SNS COLLEGE OF TECHNOLOGY,CBE-35

DEPARTMENT OF MECHATRONICS ENGINEERING

Academic year : 2012-13

EC 3213 - Control Systems

Lecture Notes

Staff Handled: R.SIVABALAKRISHNAN AP/MC Class: II - B.E. MECHATRONICS ENGINEERING ( IV Semester)

TOPICS
UNIT I : BASIC CONCEPTS AND SYSTEM REPRESENTATION UNIT II : TIME RESPONSE ANALYSIS UNIT III : FREQUENCY RESPONSE ANALYSIS AND DESIGN UNIT IV : STABILITY OF CONTROL SYSTEMS UNIT V : COMPENSATION DESGIN

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UNIT I : BASIC CONCEPTS AND SYSTEM REPRESENTATION

1. Define System? A system is a combination or an arrangement of different physical components which act together as an entire unit to achieve certain objective. 2. What is control system? A system consists of a number of components connected together to perform a specific function. In a system when the output quantity is controlled by varying the input quantity then the system is called control system. 3. Define regulator system. A regulator system is one in which the output is maintained at a prescribed level. 4. Define Plant? The portion of a system which is to be controlled or regulated is called the plant or the process. 5. Define Controller? The element of the system itself or external to the system which controls the plant or the process is called controller. 6. Define Input. It is an applied signal or an excitation signal applied to a control system from an external energy source in order to produce a specified output. 7. Define Output. It is the particular signal of interest or the actual response obtained from a control system when input is applied to it. 8. Define disturbance. Disturbance is a signal which tends to adversely affect the value of the output of a system. 9. Define internal disturbance. If such a disturbance is generated within the system itself, it is an internal disturbance. 10. Define external disturbance. The disturbance generated outside the system acting as an input to the system in addition to its normal input, affecting the output adversely is an external disturbance. 11. What is a time invariant system? If c(t) is the output of a given system for the input r(t) and C9t+T) is the output of the same system when the input is r(t+T) then the system is called time invariant. Hence T is the time by which the input is shifted or delayed. In such systems the coefficients of the differential equations describing the system do not vary with time. 12. What is mean by Principle of superposition? Principle of superposition means the response to several inputs can be obtained by considering one input at a system and the algebraically adding the individual results. If C1 is the output for r1 input and C2 is the output for r2 input and when r1 and r2 are simultaneously applied to the same system, the output is (C1 + C2) for the input (r1 + r2). This is the principle of superposition. 13. What is mean by Deterministic control system? A control system is said to be deterministic when its response to input as well as behavior to external disturbance is predictable and repeatable. 14. Write short notes about SISO and MIMO. A system having only one input and one output is called single input and single output system. Some systems may have multiple input and multiple outputs, these are called multiple input and multiple output systems. 15. What are the two major types of control system? the two major types of control system are open loop and closed loop 16. Define open loop control system. The control system in which the output quantity has no effect upon the input quantity is called open loop control
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system. This means that the output is not feedback to the input for correction. 17. Define closed loop control system. The control system in which the output has an effect upon the input quantity so as to maintain the desired output value is called closed loop control system. 18. Write any four advantages of open loop system. 1. Such systems are simple in construction. 2. Very much convenient when output is difficult to measure. 3. Such systems are easy when maintenance point is view. 4. Such systems are economical. 19. Write any four disadvantages of open loop system. 1. Such systems are inaccurate and unreliable because accuracy of such system is totally dependent on the accurate pre-calibration of the controller. 2. Such systems give inaccurate results if there are variations in the external environment. 3. Similarly they cannot sense internal disturbances in the system, after the controller stage. 4. To maintain the quality and accuracy, recalibration of the controller is necessary, time to time. 20. Give any four real time application of open loop system. 1. Sprinkler used to water a lawn. 2. Stepper motor positioning system. 3. Automatic toaster system. 4. Traffic light controller. 21. Give any four real time application of closed loop system. 1. Human being. 2. Home heating system. 3. Ship stabilization system. 4. Voltage stabilizer. 22. What are the components of feedback control system? The components of feedback control system are plant, feedback path elements, error detector and controller. 23. Define feedback. Feedback is a property of the system by which it permits the output to be compared with the reference input to generate the error signal based on which appropriate controlling action can be decided. 24. What are called feedback systems? Systems in which the effect of the disturbance must show up in the error before the controller can take proper corrective action are called feedback systems. 25. How are feedback system classified? Feedback systems are classified as a) Linear or Non-Linear b) Time variant or time invariant c) Lumped parameter or distributed parameter d) Continuous or discrete 26. State the properties linear system. For linear system superposition theorem holds good. If C1 and C2 are output responses for r1 and r2 inputs, when applied separately, then due to ( r1 + r2) inputs the output response is ( C1 + C2). In other words, for linear system, properties of homogeneity and additivity are applicable. The stability is independent of the input. 27. What is the effect of positive feedback on stability? With positive feedback all physically realizable systems become unstable. 28. Why negative feedback is invariably preferred in closed loop system? Positive feedback has the tendency to make the system unstable. On the otherhand, negative feedback makes even the unstable system stable. Hence, negative feedback is used in control system.The negative feedback
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results in better stability in steady state and rejects any disturbance signals. 29. Name three reasons for using feedback control systems and at least one reason for not using them. The closed loop system acts very fast. Accuracy is high. If the open loop system is unstable, it is possible, by proper feedback to make the closed loop system stable. The cost of feedback system is high. 30. Nam three application for feedback control system. Automatic pressure control in a boiler, automatic voltage control in A.C and D.C generator and automatic positioning of anti-aircraft gun control are the three applications of feedback control systems. 31. Define transfer function. The T.F of a system is defined as the ratio of the Laplace transform of output to Laplace transform of input with zero initial conditions. Let f (t) be a real function of a real variable t defined for t>0, then

