Network Theory & Control

Systems
Syllabus

02

Syllabus Text Books

UNIT – II

Basic Concepts of Control Systems and Representation:

Types of control systems, effect of feedback systems,
differential equation for electrical system, Introduction to
block diagrams and Signal Flow Graphs. 1. J. Nagarath and M. Gopal, “Control Systems Engineering”, New
Age International (P) Limited Publishers, 4thEdition—2005.

Stability Analysis using Root Locus: Concepts of stability,

necessary condition for stability, Introduction to the root
locus concepts, Construction of root loci.

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Reference Books NPTEL/ MOOC Links

1. http://nptel.ac.in/courses/108101037/3

2. https://www.edx.org/course/dynamics-control-
1. Kuo B. C., “Automatic Control Systems”, John Wiley
upvalenciax-dc201x-2
India Pvt. Ltd., 8th Edition, 2008.
3. https://nptel.ac.in/courses/108102044/
2. Ogata, “Modern Control Engineering”, Pearson
4. https://nptel.ac.in/courses/108106098/
Education Asia/PHI, 4th Edition, 2002.
5. https://nptel.ac.in/courses/108102043/

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1
Introduction

Practically, every activity in our day to day life is influenced by control

system.

Concept of control systems also plays an important role in the working of

space vehicles, satellites, guided missiles etc.

Control Systems Such control systems are integral part of the modern industrialization,
industrial processes and home appliances.

Control systems are found in number of practical applications like

computerized control systems, transportation systems, power systems,
temperature limiting systems, robotics etc.

Hence for an engineer it is absolutely necessary to get familiar with the

analysis and designing methods of such control systems.

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Introduction
What is system ?

What is control system ?

How control systems can be classified ? Definitions

Which are the basic components of control systems ?

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Definitions Definitions
System : A system is a combination or an arrangement of different physical
Plant or the Process : The portion of a system which is to be controlled or
components which act together as a entire unit to achieve certain
regulated.
objective. The system may be physical, biological, economical, etc.
Every physical object is actually a system .
Example: Classroom ,lamp Controller : The element of the system itself or external to the system
which controls the plant or the process
Control system : To control means to regulate, to direct or to command.
Hence a control system is an arrangement of different physical elements Input : It is an applied signal or an excitation signal applied to a control
connected in such a manner so as to regulate, direct or command itself or
some other system system from an external energy source in order to produce a specified
Example if in a classroom, professor is delivering his lecture, the output
combination becomes a control system. Output :It is the particular signal of interest or the actual response
Similarly if lamp is switched ON or OFF using a switch, the entire system is obtained from a control system when input is applied to it.
called a control system.
When a child plays with the kite, he tries to control it with the help of
string and entire system can be considered as a control system. Disturbance: It is an undesired signal which affects the output.

The input variable is generally referred as the Reference Input and Output
is generally referred as the Controlled output.

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Definitions Control system components
Input: Excitation applied to system
• Single Input
• Multiple Input

Process/System: components connected or interrelated

• Many different types of Systems exist

Cause effect relationship between input and output for a plant

Output: response obtained from the control system
• Single Output
• Multiple Output

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Classification of control systems Classification of control systems

1. Natural Control Systems : The Biological systems, systems inside human 2. Manmade Control Systems : The various systems , we are using in our
being day to day life are designed and manufactured by human beings such as
vehicles, switches, various controllers etc
The perspiration system inside the human being
This system activates the secretion glands, secreting sweat and regulates
An automobile system with gears, accelerator, braking system
the temperature of human body.

Person wants to reach for a book on the table

Input: Position of book
Output: Desired position of the hands

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Classification of control systems Classification of control systems

4. Time Varying and Time - Invariant Systems :
3.Combinational or Hybrid Control Systems : Having combination of Time varying control systems : In which parameters of the systems are
natural and manmade together varying with time. It is not dependent on whether input and
output are functions of time or not

Automobile driving Space vehicle whose mass decreases with time, as it leaves the earth .The
Automobile steering control system. mass is the parameter of the space vehicle system.
The driver uses the difference between the actual and the desired
Time –Invariant systems : Even though the inputs and outputs are of
direction of travel to generate a controlled adjustment of the steering
functions of time but the parameters of the system are independent of
wheel.
time ,which are not varying with time and are constants.
Typical direction-of-travel response.
Different electrical networks consisting of elements such as resistances,
inductances and capacitances are time invariant systems

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Classification of control systems Classification of control systems

5. Linear and nonlinear control Systems : A control system is said to be

linear if superposition principle applies to it. For linear systems the
response to several forcing functions can be calculated by considering one
forcing function at a time and adding the results.

