lj ,'' -.

ti
323

Lectures

COMTROL SYSTEMS ENGINEERTNG

B0 Hours

tesL should be adminisEered to all sEudents who are

en eligibili-ty
The lesE should
,planning tso of fer t.hi.s optional -subject_ for Pa-rt III.
should
have
learnt
in
Part
I
and 1I " These
r cover tropics Lhe stsudenEs
topics are essential 'to follow Ehe lecture Series on control sysEems
engineering. Since only 132. hours have been alLocated for this sturjecE
ihese Eopics will not be again taught in depth"
test
Topics to be covered bv Ehe eliqibilitv
Dif f erenEial EguaEions

eguations, Solution of linear

Classificatsion of differential
particular
eguations with constant coefficients,
differencial
'intsegraI, complementary soluEion, hornogeneous differential
equat.ions,

Laplace transform (LT)

Definition, properties of LT, LT of simple funct.ions, lnverse
Laplace transform, partial fracEions
Fourier transform
Fourier sine transform, Determination of Fourier sine coefficients
of a skew symmetric periodic functions
Complex algebra

.'

ManipulaEion of complex numbers, mapping, parEial fract.ions

involving complex numbers, representation of a periodic funcEion by
a complex number, determination of magnitude and phase of a ratio of
Lwo complex polynomials

Nonlinear sysEems
SoluLion of second order differential equations using pir"t" plane
method, nonlinearitsies due to hysE.eresis, backlash, saEuration
Property

measurement-

Use of sErain gauges (for.mechanical stream) use of thermocouples,

Ehermistors (for electrical and electronic streams)

Matrix algebra
DeEerminants, matrix multiplicaEion, determination of inverse,
deEermination of eigenvalues, eigenvectors, rank of a matrix,
.letermination of rank
Only Lhose who obtain an A (over ?0t) for the prerecruisite tesE should
allowed to reqister for the subject.

be

il
Section A - Linear Control Svstems (32) Hours
02 lirrs
A1. Introduction
TerminologY,
qimnle oroperLj-es of open - and closed - loop sysEems.
of accuracY;
ConcePts
svstems'
contror
description of simple
;i;ii;";i;
stabili-tY, and sensitivitY'
;;;;i;;;;,
18 Hf-ns
F.2. TransienE and Steadv State Fnalvsis
and systems, Governing differentiai
Dvnamics of simple ]inear dewices
thermal, f luidj'c elements suctl
equati_ons ror irr5i" electrical, m-echanical-,
'*-*.;;sentariori-oi
asinductor,capacitor,mass,'i"""""friction,thermalstorageelement,
-order
ayna*i" systems using higirer
f luid itorage .
Laplice transform' ProperLies
-;;lt
differential
unit step and unit ramp
impuls6-'
"nr"i;"";:.-"-;;?;;iJior"or
useful for contr;i
-.rra engineers'
i'in=r1t f unction' Transient' and
f &ced r"=plti"",
functions, rr"..
consEanE, velocity error const'ant'
steady state ,"rpo.r="=, positiorr'"rrot
sysEems such as R-C circuits,
engineering
.
Transf er tr_,r-r.tr5ri""i"'"r*Jf
transfer funcEion, block
uniry and ,ror.rrrfiy--reeabacx
"-r.i1-.
block diagrams '
"y==l;;;lmanipulating
for
r',ri..
systeilr=,
of
diaqram ,"pr"="rrt.tio'
time domain
crosedlloop
polechaiacteri gtic equagion, twitz zeiJ,"pr&""tation]
criterion
iouth-Iie
;;;;;;t;;tions,.

t
I
I
I
t
t
I

l2 tirn:s

Basisforfrequency.d.omainanalysis,Steady..staEeresponseoflineir
and q-eneral periodic inputs ' OutPuL Response
systems to sinusoid;l inputs
oi nonuniry reedba-ck. svstems ;- :i*i11i'-.-':n15i:njl{1"'"'rt"r;:'3:}i:I
e"e.-dj."-g'"*", Nichol-'3 charr, series
llrJ""Jr:ll,tro"ti"Hl'ln]II'ilinri
phase-Iag Jnd phase-lead compensators'
.;;;;;i""
"ti"g

ma1

2a._lors.