Where F (s) is called Laplace transform of f (t). And the variables which appears in F(s) is frequency dependent complex variable. It is given by, s = + j Where =real part of complex variables. = Imaginary part of complex variables. 32. Define Linearity of Laplace transform. The transform of a finite sum of time functions is the sum of the Laplace transforms of the individual functions. So if F1(s), F2(s), , Fn(s) are the Laplace transforms of the time functions f1 (t),f2(t),, fn(t) respectively then, L{f1(t)+f2(t)+..+fn(t)}=F1(s)+F2(s)+Fn(s). 33. Define Initial value theorem. The Laplace transform is very useful to find the initial value of the time function f (t). Thus if F(s) is the Laplace transform of f (t) then, The only restriction is that f (t) must be continuous or at the most, a step discontinuity at t=0. 34. Define Final value theorem. The Laplace transform is very useful to find the final value of the time function f (t). Thus if F(s) is the Laplace transform of f (t) then, The only restriction is that the roots of the denominator polynomial of F(s) i.e. poles of F(s) have negative or zero real parts. 35. What are the basic elements used for modeling mechanical translational system. Mass, spring and dashpot 36. What are the basic elements used for modeling mechanical rotational system? Moment of inertia J, dashpot with rotational frictional coefficient B and torsional spring with stiffness K 37. Name two types of electrical analogous for mechanical system. The two types of analogies for the mechanical system are Force voltage and force current analogy 38. What is block diagram? A block diagram of a system is a pictorial representation of the functions performed by each component of the system and shows the flow of signals. The basic elements of block diagram are block, branch point and summing point. If a given system is complicated, it is very difficult to analyze it as a whole. With the help of transfer function approach, we can find transfer function of each and every element of the complicated system. And by showing connection between the elements, complete system can be splitted into different blocks and can be analyzed conveniently. This is the basic concept of block diagram representation. 39. What is the basis for framing the rules of block diagram reduction technique? The rules for block diagram reduction technique are framed such that any modification made on the diagram does not alter the input output relation.
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What is called functional block? To draw the block diagram of a practical system, each element of practical system is represented by a block. The block is called functional block. 40. What is called branches? The connection between the blocks is shown by lines called branches of the block diagram. An arrow is associated with each and every branch which indicates the direction of flow of signal along the branch. 41. What are the basic elements of block diagram? 1. Blocks, 2. Transfer functions of elements shown inside the blocks, 3. Summing points, 4. Take off points, 5. Arrows. 42. What are the advantages of block diagram? 1. Very simple to construct the block diagram for complicated systems. 2. The function of individual element can be visualized from block diagram. 43. What are the disadvantages of Block diagram? 1. Block diagram does not include any information about the physical construction of the system. 2. Source of energy is generally not shown in the block diagram. So number of different block diagrams can be drawn depending upon the point of view of analysis. So block diagram for given system is not unique. 44. What is simple or canonical form of closed loop system? A block diagram in which, forward path contains only one block, one summing point and one take off point represents simple or canonical form of a closed loop system. 