EC2255 CONTROL SYSTEMS

Prepared By J. Jeba AP/ECE

System
An interconnection of elements and devices for a desired purpose

Control system
the system which the output quantity is controlled by varying the input quantity

open loop control system

the system in which the output quantity has no effect upon the input quantity

Closed Loop Control System

System in which the output has an effect upon the input quantity so as to maintain the desired output value

transfer function.
the ratio of the Laplace transform of output to Laplace transform of input with zero initial conditions

Mechanical Translational System

Mass, Spring Dashpot.

mechanical rotational system

1. Moment of inertia J 2. Dashpot with rotational frictional coefficient B 3. Torsional spring with stiffness K.

time invariant system

A system is said to be time invariant if its input-output characteristics do not change with time. A linear time invariant system can be represented by constant coefficient differential equations.

electrical analogous for mechanical system

1. Force voltage analogy 2. Force current analogy

block diagram
pictorial representation of the functions performed by each component of the system and shows the flow of signals

basic elements of block diagram

Block branch point and summing point

signal flow graph

signal flow graph is a diagram that represents a set of simultaneous algebraic equations

Source
Source is the input node in the signal flow graph and it has only outgoing branches.

Sink
Sink is a output node in the signal flow graph and it has only incoming branches.

non-touching loop
Non touching loops is defined as the one which do not have any common nodes.

Masons Gain formula

transient response
The transient response is the momentary (time = 0+) response of the system when the system changes from one state to another.

steady state response

The steady state response is the momentary (time = 0+) response of the system when the system approaches infinity.

order of a system
The order of a system is the order of the differential equation governing the system. The order of the system can be obtained from the transfer function of the given system.

Damping ratio
Damping ratio is defined as the ratio of actual damping to critical damping.

system is classified depending on the value of damping

Depending on the value of damping, the system can be classified into the following four cases Case 1 : Undamped system, = 0 Case 2 : Underdamped system, 0 < < 1 Case 3 : Critically damped system, = 1 Case 4 : Over damped system, > 1.

type number of a system

The type number is given by number of poles of loop transfer function at the origin. The type number of the system decides the steady state error.

time domain specifications

The time domain specifications are 1. Delay time 2. Rise time 3. Peak time 4. Peak overshoot

Delay time.
Delay time is defined as the time taken for response to reach 50% of final value for the very first time.

Rise time
Rise time is defined as the time taken for response to rise from 0% to 100% for the very first time.

peak time
Peak time is defined as the time taken for the response to reach the peak value for the first time.

peak overshoot
Peak overshoot is defined as the ratio of maximum peak value measured from the Maximum value to final value.

Settling time
Settling time is defined as the time taken by the response to reach and stay within specified error.

need for a controller

The controller is provided to modify the error signal for better control action

Steady state error

The steady state error is defined as the value of error as time tends to infinity. The steady state error is a measure of system accuracy. These errors arise from the nature of inputs, type of system and from non-linearity of system components.

step signal
The step signal is a signal whose value changes from zero to A at t = 0 and remains constant at A for t > 0.

ramp signal
The ramp signal is a signal whose value increases linearly with time from an initial value of zero at t = 0. The ramp signal resembles a constant velocity.

parabolic signal
The parabolic signal is a signal whose value varies as a square of time from an initial value of zero at t=0. This parabolic signal represents constant acceleration input to the signal.

constants associated with a steady state error

The three constants associated with a steady state error are 1. Positional error constant 2. Velocity error constant 3. Acceleration error constant

static error constants

The Kp -> proportional constant, Kv -> velocity constant and Ka -> acceleration constant are called static error constants.

proportional controller
The proportional controller is a device that produced an output signal which is proportional to the input signal.

PI controller
The proportional integral controller is a device that produced an output signal consisting of two terms one proportional to input signal and other proportional to the integral part of input signal.

transfer function of PI controller

PD controller
The proportional derivative controller is a device that produces an output signal consisting of two terms one proportional to input signal and other proportional to the derivation of input signal.

Transfer Function Of PD Controller

PID controller
The PID controller is a device which produces an output signal consisting of three forms one proportional to input signal, another one proportional to integral of input signal and the third proportional to derivative of input signal.