Sinqle-Output
81. State - variable Analvsis for Sinole-Input
svstems

(SJSO't
OB

llres

phaseRepreSenEationofhigher-orderconsEantcoefficientdifferentialequations
di.fferential equations'transfer
or.r-iJ"t-;;;;r
for srso sysrems usiirg a ser
eigenvalues'
and
Lq""tion
.h"tu'"i.*t-i=-tit
variable canonicJioi*,cancellation
pole-zero
f;;;;;;,

16 I{r-!6

for systems' classificar:ion

General VecLor-matrix differentsial equatsions
or sysrems by
r"a.i,"'a..,." (v) ..,iIos or discrete (vi)

ii;';".:T--?'1T.gli^::'*::

-irii) homogendo.u=::.;J.==t'[iloti,],1'd:J"=,r';];l?
,rotrii""i:

il :*I:: "':T]="1:f""i'?i
Equilibrium

1I--::"h"mogerieous'''
l-inlar or
point'
points, Lineari,"t:-o" of systems-about a given operating

(TrLs) the following

with reference co tsj-me-independent linear systems
concepts:
sEabilitrY'
Jordan canonical form
transformat'ions'
linear
Erarroibion
state
equations,
state
of
controllabilitsY, solution CayeleY-HamilEon theorem
matrix, resolvenE matrl.x'
SECTION

!
AND PROCESS
C - NONLINEAR SYSTEMS' DISCRETE SYSTEMS'

CONTROL

24 lir-Es

.l
I
t

I
I
I
I

I
I
I
I

I
I
r,
I
I
T
I

0,6 IltrE s

sysEems, mathematical models

eomoerison of linear and nonlinear control
(iii)
(ii)
backlash, .(iv) nonlinear
deadband,
relay,
ldeal
isi-- Ii) (v)
hysEereiis and (vi) fricEion, linearizaEion around operating
iilln}",
phas"-piane method, describing funcEion, limit cycle oscillat.ions,
#i;t:
flfipuir"" meEh;d, Use of'expli-cit Euler and classical fourth-order Runge-

Xurta meEhod to solve nonlinear sysEems

06 tifrss
g34*$-{s-.{eqe svste
System Lransfer function of SISO
Dlff*fence equaEions, Z-Eransforms,
the
location of poles in- Ehe Z ,,Iane
to
reference
witrh
Etab-ility
;F;;;t,
diseretization of continuous
systems,
discretse
for
moddt
li*ate-space
Eransfer
;ot included), Samplers in analog control systems, pulse with
;;;Ea;"
one
,IincUfo" t zero-order hotd, analysig o_f _an_1log feedback systems
e;mpfer (discrebe, controllers not included) ,
06_iAE
C3, Transducers and Actuatsors
for the measuremenE
Transducer performance and'specifications, transducers
veloci-ty.
and acceleration,
force,
displacements,
angular
ind
ii"""r
oidifferenCe, Lemperature thermocouples and Resist.ance-Temperature
,,i."rrr.
b"t""tors (RTD) , thermal and transport. )-ag, use of strain gauges '
o.f acE.uaEor dynamics using
Various t)T)es of aqEuators, RepresentaEion.
signa-Is f rom electrical
driving
acEuaEor
of
ir-inction, conversion
i;;;;i;,
ouEpubs.
and
digitsal
inpuEs
digital
wiEh
acEuaEors
prr"u*atic,
io
06 lir-D:s
PLC
C4. I Proqrammable Loqic Controllers
'rt.
programming. hardware (Hand-he1d
Introduction, specificaEions of PLC's,progamming
-- maErj-x programmlng,
for
software
terminal and comPuler),
inside
lisr tSil,l and Ladder D-iagram 1LDR) programming-, Entities timers,
delay-off
on-Eimers,
pulse
timers,
outpuEs,
"t"f"*""c. -= inputs,
IiE-"r"fr
f lags, Practical training on .LDR programming . of a process
"orr.turr,
involving a maximum of three inpuEs. three outputs, one Eimer, one flag
and not rnore than five rungs
32 }tr.as
Control SysEems
Summary: Section A - Linear
(a:- 2) + (L2 18 ) + (A3 12 )
24 lb'ns
'
Sectsion B - StaEe VecEor Equations & NL (B1 B) + (82 :..6l
. 24 lirrs
Sectrion C - NL Systems discrete Syseems
(C1 6) + (C2 6) + (C3 6) + (C4 5)
TOTAL

$otre

B0 lb.-Es

The tirnes given are for a general guidance only and are
approximite.

12 ltt'n:s
Practical List
Three pracEicals to be done aL the conLro] engineering laboratory at
Univers j-t.y of Moratuwa.

sysLem. Detrermination conErol engineering

concLpE.s of a fi.rst-order system by an experiment (3 hours)
ManufacEure of a load ce11 using strain gauges and a t-hin-waIled
cvlinder. StrudenEs will be provided with slrain gauges, thin-walled
wires an-d sofdering iron. students should make
;iir;J;;,adhesive,
Strudy of a first-order

(3 hours-) ' Lf there is sufficient

r""Jcerr could be included'

Lhe load cell- '

ii-.-n"

time lefc tescing

the LDR
Students will be regui'red ::^*11i-t"
controf
PLC
' Ths
process n6eding
program
The
.iiar.urial
PLC.
tshe
to
computer
-1" Eh:; f';m
programme,,iilr-65 ao*,,r.""J;J
bv arEificiallv activatr5'ns
pl;-;;;r1a
rhe
in
"i*"r"t"a
inPuts. (3 houis)

Programming of PLC'
program ri] i''.#:*".f

3.

