Control Systems (ES-353)

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 Recommend Books
Text Book
1. Modern Control Engineering, (latest Edition) By Katsuhiko
Ogata.
Reference Books
1. Modern Control Systems, (latest Edition) By Richard C. Dorf
and Robert H. Bishop.

2. Modern Control Systems Analysis and Design by R.H.

Bishop

3. Discrete Time Control Systems by K. Ogata, Prentice Hall,

Latest Edition
 CLOs and PLOs
Bloom’s
CLO No. Description Taxonomy PLOs
Domain Level
1 Explain the mathematical modelling of
electrical, mechanical and electromechanical 2 1
systems using differential equations, transfer Cognitive
functions, block diagrams and state variables

2 Analyze the stability of control systems using

Routh’s 4 2
Criteria, root locus, bode plots and state Cognitive
space
3 Design feedback controllers using root locus,
bode plots and state space techniques to 5 3
achieve desired transient response and Cognitive
acceptable steady-state errors
 Course Contents (Syllabus)
Introduction to control systems : Open-loop and closed-loop systems,
System Modelling: Input-Output Model, Mathematical modelling of electrical systems,
Mathematical Modelling of electro-mechanical systems
Time Domain Analysis: Laplace Transform, differential equations, transfer functions,
time domain response of first order systems, time domain response of 2nd order systems,
step response analysis and performance specification, steady state error
Frequency domain analysis: Frequency domain response of first order systems, The
Bode diagram, Nichols chart
Closed Loop Control Systems: Closed loop transfer function, Block diagram reduction,
Signal flow graph, Controllers for close loop system, P, PI, PID controller, Z-N Method
for tuning PID controller, case study examples
Classical design in time domain: Stability of dynamic systems, Routh Hurwitz stability
criterion in time domain, Root locus analysis, Compensator design in time domain
Classical design in frequency domain: Nyquist stability criterion in frequency domain,
Phase lead compensator, Phase lag compensator
State space methods for control systems design: State space method, state vector
differential equations, State equations from transfer functions
 Lec#01-02
Introduction to Control System,
Open loop & Closed loop Control Systems
(CLO-1)

6
 References

• Modern Control Systems, (latest Edition) By Richard C. Dorf

and Robert H. Bishop.
 Outline

• Introduction to Control
• Classification of Control Systems
• Types of Control System
• Open loop
• Closed loop
• Linear System
• Nonlinear Systems
• Continuous System
• Discrete System
 Introduction to Control

• The word control is usually taken to mean :

- regulate,

- direct,

- command.
 Control System
• A system Controlling the operation of another system.

• A system that can regulate itself and another system.

• A control system is an arrangement of physical components

connected or related in such a manner as to command, direct,
or regulate itself or another system.
 System

Figure-1 Process System

 Input

1. The input is the stimulus, excitation or command applied to a

control system.

2. Typically from external energy source, usually in order to

produce a specified response from the control system.
 Output

1. The output is the actual response obtained from a control

system.

2. It may or may not be equal to specified response implied by

the input.
 Classification of Control Systems
Control Systems

Natural Man-made

Manual Automatic

Open-loop Closed-loop

Non-linear linear
Non-linear linear

Time variant Time invariant

Time variant Time invariant
 Types of Control System
• Natural Control System
Universe
Human Body
• Manmade Control System
Vehicles
Aeroplanes

Basic performance requirements of control systems

1) Stability.
2) Accuracy (steady state performance).
3) Rapidness (instantaneous characteristic).
 Types of Control Systems
• Open Loop
No feedback
Output has no effect on the control action.
Difficult to control output with accuracy
The performance is severely affected by the presence of
disturbances or variation in operating/environmental
conditions.
Examples:- Washing Machine, Toaster, Electric Fan
• Closed Loop
Must have feedback
Must have sensor on output
Almost always negative feedback
Examples:- Refrigerator, Iron
Open loop and Closed loop Control Systems

Figure-2 Open Loop system

Figure-3 Closed Loop system

 Types of Control System-Example-1
Example-1: A person
steering an automobile by
looking at the auto’s
location on the road and
making the appropriate
adjustments.

Figure-4 Closed Loop system

 Types of Control System
• Manual Control Systems
– Room Temperature regulation Via Electric Fan
– Water Level Control

• Automatic Control System

– Room Temperature regulation Via A.C
Types of Control System

Figure-5 Closed Loop system

 Multivariable control system
A system with more than one input variable or more than one
output variable.

Figure-6 Multivariable control system

Types of Control System

Figure-7 Multivariable control system

 Types of Control System

Linear systems are systems that obey the “Principle of superposition”:

• Multiplying the input(s) by any constant α must multiply the
outputs by α (scaling property).

• The response to several inputs applied simultaneously must be

the sum of the individual responses to each input applied
separately (additive property).

Nonlinear system
• Nonlinear systems are systems that are “Not Necessarily Linear.”

• When the input and output has nonlinear relationship the system is
said to be nonlinear.
 Types of Control System
Continuous and Discrete Systems

x(t) continuous
y(t)
time (CT)

discrete
x[n] y[n]
time (DT)

• In continuous control
system, all system
variables are function of
a continuous time t.
• A discrete time control
system involves one or
more variables that are
known only at discrete
time intervals.
Figure-8 Continuous and Discrete system
 Types of Control System
Time invariant vs Time variant
• When the characteristics of the system do not depend upon time
itself then the system is said to time invariant control system.

• Time varying control system is a system in which one or more

parameters vary with time.