

= 0 when 𝑡 < 0 response and
Steady-state
error
Ramp 𝑢 𝑡 = 𝑡 when 𝑡 > 0 Steady-state Satellite position
𝑡𝑢 𝑡 = 0 when 𝑡 < 0 error (ramp) moving at a
constant velocity

Sinusoidal sin 𝜔𝑡 Transient Tuning for experiment

response and in physics lab
Steady-state
error

EE326 Dept. of E & E, NITK Surathkal

11
 Review Problems (Signals & Systems)
P2: For the given electric circuit (a) Write the
differential equation for this network with a
step input, (b) Solve the differential equation
for the current, (c) Make a plot of the solution
for 𝑅 Τ𝐿 = 1.

a) Using KVL we have

𝑑𝑖 𝑡
𝑣 𝑡 =𝑅𝑖 𝑡 +𝐿
𝑑𝑡
𝑅
−𝐿𝑡
b) Characteristic Polynomial: 𝑅 + 𝐿𝐷 ➔Mode: 𝑒 𝑢(𝑡)
𝑅
−𝐿𝑡 Forced response (for unit step): 𝑖𝐹 𝑡 = 𝐵
Natural response: 𝑖𝑁 𝑡 = 𝐴𝑒
Also: 𝑑𝑖𝐹 𝑡
𝑢 𝑡 = 𝑅 𝑖𝐹 𝑡 + 𝐿 ⇒1= 𝑅× 𝐵
𝑑𝑡
⇒ 𝐵 = 1Τ𝑅
∵ Forced response satisfies the diff equation
𝑅
− 𝐿𝑡
Total response: 𝑖 𝑡 = 𝐴𝑒 + 1Τ𝑅 𝑅
−𝐿𝑡
𝑖 𝑡 = 1Τ𝑅 1 − 𝑒 𝑢(𝑡)
Auxiliary conditions: 𝑖 0+ = 0( ∵ 𝑖 0− = 0) ⇒ 𝐴 = − 1Τ𝑅
EE326 Dept. of E & E, NITK Surathkal
12
 Review Problems (Signals & Systems)
P2: For the given electric circuit (a) Write the
differential equation for this network with a
step input, (b) Solve the differential equation
for the current, (c) Make a plot of the solution
for 𝑅 Τ𝐿 = 1.

𝑅
−𝐿𝑡
𝑖 𝑡 = 1Τ𝑅 1 − 𝑒 𝑢(𝑡)

L=1; stepplot(tf(L,[1 1]))

EE326 Dept. of E & E, NITK Surathkal

13
 Review Problems (Signals & Systems)
P3: Repeat the procedure of P2 for the RLC
circuit. Assume 𝑅 = 1Ω. 𝐿 = 0.5 𝐻, 1Τ𝐿𝐶 = 16.

a) Using KVL we have

𝑑𝑖 𝑡 1 𝑑𝑖 𝑡 𝑑𝑖 2 𝑡 𝑖 𝑡
𝑣 𝑡 =𝑅𝑖 𝑡 +𝐿 + න 𝑖 𝑡 𝑑𝑡 + 𝑣𝑐 (0) ⇒0=𝑅 +𝐿 +
𝑑𝑡 𝐶 𝑑𝑡 𝑑𝑡 2 𝐶

b) Characteristic Polynomial: D2 + 2𝐷 + 16 ➔roots: −1 ± 𝑗3.873

Natural Response: 𝑖𝑁 𝑡 = 𝐴𝑒 −𝑡 cos 3.873𝑡 + 𝐵𝑒 −𝑡 sin(3.873𝑡)

Forced Response: 𝑖𝐹 𝑡 = 𝐹 Substituting in differential eqn: 𝐹 = 0

Thus: 𝑖 𝑡 = 𝐴𝑒 −𝑡 cos 3.873𝑡 + 𝐵𝑒 −𝑡 sin(3.873𝑡)

EE326 Dept. of E & E, NITK Surathkal

14
Review Problems (Signals & Systems)
P3: Repeat the procedure of P2 for the RLC
circuit. Assume 𝑅 = 1Ω. 𝐿 = 0.5 𝐻, 1Τ𝐿𝐶 = 16.

Auxiliary condition 𝑖 0+ = 0 (∵ 𝑖 0− = 0)
d𝑖 0+ d𝑖 0+ 1
Auxiliary condition : ⇒ = =2
𝑑𝑡 𝑑𝑡 𝐿
d𝑖 0+ d𝑖 0+
we have 𝑣 0+ = 𝑅𝑖 0+ +𝐿 +
+ 𝑣𝐶 0 ⇒ 1 = 𝑅 × 0 + 𝐿 × 𝑑𝑡 + 0
𝑑𝑡
∵ 𝑣𝑐 0+ = 𝑣𝑐 0− = 0
Substituting, we get 𝐴 = 0, 𝐵 = 2Τ3.873

𝑖 𝑡 = (2Τ3.873)𝑒 −𝑡 sin(3.873𝑡)

stepplot(tf([1/8 0],[16 1/8 1]))

EE326 Dept. of E & E, NITK Surathkal

15
Review Problems (Signals & Systems)
Things to remember

• Modes of the system

• Characteristic polynomial

• Zero input and zero-state response

• Use of initial conditions y(0− )

• Classical solution

• Natural and forced response

• Use of auxiliary conditions y(0+ )

EE326 Dept. of E & E, NITK Surathkal

16