Questions tagged [control-engineering]

Questions about the models and theories of control engineering and the application of control theory to design systems with desired behaviors.

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Design of a lead compensator with root locus in matlab

For the transfer function $G(s)$, I tried to design a lead compensator for the function to have a response to the step with the following specifications: $$\%OS = 10\% \ \rightarrow \ Overshoot $$ $$ ...
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Is it possible to calculate Over Shoot percentage and settling time of an Underdamped 2nd order system with Ramp input?

Most of the books derive Over Shoot percentage, settling time for 2nd order underdamped it for unit step response. Do these parameters exist for 2nd order underdamped system for Ramp response too? If ...
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137 views

Control system for a temperature controller

I have adapted a refrigerator to create a temperature controlled environment for brewing beer. I have mounted an electric heater coil inside the fridge and configured a basic controller to maintain a ...
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58 views

LQR control of motor speed for a quadrotor

Im working around with a simulation of a quadrotor. So i've read articles, did the math to derive the set of equation using lagrangian approach. So far so good. Then i want to control the system. so i ...
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29 views

Excluding the transient in computing RMSE in control algorithm implementation

I have implemented a control algorithm and I would like to study its performance by looking at the trend of the tracking error and then algebraically transpose what I visualize, I have thought to use ...
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105 views

How to tune PID for a step response

I am very much confused finding the time constant and DC gain for the below step response. The idea is to find PI gains for speed control and I am following this tutorial online Tutorial Link Motor ...
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264 views

Find the point where locus crosses the damping ratio line?

Given a transfer function, find the point where locus crosses the damping ratio of 0.5? $$G(s)= \dfrac{K(s-2)(s-4)}{s^2+6s+25}$$ The textbook only shows this solved by Matlab or program, I would like ...
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105 views

Passivity in State Space Systems

Suppose I have the state space system $a\dot{x} = -x + \frac{1}{k}h(x) + u$, and output $y = h(x)$, where $a,k > 0$. The only information I'm given about $h(x)$ is that $h\in[0,k]$. I want to show ...
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78 views

Significance of asymptotes in root locus

What is the significance of asymptotes in the root locus of a linear time invariant system. Does it say that for that particular pole on which it is starting doesn't have a practical pole in the ...
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70 views

Criterion to neglect poles of higher order

If I am having a fifth order system, it is said that the dominant two poles nearer to the jw axis determine the nature of the output, is there any criterion to neglect the other three poles , should ...
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Finding coefficients for a PID controller that minimize the integral of the squared error (ISE)

The problem The problem is to find the coefficients for the P, I and D terms of a PID controller used to regulate the object that minimize the the integral of the squared error (ISE): $$Q = \int_0^\...
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34 views

Evaluate "damping" of higher-order transfer function - something similar to settling time without the discontinuities

I have an 11th order transfer function in the continuous domain (simplified linearized model of a grid-forming converter) and I'm looking for a way to characterize it with a single number for ...
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30 views

Examples of model-based control techniques

I am trying to find out the differences between the model-based control approach and the data-driven one. Surely the main difference is the latter's independence from the information of the ...
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81 views

How can I tune the parameters of a lqr controller?

From my internet research, it seems there's no systematic way of tuning the design parameters for the LQR controller. I have found Bryson’s rule as an initialization. However I don't know how to ...
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186 views

Need some advice, control system animation. Appreciate some help!

I would like to have a 3d simulation of a helicopter landing on a ship. I thought about using matlab for this, as a far as I know you can connect models from Simulink to virtual worlds using blocks, ...
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54 views

Why matlab returns a damp ratio as 1 for a over damped system?