}.ioEe:Theconcrolenglnee,ringlaboraEorycanaccomniodaEel2studenE'sfor
one 3-hour sess:-on'
ASSESSMENT PATTERN

r oualifvinq Test'

be given by Ehe lecturer-in-charge'at

A Qualifying Mcd -type exam should
-.rrort qr""iior"--on fundamentals of control systems
rhe.endofthelettureseries.Thi;testcouldof2hoursdtlratsion
consisting of roo
engineering '
Those who ,pasp this

tesE will

be eligible

for

Ehe 3-hour Final

Examinatsioh"

rr 3-Hour Final Exaq+4?qion

::

ith 3 quesEions each' bl The

ii!' ?*i .!;"'1the
6";answers
1 -vi!l e";i;;
-c"t'iii"i;';11;;ite
in the space
E]i=:;;"+9"'3
H: " 3I;;';:;":"H:;spaoe* be.c*een*que3eio"J' -;;;-r"t &aminers work easier) '
(rhit;=;iii'i"r..

;;i

p-rovided.

selecting not' more Ehan t'wo f rom each

Crrraia"t"s'should'answer ! erlestrions';;

s.#r*#or1*.,p=.#;;;;t;*'".Li'rtlJ""-'1"*,.'trt:''to;whi'cb'can'storeJormulae
that "cua"t'i" can do repe-itive
bb-;ij;;;e
in.synbol forffi""ffiil
guickgl''
"irc.irations
REFERENCES'"
'
"
Sud.ent.s

below.

copy of book Number I giwen

are sEronglY urged Eo have a personal

publishers Delhi
Automatic conEror by s.N. Verma, Khanna

2.AuEomaticContsrolEngineeringbyFrancisH.Raven,McGRAW-}IIL],BooK
Co'

3.

FESTO Programming manual

313

DYTIAMICS OF MECHANIEAT SYSTEMS

80 Hours

Leccures

18 Houts
TheorY of Lubrication
and film lubricat.ion. Reynolds equaei6n in
Distinction beLween boundary
Comparison of load capaciEies and
bearings,
thrusE
type
pad
;;;-iilt.ing
bearings
and extrernally Pressurized
Journal
*iirl*"* fiim thicknesses.

bearings.
3 2 llou:q
Vibration
and -distribut.ed:mass Iinear sysEems.
Vibration analysis of multi-bodygeared
systems and branched sysEemssystems,
MuIti-roEor Eorsibnal
Transverse vibraEion of beams " whirling of I
viUr-t.ion of a string.
and
disc on a shafC. Approxi.maEe numerical met.hods - HoIzer method
"i.rgf"
formulae, Rayleigh method, Dunkerley's method, Rayleigh:.li-."rrection
Ritz mechod, Matrix metshod and maErix it'eration'
IntroducEion Eo oEher methods of vibratig'J analysis such as fmpedance
*"tf."a,' P.ecepEance meEhod and SEodola's method'
Descriptrive analysis of vibraEion dampers, vibraEion 'absorbers and
vibration decurners .,
0
llours
3
Dynamical SYstseir,s
t
of -dynamic systems and Eheir representaEion,using
i4athematical modelli.g.
81-ock diagrams arid 'signal flow giaphs. Laplace transformations and
transfer funcEions and second order linear systems
Transient response analysis of firsE
iubjecued Eo impulse, step and ramp inputs'
System
Determination of absoluEe stability using RouEh-Hurwitz criterion.
RooE-Loci.
analysis using
stabiliLy criterion,
S.requency response analysis._ Polar ploEs, Nyquistr
DeEerminats.on of Gain margins and Phase margins.
Sode plols.
LABORATORY EXPERTME}TTS

1.
3.

Design of a F)-Ywh,ee1
Harmonic Anal)"sis

05 Hours

3.

Design of a

06 Hours

05 Hours

Cam
RECOMT.fENDED BOOKS

Basic Lubrication TheorY

A. Cari'leron (Longman)
Fundamentals of dluia Film LubricaLion
Bernard J. Hamrock (t'lcGraw - Hill, Inc')
lulechanics of Machines - Advanced Theory and Examples
J.H. Hannah & R.c. stephens (Edward Arnold Publishers

Ltsd

London)
Theory of Vibration with applications
,no*lli"(;;;;s;-;rren & unwin LEd'

william r.

