TE 302

Control Systems
Fall 2024
Course Learning Outcomes

Course Learning Outcomes (CLOs) and Mapping of CLOs to PLOs

NO Course Learning Outcome (CLOs) PLOs PLOs Emphasis
Level

Understanding of the basic control systems terminologies, concepts, mathematical models, tools 1 1
1
and compensator functionality (C2)
Applying the knowledge to simplify block diagrams, derive mathematical models of systems and 1 3
2
compensators in time domain and laplace domain (C3)
Analysis of transient and steady state response of first and second order systems in time-domain 2 3
3
and frequency domain (C4)
Designing compensators for feedback control systems to meet certain time-domain response 3 2
4
specifications (C5)
Bloom’s Taxonomy Level
C(Cognitive Domain): C1(Remembering), C2(Understanding), C3(Applying), C4(Analyzing), C5(Evaluation), C6(Creating)
*PLO Emphasis Level
1=low, 2=medium, 3=high
Course Contents
Examples of Control Systems
Mathematical Modeling of Control Systems
Block Diagrams
Modeling in State Space
Mathematical Modeling of Electrical Systems
Transient and Steady State Response
Prototype 2nd order system analysis
Stability Analysis in complex plane
Steady State Error Analysis
Course Contents
Root Locus Analysis
Control System Design using Root Locus
Control System Analysis using Frequency Response Method
Nyquist Analysis
Control System Design using Frequency Response
Recommended Books
• Katsuhiko Ogata, “Modern Control Engineering”, Fifth Edition, Pearson (2009),
ISBN-13: 978-0136156734 (Textbook)

• Golnaraghi and Kuo, “Automatic Control Systems”, Ninth Edition, Wiley (2009),
ISBN-13: 978-0470048962

• Gene Franklin, J.D. Powell, and Abbas Emami-Naeini, “Feedback Control of

Dynamic Systems”, Sixth Edition, Prentice Hall (2009), ISBN-13: 978-0136019695

• Richard C. Dorf and Robert H. Bishop, “Modern Control Systems”, Twelfth

Edition, Pearson (2010), ISBN-13: 978-0136024583
Basic Information
Instructor: Dr. Muhammad Ali Riaz

Assistant Professor
Phone: +92-51-9047773
E-mail: [email protected]
Final Grade Weighting Schedule
Quizzes/Assignments: 25%
Midterm exams: 25%
End Semester exam: 50%
Fixed Grading Scale
A: 90 – 100%
A–: 85 – 89%
B+: 80 – 84%
B: 75 – 79%
B–: 70 – 74%
C+: 65 – 69%
C: 60 – 64%
C-: 55 – 59%
D: 50 – 54%
F: <50%
Policies Regarding
Assignments and Quizzes
• Late assignments are not acceptable

• No make-up quizzes shall be taken except for emergencies that are well
documented
Control Theories
• Classical control theory (also called conventional control theory)
• Deals only with single input and single output systems

• Modern control theory

• Based on time-domain analysis of differential equation systems

• Robust control theory

Automatic Control
• Space Vehicle Systems
• Robotic Systems
• Modern Manufacturing Systems
Automatic Control
Autonomous Vehicles

Industrial operations involving control of

◦ Temperature
◦ Pressure
◦ Humidity
◦ Flow
Control Systems History
James Watt: Speed control of steam engine (18th century)
Minorsky: Automatic controller for steering ships and
determining stability from differential equations (1922)
Nyquist:Developed relatively simple procedure for determining
stability of closed loop systems on basis of open loop systems
(1932)
Hazen: Introduced the term servomechanisms for position control
systems (1934)
Bode: frequency-response methods made it possible for
engineers to design linear closed-loop control systems that
satisfied performance requirements (1940s)
Control Systems History
• PID Controllers used to control pressure, temperature etc.
(1940s to 1950s)
• Ziegler and Nichols: Rules for tuning PID controllers suggested
(Early 1940s)
• Evans: Root Locus method was fully developed (End of 1940s to
1950s)
• Optimal control of both deterministic and stochastic systems, as
well as adaptive and learning control of complex systems, were
fully investigated (1960s – 1980s)
• Developments in modern control theory were centered around
robust control and associated topics (1980s – 1990s)
Definitions
• Controlled Variable and Control Signal or Manipulated Variable
• The controlled variable is the quantity or condition that is measured and
controlled
• Plant
• A plant may be a piece of equipment, perhaps just a set of machine parts
functioning together, the purpose of which is to perform a particular
operation
• Systems
• A system is a combination of components that act together and perform a
certain objective
• Disturbances
• A disturbance is a signal that tends to adversely affect the value of the
output of a system.
Definitions
• Feedback Control
• Feedback control refers to an operation that, in the presence of
disturbances, tends to reduce the difference between the output of a system
and some reference input and does so on the basis of this difference
Control System Terminology
Input - Excitation applied to a control system from an external source.
Output - The response obtained from a system
Feedback - The output of a system that is returned to modify the
input.
Error - The difference between the reference input and the output.
Speed Control System
Temperature Control System
Negative Feedback Control System