45. Write about branches? All the dependent and independent variables are represented by the nodes. The relationships between various nodes are represented by joining the nodes as per the equations. The lines joining the nodes are called branches. 46. What is a signal flow graph? A signal flow graph is a diagram that represents a set of simultaneous algebraic equations .By taking L.T the time domain differential equations governing a control system can be transferred to a set of algebraic equations in sdomain. 47. What are called nodes of a graph? As variables are important elements of the set of equations for the system, these are represented first in signal flow graph by small circles called nodes of signal flow graph. Each node represents a separate variable of the system. 48. Define forward path. A path from the input to output node is defined as forward path. 49. Define Source node source node and chain node. The node having only outgoing branches is known as source or input node. The node having an only incoming branch is known as sink node or output node.A node having incoming and outgoing branches is known as chain node. 50. Define feedback loop. A path which originates from a particular node and terminating at the same node, traveling through at least one other node, without tracing any node twice is called feedback loop. 51. Define self loop. A feedback loop consisting of only one node is called self loop. A self loop cannot appear while defining a forward path or feedback loop as node containing it gets traced twice which is not allowed. 52. What is transmittance? The transmittance is the gain acquired by the signal when it travels from one node to another node in signal flow graph. 53. What is sink and source? Source is the input node in the signal flow graph and it has only outgoing branches. Sink is a output node in the signal flow graph and it has only incoming branches.
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54. Define non-touching loop. The loops are said to be non-touching if they do not have common nodes. 55. Write Masons Gain formula. Masons Gain formula states that the overall gain of the system is Masons Gain formula states that the overall gain of the system is T = Pk k/ k- No. of forward paths in the signal flow graph. Pk- Forward path gain of Kth forward path = 1-[sum of individual loop gains ] +[sum of gain products of all possible combinations of two non touching loops]-[sum of gain products of all possible combinations of three non touching loops]+ k = for that part of the graph which is not touching Kth forward path. 56. Write the analogous electrical elements in force voltage analogy for the elements of mechanical translational system. Force-voltage e Velocity v-current i Displacement x-charge q Frictional coeff B-Resistance R Mass M- Inductance L Stiffness K-Inverse of capacitance 1/C 57. Write the analogous electrical elements in force current analogy for the elements of mechanical translational system. Force-current i Velocity v-voltage v Displacement x-flux_ Frictional coeff B-conductance 1/R Mass M- capacitance C Stiffness K-Inverse of inductance 1/L 58. Write the force balance equation of m ideal mass element . F = M d2x /dt2 59. Write the force balance equation of ideal dashpot element. F = B dx /dt 60. Write the force balance equation of ideal spring element. F = Kx 61. Distinguish between open loop and closed loop system Open loop Closed loop 1.Innaccurate 2.Simple and economical 3.The changes in output due to Complex and costlier The changes in output due to external disturbances are corrected

external disturbance are not automatically 62. What is servomechanism? The servomechanism is a feedback control system in which the output is mechanical position (or time derivatives of position velocity and acceleration,) It is the branch of study of automatic control in which position or its time derivatives such as velocity or acceleration is the output. Position control of automatic gun, radar antenna, rudders in a ship is the examples of servomechanism.

EC 3213 - Control Systems