Control System Slides

CONTROL SYETEMS (ECE/EEE/INSTR F242)
INSTRUCTOR
VIVEK CHANDRAN K. P.
DEPT. OF EEE
LECTURE SLIDES (01 to 09)

(LECTURES FROM 8TH JANUARY TO 29TH JANUARY 2019)
08th Jan to 29th Jan VCKP (EEE F242) Lectures (01 to 09) 1
WORD OF CAUTION !
• Textbook (specified in the course handout) is the

primary study material. These slides would only serve
as a supplementary aid for your preparations.
• Hence, in case of any ambiguity regarding the

completeness and correctness of these slides,
textbook has to be taken in to confidence.
• The prime purpose of including examples in these

slides are for concept demonstration.
What is a SYSTEM ?
A collection of components that

interact with each other and with its
environment.
Eg : Human beings,
Aircraft control system
What is a CONTROL SYSTEM ?
A collection of components that is designed to drive a

given system with a given input to a desired output.
Eg : Aircraft control system
Hard work, Talent, BITS

Peer support, Luck Judicious Mix Academic Output
System
OPEN LOOP SYSTEM
Desired
Actuating
Output Plant Output
Device
response
Knob Rotation of fan
blades
CLOSED LOOP SYSTEM
Desired
Output Comparison Controller Plant Output
response
Sensor
CLOSED LOOP SYSTEM
• More accurate
• Less sensitive to disturbances
• Less sensitive to parameter variations
• Tendency to oscillate
STATIC / DYNAMIC SYSTEM
Static system : Output depends only on the

present value of input.
Dynamic system : Output depends on the past

and future values of input.
TIME INVARIANT SYSTEM
x(t) System Delay by t0 y(t – t0)
x(t) Delay by t0 System f(x(t – t0))
LINEAR SYSTEM
Principle of superposition
• Additivity
f(x1 + x2) = f(x1)+ f(x2)
• Homogeneity
kf(x) = f(kx)
MATHEMATICAL MODELLING
Equivalent
Physical Differential
System System / Equations
Equivalent
Process Mathematical
Model of the
Physical Laws Boundary System
Conditions /
Assumptions
SPRING MASS DAMPER SYSTEM
𝒅𝟐 𝒚(𝒕) 𝒅𝒚(𝒕)
𝑴 +𝒃 + 𝒌𝒚 𝒕 = 𝒓(𝒕)
𝒅𝒕𝟐 𝒅𝒕
𝒌 − 𝐒𝐩𝐫𝐢𝐧𝐠 𝐂𝐨𝐧𝐬𝐭𝐚𝐧𝐭
𝒃 − 𝐂𝐨𝐞𝐟𝐟𝐢𝐜𝐢𝐞𝐧𝐭 𝐨𝐟 𝐕𝐢𝐬𝐜𝐨𝐮𝐬 𝐅𝐫𝐢𝐜𝐭𝐢𝐨𝐧 / 𝐅𝐫𝐢𝐜𝐭𝐢𝐨𝐧 𝐂𝐨𝐞𝐟𝐟𝐢𝐜𝐢𝐞𝐧𝐭
R-L-C CIRCUIT
𝒗 𝒕 𝒅𝒗(𝒕) 𝟏
+ 𝑪 + ∫ 𝒗 𝒕 𝒅𝒕 = 𝒓(𝒕)
𝑹 𝒅𝒕 𝑳
𝒗 𝒕𝟎 = 𝟎
𝒗 𝒕𝒇 = 𝑽
MATHEMATICAL MODELLING
Free body 𝒗 𝒕
𝑹
+ 𝑪
𝒅𝒗(𝒕) 𝟏
𝒅𝒕
+ ∫ 𝒗 𝒕 𝒅𝒕 = 𝒓(𝒕)
𝑳
SMD / Diagram/ 𝒅𝟐 𝒚(𝒕) 𝒅𝒚(𝒕)
𝑴 +𝒃 + 𝒌𝒚 𝒕 = 𝒓(𝒕)
RLC Circuit 𝒅𝒕 𝟐 𝒅𝒕
Diagram
Equivalent
Mathematical
Model of the
Newton’s Second Law /
𝒗 𝒕𝟎 = 𝟎 System
Kirchoff’s Current Law
𝒗 𝒕𝒇 = 𝑽
LAPLACE TRANSFORM
LAPLACE TRANSFORM
LAPLACE TRANSFORM
LAPLACE TRANSFORM
LAPLACE TRANSFORM
LAPLACE TRANSFORM
LAPLACE TRANSFORM
TRANSFER FUNCTION
TRANSFER FUNCTION
TRANSFER FUNCTION
TRANSFER FUNCTION
TRANSFER FUNCTION
POLES AND ZEROS
MECHANICAL TRANSLATIONAL SYSTEM
[𝑴𝒔𝟐 + 𝑩𝒔 + 𝑲] 𝑿 𝒔 = 𝑭(𝒔)
𝒔𝑿 𝒔 = 𝑽(𝒔)
𝒔𝟐 𝑿 𝒔 = 𝑨(𝒔)
𝑩 𝑲 𝟏
𝑨 𝒔 = − 𝑽 𝒔 − 𝑿 𝒔 + 𝑭(𝒔)
𝑴 𝑴 𝑴
MECHANICAL TRANSLATIONAL SYSTEM
𝒅𝟐𝒙𝟏 𝒅𝒙𝟏 𝒅𝒙𝟐

