INTRODUCTION OF CONTROL SYSTEMS Basic Components of a Control System

Objective of Control System Control System Components Result or Output

RESULTS /OUTPUTS

OBJECTIVES

CONTROL SYSTEM

BASIC TERMINOLOGIES RELATED TO CONTROL SYSTEMS

BASIC TERMINOLOGIES RELATED TO CONTROL SYSTEMS

TYPES OF CONTROL SYSTEMS

OPEN LOOP CONTROL SYSTEM
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A physical system which does not automatically corrects for the variation in output is called as open loop control system. In open loop system the output does not influences the controller. Advantages 1.Simple in construction 2.Fast response 3.Low cost Disadvantages 1.Accuracy is less.

EXAMPLES Traffic Control System Automatic Washing Machine Ceiling fan Vacum Cleaner

CLOSED LOOP CONTROL SYSTEM

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A physical system which automatically corrects for the variation in its output is called as closed loop control system. A closed loop control system measures the system output measured by sensor with reference input and according to it produces an error signal.

Advantages 1.This is less sensitive to disturbance signal. 2.Highly accurate.

EXAMPLES

Refrigerator Air Conditioner Human Respiration System Radar and Missile Railway Reservation System

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Sun Reference

Controller

Position Feed back Large Solar collector

Positioner Launch Command

Control system for a sun seeker solar system

Anti-air craft RADAR tracking control system

Project position of Air plane when the shell arrives

RADAR antenna
Drive Marty

Feed back signal

PK

Activating signal
Computer (inside)

Control system for a missile launcher

Flight path

Calculated path Tracking control

Actual position

Launch computer

Launcher
Amplifier

TYPES OF SYSTEM

Fig : Input Output Behavior of a System

Linear System : Roughly speaking, a linear circuit is one whose parameters do not change with voltage or current. More specifically, a linear system is one that satisfies (i)Homogeneity property [response of u(t) equals times the response of u(t), S(u(t) = S(u(t)) for all ; and u(t)]. (ii) Additive property [that is the response of system due to an input {1u1(t)+2u2(t)} = 1u1(t) + 2u2(t) .

Non-Linear System : Roughly speaking, a nonlinear system is that whose parameters change with voltage or current. More specifically, non-linear system does not obey the homogeneity and additive properties. Volt-ampere characteristics of linear and non-linear elements are shown in below .In fact, a circuit is linear if and only if its input and output can be related by a straight line passing through the origin as shown in fig Otherwise, it is a nonlinear system.

Fig. V-I Characteristics of Linear System

Fig. V-I Characteristics of Non Linear System

Electrical Network: A combination of various electric elements (Resistor, Inductor, Capacitor, Voltage source, Current source) connected in any manner what so ever is called an electrical network. We may classify circuit elements in two categories, passive and active elements

Passive Element: The element which receives energy (or absorbs energy) and then either converts it into heat (R) or stored it in an electric (C) or magnetic (L ) field is called passive element.

Active Element: The elements that supply energy to the circuit is called active element. Examples of active elements include voltage and current sources, generators, and electronic devices that require power supplies. A transistor is an active circuit element, meaning that it can amplify power of a signal. On the other hand, transformer is not an active element because it does not amplify the power level and power remains same both in primary and secondary sides. Transformer is an example of passive element.

Bilateral Element: Conduction of current in both directions in an element (example: Resistance; Inductance; Capacitance) with same magnitude is termed as bilateral element.

Unilateral Element: Conduction of current in one direction is termed as unilateral (example: Diode, Transistor) element.

Meaning of Response: An application of input signal to the system will produce an output signal, the behavior of output signal with time is known as the response of the system.

TYPES OF SYSTEM
TIME VARIANT SYSTEM
Input r(t)

Parameters of system are functions of time

Output c(t)

Examples:1.Space vehicle whose mass (weight )

decreases with time, as it leaves earth. 2.Rocket ,aerodynamic damping can change with time as the air density change with altitude.

 TIME INVARIANT SYSTEM

Input r(t)

Parameters of system are constant and not functions of time

Output c(t)

Examples: Different electrical networks consisting of the

elements as resistances,inductances and capacitances are time invariant systems as the values of the elements of such system are constant and not the functions of time.

TRANSFER FUNCTION
Selected Input

System
Parameters

Output

Performance of system can expressed in terms of its output Output = Effect of system parameters on the selected input Output = Input X Effect of system parameters Effect of system parameters = Output / Input

Definition:
It is defind as the ratio of Laplace transform of Output (response) of the system to the Laplace transform of Input (Excitation or driving function) under the assumption that all initial conditions are zero.
r(t)

System

c(t)

R(s)

T(s)

C(s)

Laplace Transform of Output Transfer Function = Laplace Transform of Input

T(s)= C(s)/R(s)

ADVANTAGES & FEATURES OF TRANSFER FUNCTION

It gives mathematical models of all system components and hence of the overall system. Individual analysis of various components is also possible by the transfer function approach. As it uses a Laplace approach, it converts time domain equations to simple algebraic equations. The transfer function is expressed only as a function of the complex variable 's.lt is not a function of the real variable, time or any other variable that is used as the independent variable.

