Control System-1

Week# 01 & 02
Introductory
Lectures
 Summarized Contents of the Course
• Introduction to Control System-1
✓ Importance of the Course
✓ Fundamental Terminologies (Would also be helpful in Control System-2)
✓ Insights for Control System-1.
✓ Open Loop and Closed Loop Control System.
✓ Engineering Design and Control System Design.
✓ Block Diagram Representations of the dynamic Systems.
• A Quick Overview to the Classical and Modern Control Approaches
✓ Practical Aspect of Poles & Zeros in the system.
✓ General Representation of the 1st order and 2nd order transfer functions.
✓ How to find Transfer Function from the Block Diagram.
✓ Characteristics of the second order system (i.e., Rise Time, Settling time etc., )
✓ Dynamic Problems M&S to interpolate the above-mentioned characteristics
• Reduction of Multiple Subsystems and Different Canonical Forms
✓ Signal Flow Graph and Mason’s Rule.
✓ Block Diagram Reduction Rules.
✓ Controllable, Observable, and Modal Canonical Forms.
• Feedback Control System Characteristics
✓ Error Signal Analysis.
✓ Steady State Error and Transient Response of the system.
✓ Cost of Feedback and Design Problems.
• The Performance of Feedback Control Systems
✓ Performance of the second order systems.
✓ Effects of a Third Pole and a Zero on the Second-Order System (Examples from M&S).
• Stability of Linear Dynamic Systems.
✓ The Concept of Stability
✓ Routh-Hurwitz Stability Criterion.
✓ Relative Stability of Feedback Control Systems
 Cont..

• Root Locus Method.

✓ The Root Locus Procedure
✓ Parameter Design by the Root Locus Method.
✓ PID Controllers.
• Frequency Response Methods
✓ Bode Plot(Magnitude and Phase Diagrams).
✓ Nyquist Criterion.
• The Design of Feedback Control Systems
✓ Phase-Lead Design Using the Bode Diagram
✓ Phase-Lead Design Using the Root Locus.
✓ Phase-Lag Design Using the Root Locus
✓ Phase-Lag Design Using the Bode Diagram.
 Recommended/Reference Books
▪ Modern Control Systems ▪ Control Systems Engineering ▪ Contents would
by Richard C. Dorf & by Norman S Nice also be outside of
Robert H. Bishop Ref Books

Lecture Hands Out

You must attend

the lectures.
 Why Control System-1?
✓ A Robotic arm for Tracking
the position(s) of the object.
✓ Without Control system and
slight interruptions could
cause an entire dead lock
in the object-Orientations.
✓ Depending upon the type of
Control system, the desired
action can be achieved.
Control Engineering is
concerned with the design
and analysis of the goal-
oriented systems!
 Basic Terminologies
✓ An interconnection of different elements to perform a specific task is known as
system. A system, which controls other systems to perform a desired task is known
as control system. Air Conditioner takes the user’s input via remote, processes
the instructions, and delivers the air to the respective room.
Temperature Control device
maintains the temperature as
per User’s requirements

Compressor will be switched off

on achieving the desired Temp..

Three Control
Units: Temperature control,
Humidistat, and Airstats
Control system is an interconnection of the physical components to provide the desired
function with some controlling action.
 Basic Terminologies
✓ In control System, the portion of the system that is to be controlled or regulated is
known as plant of the process.
✓ In a control system, Plant is often referred to a transfer function, which specifies
the relationship between the input and output of the system without feedback.
✓ A plant could be a piece of equipment as
the physical size does not matter. Can we incorporate the term “Plant” in
✓ The plant can have one or more output DC Motor, or it is only applicable to
and inputs. The sensors are used to mass scale (i.e., Cement Plant, Fertilizer
measure the plant's output, while Plant)?
actuators drive the plants inputs.