+
+ + CONTROLLED
CONTROLLER DEVICE
-

FEEDBACK
ELEMENT
Types of Control Systems
Open-Loop
◦ Simple control system which performs its function with-out concerns for
initial conditions or external inputs.
◦ Must be closely monitored.

Closed-Loop (feedback)
◦ Uses the output of the process to modify the process to produce the
desired result.
◦ Continually adjusts the process.
Advantages of a Closed-Loop
Feedback System
Increased Accuracy
◦ Increased ability to reproduce output with varied input.

Reduced Sensitivity to Disturbance

◦ By self correcting it minimizes effects of system changes.

Smoothing and Filtering

◦ System induced noise and distortion are reduced.

Increased Bandwidth
◦ Produces sat. response to increased range of input changes.
Major Types of Feedback Used
Position Feedback
◦ Used when the output is a linear distance or angular measurement.

Rate & Acceleration Feedback

◦ Feeds back rate of motion or rate of change of motion (acceleration)
◦ Motion smoothing
◦ Uses a electrical/mechanical device call an accelerometer
Mathematical Modeling of
Control Systems
Transfer Function and Impulse
Response Function
The transfer function of a linear, time-invariant, differential equation
system is defined as the ratio of the Laplace transform of the output
(response function) to the Laplace transform of the input (driving
function) under the assumption that all initial conditions are zero.

dn d n1 d
n
y  an1 n1 y    a1 y  a0 y
dt dt dt
dm d
 bm m u    b1 u  b0u
dt dt
Transfer Function

ℒ[𝑜𝑢𝑡𝑝𝑢𝑡]
𝐺 𝑠 =
ℒ[𝑖𝑛𝑝𝑢𝑡]

𝑌(𝑠) 𝑏𝑚 𝑠 𝑚 + ⋯ + 𝑏1 𝑠 + 𝑏0
= =
𝑋(𝑠) 𝑠 𝑛 + 𝑎𝑛−1 𝑠 𝑛−1 + ⋯ + 𝑎1 𝑠1 + 𝑎0

Order of system: n
For proper system: n>=m>=0
See Appendix A for Laplace
Transform Pairs and Properties
See Appendix A for Laplace
Transform Pairs and Properties
Convolution Integral
𝑌(𝑠)
𝐺 𝑠 =
𝑋(𝑠)

𝑌 𝑠 = 𝐺 𝑠 𝑋(𝑠)

ℒ −1 𝑌 𝑠 = ℒ −1 𝐺 𝑠 𝑋(𝑠)

𝑡
𝑦 𝑡 = න 𝑥 𝜏 𝑔 𝑡 − 𝜏 𝑑𝜏
0
𝑡
= න 𝑔 𝜏 𝑥 𝑡 − 𝜏 𝑑𝜏
0
g(t) and x(t) are zero for t<0
Impulse Response Function
For impulse input since X(s) = 1, therefore:

𝑌 𝑠 = 𝐺(𝑠)

𝑦 𝑡 = ℒ −1 𝐺 𝑠 = 𝑔(𝑡)

Transfer function of a system is its unit impulse response with initial

conditions equal to zero
Block Diagrams
• A line is a signal
• A block is a gain
• A circle is sum

Input Output
Block Diagram of a Closed
Loop System

𝐵(𝑠)
• Open loop transfer function: 𝐸(𝑠) = 𝐺 𝑠 𝐻(𝑠)
𝐶(𝑠)
• Feed forward transfer function: 𝐸(𝑠) = 𝐺 𝑠
Block Diagram of a Closed
Loop System