5.

in Engineering weaver' Jr'

Vibration Problems
and w'
i"'rl'-i"""!
s. Timoshenko,sons)

i;";; wilev

6.

1.
B.

F
F
iF

&

Mechanical VibraEions
(N";:a;;;d

c Bros Roorkee)
c.K. crover
Dvnamics of PhYsical SYstems
Book co" )
nobert a- c"t"'oi]-Ji'-'(laccraw-Hi11
Engineeritg-,' InternaEional)
ConErol SYstems
Stephen p' e"nisfpientice-fral1

F
F
F
F
F
E
E
B
B
F
E
E

;r@i;!:!i,:jii]!:;i;]:!+.!l&.i

I
I

309 ELECTRONIE
LecEures

SYSTEMS ENGTNEERING

B0 Hours

QperaEional Arnplif ier Applicabiong

1O Houre-

f
I

oscillaEors circuits,' comparator circuits,

Design of AcEive Filt.ers,.
computers"
analog
triggers,'
schmi<lct
10 Hours
Fower AmPlifiers

I
I
I

principle of OperaEion of class A, B, AB, C-- and D power amplif:ers;

waveform distorEion; Power BJTs
of p6re. efficiency.; effecLs onpractical
a"iir"tion
circuitss; audio power
dissipation,'
thermal
a"r'i""",
;;a-noa;ei
amPlifiers'
amplifiers, HF Power

I
r,

I
I
I
I
t
I

l
I
T

Power SuPPlies

10 llours

series,' shunt and swj.tsching t1p-es of

Voltage.st.abilizaEion and regulation;and
practical circuiEs,' IC regulator
of opEration
principle
="o"fii"r",
boosts and buck-boost
converEers:buck,
DC-DC
rrrlir apritication!;
;;i;;;;J
hl-1f -bridge and fuIl-bridge tlpes; UnintrerrupLible Power
;;-";,--iivti.X,
;l;;1i"; iupsl ' on line, off line and line interactive tr)apes
0B Hours
Special Electrronics Devices
(SCR): construc!ion, characteristics and
Silicon Controlled RecEifiers
and TRIACS: construcEi.on, characteristics and circuits;
;i;;i;"i-orecs
and transistors, LEDs, opLo-coupLers,
o"!o"f""ironic devices: photro"diodes
i-d;;-nJTs and applications in conLrol circuitss'
programmab)-e Logic Devices and Semiconducbor Memories

10 Hours

pLDs: basic organilzation, prlnciples of. operation, applications & typical

of memories; basic memory qe11q of RoM, EPR9M,
iC;, classifiJation
'static i dynamic
RAM; internal organizations; typical pin
eipnOfr,f ,packages '
memory
organization of common
06 Hours
Digitat to Analog and Analog to DigiEal convertors
& R-2R ladder t)4)est.A/P converEors:
flash t)4pe8; practsical circuits and
and
ipproximation,
successive
counEer,
ICs'
applications; tYPical
16 Hours
iXicroprocessor SYstsems

rD,/A converLors: weighted resistor

in microcomputer
von Neuman model of 'ai computer, LSI and VLSI devices used
and high
programming
assembly
code,
machine
organization;
systems; CPU
Ievel language conceptrs;
Pil
hard.ware and the arthiteccure of a representative micrbprocessor,
interfacing Eo memory, instrucEion set, user level
org"rriration,
r"6i=L".", assemblY Programming'
Computer Inberfacing

10 I{ou:':

and their interface

General inEerface cor{cepts; common peripherals
para]lel interface
and
serial
common
vDU)
prinLer,'
,.
(keyboard,
.ii.,-rii"
standardsi iiterface-buses; IEEE- 88 instrumentatj'on bus'

r
q"r-

RECOT,II'{ENDED BOOKS

L.
23.
4.

Bogart, F'G',

Electsronic Devices and Circuitss' BelI & Howel1

F
F

ComPany

PrenEiceTocci. R'J', Digit'al systems' Principles andApplications'

HalI'
.r.L6 arF nf Electronics'
- ..i;
Cambridgeuniversitr.y-^..,t1*
trr TheArEof
F'llectr(
^ -,":r.r W''
Horowitz, P'&HiIl'
Press

'

F
F

r
rr:
lYlrl(tI
dW-nIII
McGraw-Hi11
-q
^^Fr^hl
--^^l
Millman, J' & Grebel' A" Microelectsronics'

F
F
F
F
F
F
F
F

x
x
x
x

t
G