CONTROL SYSTEMS

Unit 1
Text book
Norman Nise – Control System Engg.

Reference books
1. Smarajit Ghosh, “ Control Systems (Theory And
Applications)”, Pearson Education,2005
2. Benjamin C Kuo. “Automatic Control System.” 8th
Edition, John Wiley &Sons,2003.
3. R.C. Dorf And R.H. Bishop, “Modern Control Systems
(Examples And Design Problems)”, Pearson Education, 2004
4. M. Gopal, “Control Systems-Principles And Design”,
Tata McGrawhill – 3nd Edn. 2002.
5. K. Ogata, “Modern Control Engineering”, Pearson
Edition.
System?
Collection of components or elements to perform the
specified task.

Types of System?
• Electrical system
• Mechanical system
• Electromechanical system
• Hydraulic system
• Pneumatic system
• Thermal system
Control System (or) Controlled System?
The output quantity of the system is controlled by
varying the input quantity.
Types of Control System?
• Open loop control system
• Closed loop control system
Open loop control system
An open-loop control system is one in which the control action
is independent of the output.

Disturbance Disturbance

+ +
+ Process or Plant +
Controller to be
Input controlled Output
or or
Reference Controlled
or Variable
Set value
 Closed loop control system or Automatic Control System

A closed-loop control system is one in which the control

action is somehow dependent on the output.

Desired Disturbance Disturbance

Correction
output element + Output
+ Process or
+
+ + Plant
or
Controller Actuator
to be
Input Controlled
controlled
or - Variable
Reference
or
Set value Actual
output Feedback element
(Transducer
or sensor)
Open loop control system Closed loop control system
Advantages Advantage
Always a stable system Accurate output
Economic system Reliable output
Disadvantages Disadvantages
Inaccurate output Costlier
Unreliable output Designing a stable CL system
is tedious
Flow Controller
 CONTROLLER

Liquid Level Controller

Thickness Controller
Positioning System
Telescope Drive
Labeling Machine
Antenna Position Control System
 Modeling of Mechanical System
Types

1. Mechanical Translational System

Force (input) Displacement (output)

2. Mechanical Rotational System

Torque (input) Angular Displacement (output)

 Modeling of Mechanical Translational System

Like electrical networks, mechanical systems have three

passive, linear components.

1. Mass - Energy-storage elements

2. Spring
3. Viscous damper - Dissipates energy

Mass – to represent WEIGHT of the mechanical system.

Spring – to represent ELASTISITY of the mechanical system.

Viscous Damper – to represent FRICTION in the mechanical system.

 Basic elements of
Translational mechanical system
(Force-balance equation)

M - mass

d 2 x( t )
f (t )  M
dt 2
Applied force Opposing force developed by mass

Applying Laplace Transformation

F ( S )  MS 2 X ( S )
K – Spring constant

f ( t )  Kx( t )
Applied force Opposing force developed by
spring element

F ( S )  KX ( S )

fv – Viscous friction coefficient

dx( t )
f ( t )  fV
dt
Applied force Opposing force developed by
Viscous damper

F ( S )  fV SX ( S )
w.r.t first node w.r.t first node
 
f (t )  K[ x1 (t )  x2 (t )] f ( t )  fV [ x 1 ( t )  x 2 ( t )]

w.r.t second node w.r.t second node

 
f (t )  K[ x2 (t )  x1 (t )] f ( t )  fV [ x 2 ( t )  x 1 ( t )]
Transfer Function

Ratio of laplace transform output to laplace

transform of input with zero initial conditions.

Laplace Transform of output

G( S ) 
Laplace Transform of input
 Vo ( S )
P7. Find the transfer function.
Vi ( S )

Mesh method
Nodal method
 Vo ( S )
P8. Find the transfer function by mesh and nodal
method. Vi ( S )
 SYSTEM REPRESENTATION

Two types of system representation are,

• Block diagram
• Signal flow graph
 BLOCK DIAGRAM REPRESENTATION

The large and complicated system is a connection of

many subsystems.
Finding the transfer function of this system from its
differential equations is difficult.
With the block diagram of subsystems, the transfer
function of the complicated system can be easily determined
by reducing its overall, combined block diagram.