 It is the property and characteristics of the system itself. Its value is dependent on the parameters of the system and independent of the values of inputs. Once transfer function is known, output response for any type of reference input can be calculated. It helps in determining the important information about the system i.e. poles', zeros, characteristic equation etc. It helps in the stability analysis of the system.

DISADVANTAGES
Only applicable to linear time invariant systems . It does not provide any information concerning the physical structure of the system. From transfer function, physical nature of the system whether it is electrical, mechanical, thermal or hydraulic, cannot be judged. Effects arising due to initial conditions are totally neglected. Hence initial conditions loose their importance.

TERMINOLOGIES RELATED TO TRANSFER FUNCTION

A Transfer function is a ratio of L.T. of output to input which can be expressed as a ratio of polynomials in S. Transfer Function = P(s)/Q(s) = a0Sm + a1Sm-1 + a2Sm-2 + -- + am
b0Sn + b1 Sn-1 + b2 Sn-2 + -- + bn = K (S-Sa) (S-Sb)- - - - -(S-Sm) (S-S1) (S-S2)- - - - -(S-Sn)

Poles: The value of S which makes the T.F.infinite

after substitution in the denominator of a T.F.are called as Poles of T.F. So values S1,S2,S3 - - - -Sn are called as poles of the T.F.

Zeros: The value of S which makes the T.F. zero

after substitution in the numerator of a T.F.are called as Zeros of that T.F. So values Sa,Sb,Sc - - - -Sm are called as zeros of the T.F.

Characteristics Equation
The equation obtained by equating denominator of atransfer function to zero whose roots are the poles of the transfer function is called as characteristics equation

Pole-Zero Plot: Plot obtained by locating all

poles and zeros of aT.F.in S plane is called pole-zero plot.

Examples: C(s)/R(s) = (S+2) / S[S2+2S+2] [S2+7S+12]

Poles: S = 0,-1 j, -3, -4 Zeros: S = -2
Imj (J) S Plane X j

X
Real (-) -4

X
-3

-2 -1 X

X s= 0
-j

Real ()

Imj (-J)

PB: Derive the Transfer Function of the circuits I(s)/Vi(s)

Vi(t) i(t)

Step:1 Convert the given network in to laplace

Vi(s) I(s)

Apply KVL to circuit Vi(s) = (R +1/Cs)I(s) I(s)/Vi(s) = Cs / (1 + sCR)

Determine the transfer function Vo(s) / Vi(s)

Vi(t)

Vo(t)

Step1: Convert the given network in to Laplace network

Vi(s)

I(s) Vo(s)

Apply KVL to given Network. Vi(s) = (R +1/Cs)I(s) Vo(s) = R I(s) Vo(s) = Vi(s) (1+sCR) sCR

Determine the transfer function Vo(s) / Vi(s)

Vi(t)

Vo(t)

i(t)

Step1: Convert the given network in to Laplace network

1/Cs

R2 Vi(t) I(s) R1 Vo(t)

R1(1/Cs) (R1+ 1/Cs) R2 Vo(s)

Vi(s)

I(s)

R1(1/Cs) Vi(s) = (R1+1/Cs) Vo(s) =R2I(s) Vo(s) = Vi(s) (R1+R2) 1 + sCR1R2 (R1+R2) R2 (1+sCR1) I(s) + R2I(s)

Vo(s) Vi(s)

K(1+s)1 (1+s)2 = 2CR1R2 / (R1 +R2) and

Where = 1CR1

K= R2/(R1+R2)

TRANSFER FUNCTION OF OPEN LOOPCONTROL SYSTEM

R(s) C(s)

r(t)

G(s)

c(t)

Output signal of any block = Input signal to that block X gain of that block

C(s)= R(s) X G(s) T.F. = C(s) / R(s) = G(s)

G(s) = Forward path transfer function

TYPES OF FEEDBACK
Negative Feedback
R(s) + E(s)

G(s) V(s) H(s)

C(s)

All practical systems are negative feedback system

Positive Feedback
R(s) +
E(s)

G(s) + V(s) H(s)

C(s)

Ex: Oscillator Unity Feedback R(s) + E(s)

G(s) V(s) H(s) =1

C(s)

Ex: Voltage Regulator

TRANSFER FUNCTION OF CLOSED LOOP CONTROL SYSTEM

Consider negative feedback system
R(s) + E(s)

G(s) V(s) H(s)

C(s)

H(s) = Feedback Path Transfer Function

E(s) = R(s)-V(s) Output of the system = C(s) = G(s) E(s) = G(s)[ R(s)- V(s)] V(s) = C(s)H(s)

C(s) = G(s)[ R(s) C(s)H(s)] [1+G(s)H(s)] C(s) = R(s)G(s)

T.F. = C(s)/R(s) = G(s)/{1+G(s)H(s)} Open Loop Equivalent Of Closed Loop System R(s) G(s)/{1 G(s)H(s)} C(s)
+ = Negative Feedback - = Positive Feed Back