𝑴𝟏 = 𝑭 𝒕 − 𝑲 (𝒙
𝟏 𝟏 𝒕 − 𝒙 𝟐 𝒕 ) − 𝑩( − )
𝒅𝒕𝟐 𝒅𝒕 𝒅𝒕
𝒅𝟐𝒙𝟐 𝒅𝒙𝟏 𝒅𝒙𝟐

𝑴𝟐 = 𝑲𝟏(𝒙𝟏 𝒕 − 𝒙𝟐 𝒕 ) + 𝑩 − − 𝑲𝟐 𝒙𝟐 𝒕
𝒅𝒕𝟐 𝒅𝒕 𝒅𝒕
𝑴𝟏𝑨𝟏(𝒔) = 𝑭 𝒔 − 𝑲𝟏(𝑿𝟏 𝒔 − 𝑿𝟐 𝒔 ) − 𝑩(𝑽𝟏(𝒔) − 𝑽𝟐(𝒔))
𝑴𝟐𝑨𝟐 𝒔 = 𝑲𝟏(𝑿𝟏 𝒔 − 𝑿𝟐 𝒔 ) + 𝑩(𝑽𝟏(𝒔) − 𝑽𝟐(𝒔)) − 𝑲𝟐 𝑿𝟐 𝒔
SPRING MASS DAMPER SYSTEM
ELECTRICAL SYSTEM
MECHANICAL ROTATIONAL SYSTEM
𝒅𝟐 𝜽 𝒅𝜽
𝑱 𝟐 +𝑩 + 𝑲𝜽 = 𝑻
𝒅𝒕 𝒅𝒕
ANALOGOUS SYSTEMS
FORCE (TORQUE) VOLTAGE ANALOGY
𝒅𝟐𝜽 𝒅𝜽
𝑱 𝟐 +𝑩 + 𝑲𝜽 = 𝑻
𝒅𝒕 𝒅𝒕
𝒅𝟐𝒙 𝒅𝒙
𝑴 𝟐 +𝑩 + 𝑲𝒙 = 𝑭
𝒅𝒕 𝒅𝒕
ANALOGOUS SYSTEMS
FORCE (TORQUE) CURRENT ANALOGY
𝒅𝟐𝜽 𝒅𝜽
𝑱 𝟐 +𝑩 + 𝑲𝜽 = 𝑻
𝒅𝒕 𝒅𝒕
𝒅𝟐𝒙 𝒅𝒙
𝑴 𝟐 +𝑩 + 𝑲𝒙 = 𝑭
𝒅𝒕 𝒅𝒕
CASCADED FORMS
PROBLEM
PROBLEM
MOVING BLOCKS
Interchanging Summing Points
MOVING BLOCKS
Shifting Take-off Point
MOVING BLOCKS
Shifting Summing Point to a position BEFORE Takeoff Point
PROBLEM
PROBLEM
PROBLEM
PROBLEM
EXERCISE
𝟏 YY
Y=
𝑮
𝟏 Y
Y=
𝑮
EXERCISE
𝑪(𝒔)
=?
𝑹(𝒔)
𝟏
Y=
𝑩 Y
Y=𝑩 Y
SFG : CASCADED FORMS
SFG : PARALLEL FORMS
FEEDBACK FORM
SIGNAL FLOW GRAPHS
SIGNAL FLOW GRAPHS
SIGNAL FLOW GRAPH
LOOP GAIN
FORWARD PATH GAIN
SIGNAL FLOW GRAPH
NON-TOUCHING LOOPS TAKING TWO AT A TIME
SIGNAL FLOW GRAPH
LOOP GAIN
FORWARD PATH GAIN
SIGNAL FLOW GRAPH
SIGNAL FLOW GRAPH
NON-TOUCHING LOOPS TAKING THREE AT A TIME
MASONS GAIN FORMULA
SIGNAL FLOW GRAPH
SIGNAL FLOW GRAPH
LOOP GAIN

FORWARD PATH GAIN
NON-TOUCHING LOOPS TAKING THREE AT A TIME
MASONS GAIN FORMULA
MASONS GAIN FORMULA
PROBLEM
PROBLEM
PROBLEM
References & Diagram Courtesy
• Control System Engineering by I .J. Nagrath & M. Gopal
• Control System Engineering by Norman S. Nise
• Modern Control Systems by R. C. Dorf & R. H. Bishop
Thank You !

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CONTROL SYETEMS (ECE/EEE/INSTR F242)

LECTURE SLIDES (01 to 09)

• Textbook (specified in the course handout) is the

• Hence, in case of any ambiguity regarding the

• The prime purpose of including examples in these

A collection of components that

A collection of components that is designed to drive a

Hard work, Talent, BITS

Static system : Output depends only on the

Dynamic system : Output depends on the past

x(t) System Delay by t0 y(t – t0)

x(t) Delay by t0 System f(x(t – t0))

𝒅𝟐𝒙𝟏 𝒅𝒙𝟏 𝒅𝒙𝟐

𝒅𝟐𝒙𝟐 𝒅𝒙𝟏 𝒅𝒙𝟐

𝑴𝟏𝑨𝟏(𝒔) = 𝑭 𝒔 − 𝑲𝟏(𝑿𝟏 𝒔 − 𝑿𝟐 𝒔 ) − 𝑩(𝑽𝟏(𝒔) − 𝑽𝟐(𝒔))

𝑴𝟐𝑨𝟐 𝒔 = 𝑲𝟏(𝑿𝟏 𝒔 − 𝑿𝟐 𝒔 ) + 𝑩(𝑽𝟏(𝒔) − 𝑽𝟐(𝒔)) − 𝑲𝟐 𝑿𝟐 𝒔

FORWARD PATH GAIN

NON-TOUCHING LOOPS TAKING TWO AT A TIME

FORWARD PATH GAIN

NON-TOUCHING LOOPS TAKING TWO AT A TIME

NON-TOUCHING LOOPS TAKING THREE AT A TIME

NON-TOUCHING LOOPS TAKING TWO AT A TIME

NON-TOUCHING LOOPS TAKING THREE AT A TIME

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