Control System Engineering EEPC-303

Syllabus

Introductory Concepts: Plant, Systems, Servomechanism, regulating systems, disturbances, Open loop control system,
closed loop control systems, linear and non-linear systems, time variant and invariant, continuous and sampled-data
control systems, Block diagrams, some illustrative examples.

Modeling: Formulation of equation of linear electrical, mechanical, thermal, pneumatic and hydraulic system, electrical,
mechanical analogies. Use of Laplace transforms, Transfer function, concepts of state variable modeling.
Block diagram representation, signal flow graphs and associated algebra, characteristics equation.

Time Domain Analysis: Typical test – input signals, Transient response of the first and second order systems.
Time domain specifications, Dominant closed loop poles of higher order systems. Steady state error and coefficients,
pole-zero location and stability, Routh-Hurwitz Criterion.

Root Locus Technique: The extreme points of the root loci for positive gain. Asymptotes to the loci, Breakaway points,
intersection with imaginary axis, location of roots with given gain and sketch of the root locus plot.

Frequency Domain Analysis: Closed loop frequency response, Bode plots, stability and loop transfer function.
Frequency response specifications, Relative stability, Relation between time and frequency response for second order systems.
Log. Magnitude versus Phase angle plot, Nyquist criterion for stability.

Compensation: Necessity of compensation, series and parallel compensation, compensating networks,

applications of lag and lead-compensation.

Control Components: Error detectors – potentiometers and synchros, servo motors,AC and DC techno generators,
Magnetic amplifiers.

Books Recommended
1. Nagrath IJ and Gopal M, “Control System Engineering”, Wiley Eastern
2. Ogata K, “Modern Control Engineering”, Prentice Hall
Reference Books
3. Kuo B C, “Automatic Control System”, Prentice Hall
4. Dorf R C and Bishop RH, “Modern Control System”, Addison-Wesley, Pearson
5. Stephanopoulos G, “Chemical Process Control”, Prentice Hall of India
6. Norman S. Nise, “Control Systems Engineering”, Wiley
Introduction to Control System

Classical Control System Modern CS Robust CS

- Robotics
- Space Vehicles
- Modern Manufacturing Units
- Control of temp, pressure, humidity
- Autonomous Vehicles
- Biological Systems
- Business Models
- UAVs (Drons)
- Robotic surgery for better precision
- Hard Disk

Historic Developments:
1. James Watt's centrifugal governer for the speed control of a steam engine in 18th century

2. Minorsky (1922) worked on automatic controllers for stearing ships

3. Nyquist (1932) Stabilty of closed loop system from Open loop response to sinusoids

4. Hazen (1934) Design of servomechanism

5. Decade of 1940s Bode - design specification, PID and its tuning

6. 1960s With Digital Computers Time Domain approaches where developed - state space
Multi i/p multi o/p,

7. 1960 - 1980 Optimal control, deterministic and stochastic systems, adaptive control

8. 1980 - 1990 Robust control

Controlled Variable: The variable in the plant that is measured and controlled.

Control Signal: The variable that is varied by the controller.

Plant: An equipment, made of different parts functioning together so as to perform a particular

operation. e.g. Chemical ractor, Heating furnance

Process: A prograssively continuing operation that consists of series of controlled actions,

Systematically directed towards a particular result. e.g. Electrical, Chemical, Economic, Biologic

System: A combination fo components that work together and perform certain objective.
Not necessarily physical system like economic model

Disturbance: An unmesurable signal that tend to adversely affect the value of the optput of the plant.

Feedback control: It is the operation that tend to reduce the differece between the output of the plant
and the reference input, even in the presence of disturbace, by looking at the difference.
Speed Control System: using Watt's speed governor.

Temperature Control System:

Closed loop control versus Open loop control

Feedback control System: A system that maintains the prescribed relationship b/w the output and

the reference input by comparing them and using the difference as a means of control is called

feedback system. e.g. room temprature control, human body temprature control

Feedback control system is also called closed loop control system.

Open-loop control system: Output has no effect on the control action i.e. o/p is not fedback for

comparison with the input. e.g. Washing Machine. Traffic Light

Thus accuracy of the system depends on the calibration of the system.

In the presence of disturbance the output will deviate from desired value.

Closed loop versus Open loop Control System:

Advantages of closed loop:

1. System response is relatively insensitive to external disturbance.

2. Internal variation of system parameters

3. Thus inexpensive and no so accurate components may be used.

1. Stability is an issue in closed loop control system

Advantages of open loop CS:

1. From stability point of view, Open loop systems are easier to build.

2. Number of components used are less compared to closed loop CS.

3. Economical to build

4. Preferred when o/p is not measurable.

1. Disturbances and changes in calibration cause errors, and the output may be different from
what is desired.

2. To maintain the required quality in the output, recalibration is necessary from time to time.
Disturbance and Uncertainty:

Robust Control:

- First step in the design of control system is to develop mathematical model.