✓ Process is a natural progressive Plant can be referred as the

operation (For example, Chemical, combination of the process and
Biological etc.,). actuator.
 Basic Terminologies
✓ The type of signals which adversely affect the
output value of the control system are known
as disturbances.
✓ Motion of DC motor is in accordance with the
applied voltage (Potentiometer Output).
Disturbances in
Control Theory

Internal External
Disturbance Disturbance

Inside of the system Generated Outside

(i.e., Friction, Stray, the system (i.e.,
and Iron Losses Voltage Spikes, External Disturbance will
inside of the motor) Humidity etc.) act as an additional input to
the system.
 Basic Terminologies
✓ The variable that is being controlled or measured is known as controlled variable.
For example, speed of the motor could be the controlled variable.
✓ A signal from the external energy source applied to
the control system to produce the desired output will
be referred to as an input or the reference signal.
The reference input in a control system is also known
as the set-point. On the contrary, an actual response
of the applied input signal from the control system will
be the output of the system.
✓ Controller in a control system is a device or an algorithm that works to maintain the
value of the controlled variable at set point.
✓ The controller receives the difference between the reference set point and the
measured output and generates a control action to reduce the error.
✓ The quantity or the condition that is varied by the controller to influence the
controlled variable is known as manipulated variable.
 Basic Terminologies
✓ Feedback mechanism tends to reduce the difference between the desired output and
actual output.
While Playing Soccer,
Feedback Temperature exceeds Stimulus/
Mechanism 37 Celsius Condition

Positive Negative
Feedback Feedback Activation of nerve Sensor
cells in skin and brain

Effective input is the Effective input is the

Temperature
summation of difference of
Regulatory Cell in Controller
reference input and reference input and
brain
feedback signal feedback signal
The enlightened example shows which type of
Sweat Glands through Effector/
feedback mechanism? And Is there anything that Actuator
should be considered in basic control system? out the body
 Let’s Summarize the Slides !

A process to be controlled. In this scenario,

we would not be able to get the desired
response. Therefore, let’s involve the
controller.

In the above scenario, controller will Is there any involvement of the feedback
produce the controlled signal and actuator in the 2nd scenario?
will give us the manipulated variable
which in turn gives us the approximated Control system without feedback mechanism
will be the open loop control system
desired output.
 Open Loop Control System
✓ An open-loop control system utilizes
an actuating device to control the
process directly without using
feedback. In this type of control
system the control action is not
dependent on the output of the
system.
✓ In one of the examples (In M&S), the goal was to model the Rotating disk speed
control and by implying the studied concepts can you draw the Equivalent block
diagram of the system?
 Closed Loop Control System

Closed Loop control

System with negative
feedback mechanism.

To obtain a feedback
system, we need to
select a sensor. One
useful sensor is a
tachometer that
provides an output
voltage proportional to
the speed of its shaft.
More Practical Case of Closed Loop Control System

Closed Loop control System

with negative feedback
mechanism as well as
inclusion of both disturbance
and measurement noise.

Multiloop feedback
Control system with
inner and outer loop
 Contin..
✓ As the systems become more complex, the interrelationship of many controlled
variables must be considered in the control scheme.

What about position, velocity, and acceleration control of the modelled DC Motor (Just the way
we have done in the second last lab of M&S?
 Antenna Azimuth Position Control System
✓ Closed Loop Position
Control of the Antenna.
✓ Three major things
need to be
considered:
1. Clockwise Rotation
of the Motor.
2. Anticlockwise
Rotation of the motor.
3. Motor should stop as
soon as Antenna
achieves the desired
Position.
Can you model this system and
analyse the position under the
above-mentioned conditions?
Antenna Azimuth Position Control System
Can you now draw the equivalent
block diagram of this system?
 Typical Examples
✓ The goal is to keep the temperature of
the furnace (Which is being controlled
by the regulatory Valve) at 50 degrees.
Feedback
Temperature Mechanism to your
Gauge eyes

Brain will decide whether

Controller to increase or decrease
the regulator setting

Actuator Hand Valve

Process Thermal Heating Brain Hand Valve Process

Can you now draw the Equivalent Block Diagram of both Open Loop and Closed
Loop Control System(With the above-mentioned variables/signals)?