R( S )  input signal
C ( S )  output signal
G ( S )  Transfer function of the system
The elements of the block diagram are,
• Block
• Summing junction
• Pickoff point

Distributes the
signal to different
parts of the same
system.
Adds two or more signals
Example.
 BLOCK DIAGRAM REDUCTION

Cascade blocks

Reduced block diagram

Parallel blocks
Feedback or Closed loop system
Moving a summing junction after a block
Moving a summing junction before a block
Moving a pickoff point after a block
Moving a pickoff point before a block
P13. Obtain the transfer function using block diagram reduction
techniques.
Step 1: Combining summing junctions.
Step 2: Combining summing junctions.

Step 3: Reducing feedback loop.

Step 4: Combining cascade blocks.
Problem: Obtain the transfer function using block diagram reduction
techniques.
Problem: Obtain the transfer function using block diagram reduction
techniques.
 SIGNAL FLOW GRAPH
Block diagram consists of blocks, signals, summing
junctions and pickoff points.

Signal flow graph consists of branches (represent how

subsystems are interconnected) and nodes.

Node - represents system variable

 1. Forward path : A path from input node to output
node.

2. Forward path gain : product of gains in forward path

from input node to output node.

3. Loop : It is defined as a closed path which starts and

ends at the same node.

4. Loop gain: It is the product of forward path gain and

feedback gain.

 G( S ) H ( S )
 Transfer function from signal flow graph can be
calculated using MASON’S GAIN formula

C(S) T  k k
 k
R( S ) 
k = No.of forward paths

Tk= kth forward path gain

  1   loop gains   nontouching loop gains with two loop combinations

  nontouching loop gains with three loop combinations
  nontouching loop gains with four loop combinations.....

 
 k   for k th forward path to be calculated with loops not touching k th forward path
P19. Obtain the transfer function.

k = No.of forward paths = 1

C(S) T  k k
T1 1
Forward path gain T1  k 1

R( S )  
Δ formula terms
Individual loop gains

Two nontouching loop combinations and their gains

Three nontouching loop combinations and their gains

For Δ1
P9. Find the transfer function of armature controlled DC servomotor.
From armature circuit

dia ( t )
ea ( t )  La  ia ( t ) Ra  eb
dt

From mechanical circuit

d 2 m ( t ) d m ( t )
Tm ( t )  J m 2
 Dm
dt dt
Torque developed by the motor

Tm ( t )  k t ia ( t )

Back emf equation

d m ( t )
eb ( t )  k b
dt
Neglecting La << Ra, the simplified transfer function is,

m (S ) k t Ra J m

Ea ( S )  1  k t kb  
S S   Dm   
 Jm  Ra  
P10. Obtain the block diagram of armature controlled DC servomotor.

From armature circuit (input equation)

Ea ( S )  Eb ( S )  ( La S  Ra ) I a ( S )

1
I a ( S )  [ Ea ( S )  Eb ( S )]
( La S  Ra )

E a (S ) 1 I a (S )
 ( La S  Ra )


Eb (S )
From mechanical circuit

d 2 m ( t ) d m ( t )
Tm ( t )  J m 2
 Dm
dt dt
Torque developed by the motor

Tm ( t )  k t ia ( t )

Back emf equation

d m ( t )
eb ( t )  k b
dt
 I a (S ) Tm (S )
Tm ( S )  kt I a ( S ) kt

1
 m ( S )  Tm ( S )
( J m S 2  Dm S )
Tm (S )
1  m (S )
( J m S 2  Dm S )

Eb ( S )  kb S m ( S )

 m (S ) Eb (S )
kb S
block diagram of armature controlled DC servomotor

Ea ( S ) 1 I a (S ) Tm (S )
1  m (S )
kt
 ( La S  Ra ) ( J m S 2  Dm S )


E b (S )

kb S