- Invariably actual plant will differ from mathematical model

- Controller designed with mathematical model should work with the actual plant

- Include uncertainty in the design process

= Actual plant model that has uncertainty

= Nominal plant model to be used for design

and G(s) may be related by

multiplicative factor: G(s) = G(s)[1 + (s)]

additive factor: G(s) = G(s) + (s)

Exact description of (s) is unknown, we use estimate of Δ(s) as W(s)

and try to satisfy two inequalities with the controller K(s) to be designed.
Design specification:

Before preceeding with the design, performance specifications are given

- transient response requirement (maximum overshoot, settling time)

- steady state requirements ( steady state error)

- May be specified in frequency response terms

- Specifications are in terms of precise numerical values and qualitatively

System Compensation:

- To achieve desired objective, change gain is the most basic approach.

- Design compensator.

First test open loop system - then close the loop ?

Loading effect, Nonlinearities and disturbance will make actual output differ from theoretical o/p.

Mathematical Modeling of Control System

Write mathematics model using physical laws (Newtons laws of mechanics, Circuits laws)
Differentila Equations.

Model depends on the perspective.

Simplicity Versus Accuracy:

- linear lumped parameter

- nonlinearity is ignored

Linear System: A system is called linear if it obeys the principle of superposition.

This helps build solution of Differential equaiton.

Linear Time-invariant Systems and Linear Time Varying Systems:

Constant coefficient differential =n

Time varying coefficients

Mathematical Model of a System

�
1
ei (t) = Ri(t) + i(t)dt
c

�
1
eo (t) = i(t)dt
c
di 1
R + i(t) = ei (t)
dt c

1 Ei (s)Cs
Ei (s) = RI(s) + I(s) =⇒ I(s) =
cs RCs + 1

1
Eo (s) = I(s)
Cs

Ei (s)/RC
Eo (s) =
s + 1/RC

Eo (s) 1/RC
=
Ei (s) s + 1/RC
Transfer Function (TF) and Impulse Response Function:

TF are used to specify i/p - o/p relationship in Linear Time-invariant Differential equation systems.

TF = Laplace Transform of o/p

-----------------------------------
Laplace Transform of i/p ginven initial conditions are zero

Consider the LTI system defined by the following differential equation:

System dynamics represented by differential equation, is transformed to algebraic equation in 's'

using T.F.

The highest power of 's' in the denominator is called the order of the system.

The concept of T.F. is applicable only to LTI systems.

Order of the system depents on the number of energy storing elements in the system

d2 y dy There should be two energy storing elements in the system

a0 2
+ a1 + y(t) = x(t)
dt dt
e.g. RLC circuit

For RC circuit order is one.

Comments on T.F.

1. It is an operational mothod of expressing differential equation that relates i/p and o/p.

2. It is the property of system and independednt of i/p to system.

3. T.F. gives relationship between I/p and O/p however it does not provide any information
about the physical structure of the system. Physically different systems may have same T.F.

4. If T.F. is known o/p for different i/p may be evaluated with a view to understand the nature of system.

5. T.F. of a system can be found experimentally by using o/p and the corresponding i/p.
T.F. gives a full description of the dynamic characteristics of the system.

−kx − cẋ = mẍ

mẍ + cẋ + kx = 0
Convolution Integral:

Y(s)
Y(s) = G(s) X(s)
G(s) = ---------
X(s)

Multiplication in complex domain is convolution in time domain.

Impulse response function:

The impulse-response function g(t) is thus the response of a linear time-invariant

system to a unit-impulse input when the initial conditions are zero.

The Laplace transform of this function gives the transfer function.

Thus, the T.F. and impulse-response function of a LTI system contain the same information
about the system dynamics.

It is hence possible to obtain complete information about the dynamic characteristics of the system
by exciting it with an impulse input and measuring the response.
Block Diagram:

It is a pictorial representation of the functions performed by each component and the flow of the

signals.

T.F. of the component is placed in the corresponding block.

Advantage:

Its easy to form overall block diagram of the system by connecting individual block according to the

flow of the signal.

Summing Point

Branching Point

Block diagram of a closed loop system:

Procedure to draw the block diagram

- To draw block diagram first write the dynamics of each component

- Take Laplace Transform of these =ns assuming zero initial conditions
- Draw block for each component
- Assemble the elements into a complete block diagram

�
ei − eo idt
i= eo =
R C

Laplace transform gives

Ei (s) − Eo (s) I(s)

I(s) = Eo (S) =
R Cs
Close loop system subject to disturbance:

Closed loop T.F. C (s)/D(s) becomes

almost zero

C (s)/R(s) ---> 1/H(s) as the gain G1(s)G2(s)H(s) increses.