Closed loop transfer function:

𝐶 𝑠 =𝐺 𝑠 𝐸 𝑠
𝐸 𝑠 = 𝑅 𝑠 − 𝐵 𝑠 = 𝑅 𝑠 − 𝐻 𝑠 𝐶(𝑠)
Put Equ. (2) in (1)
𝐶 𝑠 = 𝐺(𝑠) 𝑅 𝑠 − 𝐻 𝑠 𝐶(𝑠)
𝐶 𝑠 = 𝐺(𝑠)𝑅 𝑠 − 𝐺(𝑠)𝐻 𝑠 𝐶(𝑠)
𝐶 𝑠 = 𝐺(𝑠)𝑅 𝑠 − 𝐺(𝑠)𝐻 𝑠 𝐶(𝑠)
Block Diagram of a Closed
Loop System

𝐶 𝑠 + 𝐺 𝑠 𝐻 𝑠 𝐶(𝑠) = 𝐺(𝑠)𝑅 𝑠
𝐶 𝑠 1+𝐺 𝑠 𝐻 𝑠 = 𝐺(𝑠)𝑅 𝑠

𝐶 𝑠 𝐺(𝑠)
=
𝑅 𝑠 1+𝐺 𝑠 𝐻 𝑠
Block Diagram Algebra
𝐶(𝑠)
Series = 𝐺1 (𝑠) 𝐺2 (𝑠)
𝑅(𝑠)

𝐶(𝑠)
Parallel = 𝐺1 𝑠 + 𝐺2 (𝑠)
𝑅(𝑠)

𝐶 𝑠 𝐺1 (𝑠)
Feedback =
𝑅 𝑠 1+𝐺1 𝑠 𝐺2 𝑠
Block Diagram Reduction

Moving block G1 to right side

Block Diagram Reduction

Solving positive feedback

Block Diagram Reduction

Solving negative feedback

Block Diagram Reduction

Solving negative feedback

Example
Solution

Moving G1 to right and G4 to left

Solution

Solving two negative feedback loops

Solution

Solving one feedback loop

System Models (Time domain)
• High order ordinary differential equation model
• Contains only input variables, output variables, their derivatives, and
constant parameters
• Proper: highest output derivative order is greatest
• Highest order derivative of output = system order
dn d n1 d
n
y  an1 n1 y    a1 y  a0 y
dt dt dt
m
d d
 bm m u    b1 u  b0u
dt dt
For proper systems: system order = n >= m >= 0
System Models (Time domain)
• State space model: state equation + output equation
• State equation: a set of 1st order diff eq on state variables (x)
• Output equation: output (y) as function of state and input (u)

 x  f ( x, u )

 y  g ( x, u )
• Linear systems:
 x  Ax  Bu

 y  Cx  Du
Linear SS model is always proper. System order = #states.
Mechanical System
External force (input): u(t)
Displacement of the mass (output): y(t)
The differential equation of the system is:

𝑚𝑦ሷ + 𝑏𝑦ሶ + 𝑘𝑦 = 𝑢
Mechanical System
𝑚𝑦ሷ + 𝑏𝑦ሶ + 𝑘𝑦 = 𝑢 𝑥1 (𝑡) = 𝑦(𝑡)

𝑥2 (𝑡) = 𝑦(𝑡)
ሶ
Therefore
𝑥1ሶ = 𝑥2

1 1
𝑥2ሶ = −𝑘𝑦 − 𝑏𝑦ሶ + 𝑢
𝑚 𝑚
𝑥1 (𝑡) = 𝑦(𝑡)
𝑘 𝑏 1
𝑥2ሶ = − 𝑥1 − 𝑥2 + 𝑢
𝑚 𝑚 𝑚
Mechanical System
Output equation is 𝑦 = 𝑥1
The equations can be written as in vector-matrix form:
𝑥1ሶ = 𝑥2
𝑘 𝑏 1
𝑥2ሶ = − 𝑥1 − 𝑥2 + 𝑢
𝑚 𝑚 𝑚
0 1 𝑥1 0
𝑥1ሶ
= 𝑘 𝑏
𝑥 + 1 𝑢
𝑥2ሶ − − 2
𝑚 𝑚 𝑚

𝑥1
𝑦= 1 0 𝑥
2