The system is said to be linear if it satisfies following two properties,

1)Additive property that is for any x and y belonging to the domain of the
function f, we have
f(x + y)=f(x)+f(y)
ii) Homogeneous property that is for any x belonging to the domain of the
function f and for any scalar constant α, we have,
f(α x) = α . f(x)
These two properties together constitute a principle of superposition.

Nonlinear systems for which principle of superposition cannot be applied.

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Classification of control systems Classification of control systems

6. Continuous Time and Discrete Time Control Systems : In a continuous 7. Deterministic and Stochastic Control Systems : A control system is said
time control system all system variables are the functions of a continuous to be deterministic when its response to input as well as behavior to
time variable ‘t’. external disturbances is predictable and repeatable.
The speed control of a dc motor using a tachogenerator feedback is an If such response is unpredictable, system is said to be stochastic in nature.
example of continuous data system. At any time ‘t’ they are dependent on
time.
In discrete time systems one or more system variables are known only at 8.Lumped Parameter and Distributed Parameter Control Systems :
certain discrete intervals of time. They are not continuously dependent on Control system that can be described by ordinary differential equations
the time. is called as lumped parameter control system.
Physically separable
For example electrical networks with different parameters as resistance,
Microprocessor or computer based systems use such discrete time signals inductance, etc.
Control systems that can be described by partial differential equations
are called as distributed parameter control systems.
Not Physically separable
For example, transmission line having its parameters resistance and
inductance totally distributed along it, Hence description of transmission
line characteristics is always by use of partial differential equations.

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Classification of control systems Classification of control systems

Open loop and Closed Loop Systems
9. Single Input Single Output (SIS0) and Multiple Input Multiple Output
(MIMO) Systems : A system having only one input and one output is A system in which output is dependent on input but controlling action or input is
called as single input single output system. totally independent of the output or changes in output of the system, is called as
Open Loop System.
For example a position control system has only one input (desired
position) and one output (actual output position).
Some systems may have multiple type of inputs and multiple outputs,
these are called as multiple input multiple output systems.

Reference input [R(t)] is applied to the controller which generates the actuating
signal (u) required to control the process which is to be controlled. Process is giving
out the necessary desired controlled output c(t).

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Classification of control systems Open Loop control systems
Advantages :
➢ Such systems are simple in construction.
Electric switch : This is open loop because output is light and switch is
➢ Very. much convenient when output is difficult to measure.
controller of Lamp. Any change in light has no effect on the ON- OFF
➢ Such systems are easy from maintenance point of view.
➢ Generally these are not troubled with the problems of stability. position of the switch, i.e, its controlling action.
➢ Such systems are simple to design and hence economical. .

Disadvantages :
➢ Such systems are inaccurate and unreliable because accuracy of such systems
are totally dependent on the accurate precalibration of the controller.
➢ Such systems give inaccurate results if there are variations in the external
environment i.e. such systems cannot sense environmental changes
➢ Similarly they cannot use internal disturbances in the system, after the
controller stage.
➢ To maintain the quality and accuracy, recalibration of the controller is
necessary, time to time.

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Open Loop control systems Open Loop control systems

Automatic Toaster
Automatic washing machine :Here output is degree of cleanliness of clothes, but
any change in this output will not affect the controlling action or will not decide
the operation time or will not decide the amount of detergent which is to used

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Open Loop control systems Closed loop control systems

Closed Loop Systems
Traffic light controller A system in which the controlling action or input is somehow dependent
on the output or changes in output.
To have dependence of input on the output., such system uses the
feedback property.

Feedback : Feedback is a property of the system by which it permits the

output to be compared with the reference input to generate the error
signal based on which appropriate controlling action can be decided.

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Closed loop control systems Closed loop control system
Advantages :
➢ Accuracy of such system is always very high because controller Person wants to reach for a book
modifies and manipulates the actuating signal such that error in the
system will be zero.
➢ Such system senses environmental changes, as well as internal
disturbances and accordingly modifies the error.
➢ In such system, there is reduced effect of nonlinearities and
distortions.
➢ Bandwidth of such system i.e. operating frequency zone for such
system is very high.
Disadvantages :
➢ Such systems are complicated and time consuming from design point
of view and hence costlier.
➢ Due to feedback, system tries to correct the error time to time,
Tendency to overcorrect the error may cause oscillations without
bound in the system. Hence system has to be designed taking into
consideration problems of instability due to feedback.