Closed loop T.F. becomes independent of G1 and G2 and

inversaly to H(s). So the variations of G1 and G2 do not affect

the T.F.
Loading effect in cascade connection of blocks:

Blocks can be connected in series only if the output of one block is not affected by the next

following block.

If there are any loading effects between the components,it is necessary to combine these
components into a single block.

Eliminating I1 (s) and writing Ei (s) in terms of I2 (s)

we find the T.F. as:

Two RC networks are connected in cascade so that the output of one drives the other, the overall
T.F. is not the product of
1 1
and
R1 C 1 s + 1 R2 C 2 s + 1

Block Diagram Reduction:

Reduce the block diagram and hence find the T.F. C(s)/R(s)
Mathematical Modeling

Mechanical System - Newtons law

Electrical System - Kirchhoff's law

1. Mechanical System

Two springs in parallel and series

For the spring in series, the force in each spring is the same
Damper System

It discipates energy

Converts mechanical energ into heat

because of viscous friction of fluid
Mechanical System Modeling

Consider the spring-mass-dashpot system mounted on a massless cart as shown in Figure 3–3. Let
us obtain mathematical models of this system by assuming that the cart is standing still for t<0 and
the spring-mass-dashpot system on the cart is also standing still for t<0. In this system, u(t) is the
displacement of the cart and is the input to the system.At t=0, the cart is moved at a constant speed,
or u' = constant. The displacement y(t) of the mass is the output. (The displacement is relative to
the ground.) In this system, m denotes the mass, b denotes the viscous-friction coefficient, and k
denotes the spring constant.We assume that the friction force of the dashpot is proportional to y' - u'
and that the spring is a linear spring; that is, the spring force is proportional to y-u.

Constant Velocity u̇ Displacement

For translational system Newtons second law

states that
�
Ma = F

sum of forces acting on the mass in the

direction of acceleration

Applying Newton's second law

F1 = k(u − y) →

F2 = b(u̇ − ẏ) →

MATLAB Code:

N = [2 3];
D = [ 10 2 3];
Taking Laplace transform (Initial conditions are zero) D = [10 2 3 0];
sys = tf(N,D);
step(sys);
Mathematical Modeling of Electrical System:

LRC Circuit

Transfer Function of Cascade Element

Overall T.F. is not the product of

Operational Amplifier:

Inverting Amplifier:

Noninverting Amplifier:
Lead or Lag Networks using Operational Amplifiers:

lead network if R1 C1 > R2 C2 , or α < 1

lag network if R1 C1 < R2 C2

PID Controller using OpAmp:

Eo (s)
=?
Ei (s)

When PID controller is expressed as

Kp is the proportional gain

Ti is the integral time

Td is the derivative time

When PID controller is expressed as

Kp is the proportional gain

Ki is the integral gain

Kd is the derivative gain

Mathematical Modeling of Hydraulic System

The terms imply

Hydraulic system - that use Oil
Pneumatic system - fluid system (that use air and gas) - compressed air enegry to mechanical o/p

To analyze systems involving fluid flow, flow is categorized as: Laminar and Turbulent
Reynolds number > (3000-4000) --> Turbulent
Reynolds number < 2000 --> Laminar
Laminar flow may be represented by linear differential equations
System involving turbulent flow will be represented by nonlinear differential equations

Resistance and Capacitance of Liquid-Level Systems:

Consider flow through a short pipe connecting two tanks

Change in level difference (m)
Resistance of liquid level system:
R= -------------------------------------------
Change is flow rate (m^3 / sec)

Change in the level difference required to brig an unit change in flow rate

The liquid spouts through the load valve.

If the flow is laminar Q=KH ... (1)

Q - Steady state flow rate (m^3/sec)

H - Steady state head at the level of restriction (m)

K - Coefficient (m^2/sec)

From 1: dH H 1
Rl = = = (Constant)
dQ Q k

For laminar flow resistance is constant

If the flow is turbulent, the steady state flow rate is given as

√
Q=K H

The resistance Rt for the turbulent flow is obtained as

dH dQ K Q dH 2H
Rt = = √ = = = Rt
dQ dH 2 H 2H dQ Q
h 2H̄
Slope of curve at P = = = Rt
q Q̄

Change in liquid stored (m^3)

Capacitance of liquid level system:
C= -------------------------------------------
Change in head (m)

The necessary change in the quantity of stored liquid to cause a unit change in head.

Liquid level system:

In flow (qi ) - Out flow (q0 ) in time dt is equal to the

aditional amout stored in tank

c dh = (qi − qo )dt
dh h
c = qi −
dt R
Liquid level system with interaction