Transfer Function Of PID Controller

Frequency Response
The frequency response is a steady-state output of the system, when the input is a sinusoidal signal.

Frequency Domain Specifications

The frequency domain specifications indicates the performance of the system in frequency domain are 1. Resonant peak 2. Resonant frequency 3. Bandwidth 4. Cut-off rate 5. Gain margin 6. Phase margin

Resonant Peak
The maximum value of the magnitude of closed loop transfer function is called resonant peak. Resonant Peak, Mr =2 1 2z 1z

resonant frequency
The frequency at which the resonant peak occurs is called resonant frequency. Resonant frequency, 1pd 2 i ()=K++K +K+K = i dp K GsS S KSS S 2

bandwidth
The bandwidth is the range of frequencies for which the system gain is more than -3db.

cut off rate

The slope of the log magnitude curve near the cut off frequency is called cut off rate.

gain margin
The gain margin, Kg is defined as the reciprocal of the magnitude of open loop transfer function, at phase cross over frequency, pc Gain margin, Kg = 1 | ( ) | pc G jw w=w When expressed in decibels, it is given by, the negative of db magnitude of G( j ) at phase cross over frequency. Gain margin in db = 20 log 1 | ( ) | pc G jw w=w = - 20 log | G(j) |= pc 11. Define

phase margin
The phase margin, is the amount of additional phase lag at the gain cross over frequency, gc required to bring the system to the verge of instability. It is given by, 180 + Fgc, where Fgc is the phase of G(j) at the gain cross over frequency Phase margin, g = 180 + Fgc Where, gc Fgc = Arg [ G (jw)]|w = w

gain cross over frequency

The gain cross over frequency is the frequency at which the magnitude of the open loop transfer function is unity.

Phase cross over frequency

The phase cross over frequency is the frequency at which the pahse of the open loop transfer function is 180.

Bode plot
The bode plot is a frequency response plot of the transfer function of a system. It consists of two plots magnitude of a system transfer function in db and the frequency . The phase plot is a graph between the phase or argument of a system transfer function in degrees and the frequency . usually; both the plots are plotted on a common x-axis in which the frequencies are expressed in logarithmic scale.

corner frequency.
The magnitude plot can be approximated by asymptotic straight lines. The frequencies corresponding to the meeting point of asymptotes are corner frequency. The slope of the magnitude plot changes at every corner frequencies.

polar plot
The polar plot of a sinusoidal transfer function G(j) is a plot of the magnitude of G(j) versus the phase angle/argument of G(j) on polar or rectangular co ordinates as is varied from zero to infinity.

Nichols chart
The Nichols chart consists of M and N contours superimposed on ordinary graph. Along each M contour the magnitude of closed loop system, M will be a constant. Along each N contour, the phase a of closed loop system will be constant. The ordinary graph consists of magnitude in db, marked on the y-axis. The Nichols chart is used to find the closed loop frequency response from the open loop frequency response.

compensation
The compensation is the design procedure in which the system behavior is altered to meet the desired specifications by introducing additional device called compensator.

compensator
A device inserted in to the system for the purpose of satisfying the specifications is called compensator.

types of compensator
The different types of compensators are lag compensator, lead compensator and lag lead compensator.

lag compensator
The lag compensator is employed for a stable system for improvement in steady state performance.

lead compensator
The lead compensation is employed for stable / unstable system for improvement in transient state performance.

lag lead compensator

The lag lead compensation is employed for stable / unstable system for improvement in both steady state and transient state performance.

necessary condition for stability

The necessary condition for stability is that all the coefficients of the characteristic polynomial be positive.

necessary and sufficient condition for stability

The necessary and sufficient condition for stability is that all of the elements in the first column of the Routh array should be positive.

Nyquist stability Criterion

If G(S)H(S) contour in the G(S)H(S) plane corresponding to Nyquist contour in s-plane encircles the point -1+j0 in the anticlockwise direction as many times as the number of right s-half plane poles of G(S)H(S).Then the closed loop system is stable.

root locus
The path taken by a root of characteristic equation when open loop gain K is varied from 0 to infinity is called root locus.