INTRODUCTION TO AUTOMATIC CONTROL SYSTEM

Control system: Subsystems and processes (or plants) assembled for the purpose of
obtaining a desired output with desired performance.

Input: stimulus Output: response

Control system Actual response
Desired response

Examples:
 In nature pancreas regulating our blood sugar.
 A motor speed controller regulating the speed to the desired amount.
 OPEN LOOP AND CLOSED LOOP CONTROL SYSTEMS
Open-loop: the system gives an output based on pre-determined relationship between
the output and input. OR simply is not dependent on the output “no feedback”.
Example: Automatic dish washer

Input Control System Plant output

Dis-advantages
Advantages • Can not eliminate the effect of
• Simple design disturbances.
• Cheap • Can not be used for systems requiring
higher accuracy.
 OPEN LOOP AND CLOSED LOOP CONTROL SYSTEMS
Closed-loop: the system gives an output based on not only pre-determined relationship
between the output and input but also every time checks whether the output is in
desired range. OR simply is dependent on the output “feedback”. Are self-correcting.
Examples: Walking man (eyes open), tracking systems

Input Control System Plant output

Advantages Dis-advantages
• Able to reject disturbances • Complex.
• More accurate • Expensive.
MATHEMATICAL MODELLING OF PHYSICAL SYSTEMS
Mathematical modelling: representation of Electrical networks

physical systems mathematically which make Voltage source =i = = ∫id

them easy for computation and simulation
Current source i = = ∫ d =
purposes.
Analogy
Mathematical modelling of
F-V
 Mechanical systems
F-I
Translational: F=ma=Bv=kx

Rotational: T=Jα=Bω=kθ
 MATHEMATICAL MODELLING OF MECHANICAL
SYSTEMS: TRANSLATIONAL
∑ =
B k F-Fb-Fs=ma Where:
Damper B Spring k F-applied force
F=ma-Fb-Fs
F=ma+Bv+kx Fb-force by damper
m
F=m +B +kx
Fs-force of spring
Mass m
a-acceleration
F=m +Bv+k ∫ d
F
v- velocity
d d
= = x- displacement
d d
Or
Force F
= d = d
 MECHANICAL TRANSLATIONAL CONT.…

B1 k1 k

x1…. m1 x1…. m1
k2
L1 L2
B12

F
x2….. m2

F
MATHEMATICAL MODELLING OF MECHANICAL
SYSTEMS: ROTATIONAL
∑ = α
k
T-Tb-Ts= α Where:
J
T
T=Jα+Tb+Ts T-applied torque
F=Jα+Bω+kθ Tb-torque resistance by damper
B Ts-torque resistance by spring
T=J +B +kθ
α-angular acceleration
ω- angular velocity
α= =
θ- angular displacement
Or
θ= ∬ α d = ∫ ω d
MECHANICAL ROTATIONAL CONT.…
k1
J1 k12 J2
T

ϴ1 ϴ2 J2
B1
T
k1 N2
J1 B2
= =
N1

B1
 ELECTRICAL NETWORKS
R L C i

iR iL iC
i
v v R L C

= + + i= + +
1 1 d
v= i + + ∫id F=m +Bv+k ∫ d i= + d +
d

F-v R-B L-m − F-i -B -k C-m

 ANALOGOUS CIRCUITS Find f-v, f-i and draw circuit

B1 k1 k

x1…. m1 x1…. m1
k2
L1 L2
B12

F
x2….. m2 x2…..

F
ELECTROMECHANICAL SYSTEMS JL

Ra La
eb= kbω
N2
Tm=ktia
ia

ea N1
eb

Tm, θ
TRANSFER FUNCTIONS
Transfer function: a mathematical equation that relates
{ }
input of a function to the output [ ].
{ }
1. The equation is derived after converting the function into Laplace domain

2. All initial conditions are zero

3. Works only for linear functions

BASIC LAPLACE TRANSFORM TABLE
Time domain Laplace domain
u(t) step input 1

tu(t) 1
s2
tnu(t) !
sn+1
e-atu(t) 1
s+a
d ( )
s
( ) snF(s)

f(t)±g(t) F(s)±G(s)
 FIND TRANSFER FUNCTION
For the mechanical system given above find transfer function
a. Input force to displacement 1 (x1)
b. Input force to displacement 2 (x2)
B1 k1
R L C

x1…. m1
k2
i

B12 v

x2….. m2

Voltage input to the system to voltage at capacitor

F
 SIMPLIFYING MULTIPLE SUBSYSTEM
BLOCK DIAGRAM REDUCTION
Forward path

G1(s)
Takeoff point

R(s) G2(s) C(s)

Summing point G3(s)

Feedback path

Block
 BLOCK DIAGRAM REDUCTION CONT.…
Block diagram ( )
Transfer function ( )

G(s)
R(s) G(s) C(s)

G1(s)G2(s) Series blocks

R(s) G1(s) G2(s) C(s)

G1(s) G1(s)±G2(s) Parallel blocks

±
R(s) G2(s) C(s)
G( ) feedback
R(s) G(s) C(s)
± 1 ∓ H s G( )
H(s)
BLOCK DIAGRAM REDUCTION MOVING TAKEOFF POINT

G3 G3/G1

G1 G2 G1 G2

G3 G1G3

G1 G2 G1 G2
BLOCK DIAGRAM REDUCTION MOVING SUMMING POINT

G3 G3/G2

G1 G2 G1 G2

G3 G2G3

G1 G2 G1 G2
 BLOCK DIAGRAM REDUCTION examples
H1

G6

R(s) G1 G2 G3 G4 C(s)

G5
 SIGNAL FLOW GRAPH (SFG)
i j

1 a 2 b 3 c 4 d 5 e 7 f 8 g 9 h 10
k m

• Node: a point where a path start or stop (i.e. 1, 2, 3…)
• Path gain: value on arrow (i.e. a, b, c…)
• Loop: start and sink on same node.
• Self loop:- start and sink on same node without
intermediate nodes
• Touching loop: loops having common node
• Non-touching loop: loops without common node.
• Dummy node: a path with gain equal to 1.
SIGNAL FLOW GRAPH REDUCTION
e j
f
a b k c d a b c d e f g h i

g k
h
ℎ( + )
=
1−

d= kc
k= ef + ab + hg
d= c(ef + ab + hg)
 SFG Masons Gain Formula(MGF)
Pi-gain of the ith forward path
∑ N- total number of forward paths
= =
∆= 1 - ∑ loop gains + ∑ product of nontouching-loop gains taken two at a time -
∑ product of nontouching-loop gains taken three at a time +
∑ product of nontouching-loop gains taken four at a time …
∆i= value of ∆ after eliminating all the loops that touch its forward path.

G9 G10
R(s) C(s)
G1 G2 G3 G4 G5 G6 G7 G8
H1 G9

H2
 BD TO SFG
Convert into SFG and find gain using MGF

H1

G6

R(s) G1 G2 G3 G4 C(s)

G5