I have a second order system with the transfer function as: "1/(s^2 + 5.45s + 1)", I thought it should be an over-damped system, but when I use the damp function in MatLab, it returns the ...
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36 views

Nominal model and Mathematical model of a real plant [closed]

What is the difference between nominal model and mathematical model of a real plant? I am interested in understanding the difference since I want to understand why in some cases is not the best idea ...
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23 views

Force control of pneumatic piston

I am building a small testing device consisting of a double acting pneumatic cylinder. I am using an existing pneumatic line running at 100 psi and I would like to control the force exerted by the ...
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36 views

PI or PID-regulator for control system with hysteresis relay in inner loop

I have such control system (sorry for rough drawing :) ) $G(s)$ - stable object with proper transfer function. $1/s$ - integrator. I need to clarify, how synthesized PI or PID controller for such ...
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30 views

why do we need state feedback in H-infinity concept instead of output feedback

I have faced control of a flexible manipulator which have a zero dynamic related to flexible parts dynamic. the zero dynamic states (generalized states) are not observable in input-output dynamic and ...
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32 views

Full state feedback of a closed loop system

Does Full state feedback gains affect the dynamic or steady state gain of a closed loop system?
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487 views

Fluid dynamics of non interacting tanks in series

I have a system like this: and I have to estimate the height of the lower tank. First of all, I'm considering that I have a non-viscous, incompressible fluid in steady flow. Base apertures The ...
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1answer
95 views

Is using a 4x4 bolted to the face of 2x12 enough?

I am working on a project that has three 2x12’s supporting a load of 12,000 lbs. similar, but not exactly, to how joists support a house. The 2x12’s are supporting about 6,000 lbs. on each end. The ...
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116 views

simulation of an attitude optimal Backstepping controller based quaternion for a UAV in MATLAB

I'am trying to implement this open access research article Attitude Optimal Backstepping Controller Based Quaternion for a UAV I did not find the same result in this paper Can anyone tell me where my ...
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56 views

How to identify the time delay of manipulated variables which are important to the final quality of polymer product

In a polymer production process, there are a lot of manipulated variables(MV) such as temperature ,pressure , or level of reactor that affect the quality of my polymer product. However, it usually ...
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216 views

what's wrong with this robust control scheme?

I'm learning how to control a double integrator with $H_\infty$. my model is simply $$\begin{gather} \dot{r} = v \\ \dot{v} = F/m \\ r(t_0) = 0\text{ m}, $v(t_0) = 0\text{ m/s}, m = 1000\text{ kg} \...
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How do I find the gain from the root locus with given perfomance, where I know the real part of the poles?

I have an exercise to draw a root locus plot and determine its gain to make sure that it fulfills the performance requirements. the given system G(s) is $$G(s) = \frac{1}{s^2+s}$$ And the given ...
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39 views

Quality of the transient response for an arbitrary transfer function

The question is simple and I rather need a reference point. How the parameters of transients are estimated (as in the picture) from an arbitrary linear transfer function (formula is given).
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107 views

Aluminum or Copper, which one is better to control and maintain the temperature?

Friends, I am an EE/SW/Controls eng. Please, pardon me of perhaps incorrect terminologies. I am working on a R&D project: A chemical lab equipment has a 2" long metal pipe enclosed in ...
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308 views

Questions regarding Cornering Stiffness for RC Car

I am a bachelor's level student tasked with modeling the vehicle dynamics of an RC Car that will be made to drive autonomously. I lack prior experience or particularly specific education with vehicle ...
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69 views

Why prefer a discrete-time system because of a practical implementation instead of continuous one

I have previously done this question on math stack, and I think that maybe here is better. I am studying the theory of discrete-time systems, comparing them with continuous ones in the control theory ...
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81 views

Extended Kalman Filter formulation

For a nonlinear system, $$ \begin{align} &{\boldsymbol x}(k+1)={\boldsymbol f}({\boldsymbol x}(k),{\boldsymbol u}(k),{\boldsymbol w}(k)) \\ &{\boldsymbol y}(k)={\boldsymbol h}({\boldsymbol x}(...
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132 views

What is the most common control method in Underfloor heating?

I am trying to research the common methods on an underfloor heating system that are available in the market. I know there are usually, On/Off control to control the flow of water into the pipe ...
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282 views

How are bode plots drawn for unstable systems with time delay?