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Closed loop control system Open or Closed loop control system?

Home heating system Automatic Coffee Server

Electric lift

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Open or Closed loop control system? Open or Closed loop control system?

Sprinkler used to water a lawn Automatic Dryer

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Open and Closed loop control system

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Mathematical Modelling of Systems Mathematical Modelling of Systems

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Mathematical Modelling of Systems Mathematical Modelling of Systems

The control systems can be represented with a set of

mathematical equations known as mathematical model.

• Mathematical models are useful for analysis and

design of control systems.

• Analysis of control system : Finding the output when

we know the input and mathematical model.

• Design of control system : Finding the mathematical

model when we know the input and the output.

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Mathematical Modelling of Systems Mathematical Modelling of Systems

Differential equation model
 Mathematical representation of the physical model
Commonly used mathematical models are
 Represents the dynamics of the system very accurately or at least
•Differential equation model (time domain) fairly well
 Obtained by using the physical laws governing a particular system
•Transfer function model (s domain) Kirchhoff's law for Electrical Systems,
Newton’s law for Mechanical Systems
•State space model (time domain)
 Depending upon the choice of variables and the coordinate
system, a given physical model may lead to different
mathematical models
 The particular mathematical model which gives a greater insight
into the dynamic behavior of physical system is selected.
 Solution of the mathematical model for given input represents
the dynamic response of the system
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Mathematical Modelling of Systems Mathematical Modelling of Systems
Transfer Function Model
Transfer function models are useful to find the transient or steady
 Transfer function model is an s-domain mathematical model of control
state response of SISO(Single Input Single Output) LTI (Linear
systems.
Time Invariant)
 The Transfer function of a Linear Time Invariant (LTI) system is
defined as the ratio of Laplace transform of output and Laplace
transform of input by assuming all the initial conditions are zero.

The transfer function model of an LTI system

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Mathematical Modelling of Systems Transfer Function

Mathematical Functions of Electrical Quantities • The indication of cause and effect relationship existing
Voltage-Current Current-Voltage Voltage-charge
between input and output mathematically means to decide
Symbol the transfer function of the given system. It is commonly used
relation relation relation
to characterize the input-output relationship of the system.
• Transfer function explains mathematical function of the
parameters of system performing on the applied input in order
to produce the required output.
• In any system, first the system parameters are designed and
their values designed and their values are selected as per
requirement. The input is selected next to see the performance
of the system designed

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Transfer Function Transfer Function

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TF: Problem 1 TF: Problem 2

Transfer Function

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Charishma 59 Charishma 60

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Transfer Function

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Transfer Function Transfer Function

Block Diagram Representation Block Diagram Representation

In block diagram, the interconnection of system components to form a
If a given system is complicated, it is very difficult to analyze it as a whole. system can be conveniently shown by the blocks arranged in proper
sequence. It explains the cause and effect relationship existing between
input and output of the system, through the blocks.
With the help of transfer function approach, we can find transfer function of each To draw the block diagram of a practical system, each element of practical
and every element of the complicated system. system is represented by a block. The block is called functional block.

By showing connection between the elements, complete system can be

splitted into different blocks and can be analyzed conveniently.

Basically block diagram is a pictorial representation of the given system.

It is very simple way of representing the given complicated practical system.

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Block Diagram Representation Block Diagram Representation
For a closed loop systems, the function of comparing the different signals is
indicated by the summing point ,while a point from which signal is taken
Elements of block diagram
for the feedback purpose is indicated by takeoff point in block diagrams.

All these summing points, blocks and takeoff points then must be
connected exactly as per actual elements connected in the practical
system. The connection between the blocks is shown by lines called
branches of the block diagram. An arrow is associated with each and every
branch which indicates the direction of flow of signal along the branch.

The signal can travel along the direction of an arrow only. It cannot pass
against the direction of an arrow. Hence block diagram is an unilateral
property of the system.

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Block Diagram Representation Block Diagram Representation

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Block Diagram Representation Block Diagram Representation

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Block Diagram Representation Block Diagram Representation

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Block Diagram Representation Block Diagram Representation

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Block Diagram Representation Block Diagram Representation

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Block Diagram Representation Block Diagram Representation

Summary

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph Signal Flow Graph

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Signal Flow Graph

THANK YOU

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