All the example of bode plots I see in textbooks are of stable systems without delay. I wanted to know if bode plots can be drawn for unstable systems with time delay. Using the usual method to draw ...
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103 views

Control: control action of a PID controller with feedback

I'm programming the controller for a drone and I've got a question that may be basic, but I need to understand this perfectly to continue with the most interesting part of the project. The sensors of ...
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2answers
153 views

How do I 'fuse' together two different kinds of data to get a final result?

I am building a robot (2 powered wheels and one ball bearing). The problem is that I can't seem to make it drive straight. I literally find it impossible, I have been trying for weeks. Currently I am ...
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220 views

Determine the parameters for this given nyquist plot

I have seen quite many of this type of question and I want to find how to solve them but I haven't cracked it yet. For example this is one: My thoughts so far: Replace $$s \rightarrow j\omega$$, $$G(...
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30 views

How does feedback implementation look like in a real word closed- loop process?

I'm looking for a generic term/process that explains how we can make a closed- loop control system. The typical elements of a closed loop systems are controller, actuator, plant and sensors. If you ...
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53 views

What is the corresponding transfer function between r and y?

What is the corresponding transfer function between r and y?? I have tried $$ \frac{( \frac{k_i}{s}+k_p+k_d\ s )\times P(s)}{1-(-1)(\frac{k_i}{s}+k_p+k_d\ s)\times P(s)} $$
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156 views

Modeling rigid body dynamics: Trouble with equations, encountering nonsense answers

Hi, I am working on modeling a simple rigid body dynamic system through a certain range of motion. Here is the picture of the system. I am trying to solve the system for the variables $x_1'', y_1'', ...
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29 views

Equations of motion in matrix form and energy consumption

I am working on Lagrangian derived high-dimensional motion equations for a robot in matrix form. The structure of such an equation is known: $M(q)\ddot{q}+C(q,\dot{q})\dot{q}+G(q)=0$ In here, $M(q)$, $...
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Phase margin by definition

I'm reading about Gain Margin and Phase Margin in a book and having trouble understanding why they calculate the Phase margin like this: <G(Wcrossover) - (-180) = PM Why not: <G(Wcrossover) - (...
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66 views

How do I study the frequency response of a physical system with Arduino?

I am a control engineering student and I am studying the frequency response of a system, so the Laplace domain, the Bode plot, poles, zeros,etc. ... I have clear grasp of their meaning, but if I think ...
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50 views

How to simulate open and close and control valve using a simple controller

I have successfully developed a mathematical model for my physical system. My objective is to control the mass of gas in and out of the system. The mass flowrate is given by: $V_f = C_d.\sqrt{2.\frac{\...
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24 views

Optimizing error for PID based control of Line Following Robot

I am working to find the optimal PID gains of my line following robot. To do this, I need to optimize any performance index dependent on the error (a typical example is the integral absolute error). ...
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How to get the performance index ISE and IAE for a Matlab-Simulink designed Line Follower Robot with PID control?

I am researching a method to determine the optimal PID gains for a line follower robot. The problem is, I don't know how to setup the performance index IAE and ISE in the matlab. Any tips on how to do ...
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34 views

If there is a instability issue inside the control loop, and the control system starts oscillating, what will be the oscillation frequency?

I have a closed loop controller to control the vehicle on the centerline with a bandwidth of 2 rad/s, and I saw the vehicle keeps oscillating around the centerline in a sinusoid whose period is around ...
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1answer
68 views

How can I make a vacuum pump to move rocks from one place to another?

I am trying to build a vacuum pump by myself and move rocks from one place to another. After some online search, I came across this video on Youtube. I am trying to build something like this. Can ...
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42 views

Where can i get the aerodynamic data of aircrafts for controller design and testing?

I have some research papers on aircraft controller design that i want to simulate, but no system data is given in the research paper itself. I am also unable to find the aerodynamic data for any ...

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