Cs Ee1265 Nol

EE 1265 Control Engineering
1
Unit – 1
(Introduction of control system)
System
• A system is a collection of components
which are co-ordinate together to perform
a function.
• Dynamic system: A system with a memory,
i.e., the input value at time t will influence
the output at future instants.
• Systems interact with their environment
across a separating boundary.
EE1265 Control Engg - 3

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Control System Concepts
 A control system is a system that is

used to realize a desired output or
objective
 Control is an essential element of almost

all engineering systems.

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Types of Control System
• Open loop control system
• Closed loop control system

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Open loop control system
 Any physical system which does not

automatically correct for variation in its
output is called open loop system.
 The output may be changed to any

desired value by changing the input
signal manually.

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Open loop control system
Controller Process
Example
1. Fan with regulator
2. Traffic light control

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Closed loop control system
 A system that uses a measurement of

the output and compares it with the
desired output.
I/P O/P
CONROLLER PLANT
FEEDBACK

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Types of feedback control
systems
1.Negative feedback
2.Positive feedback

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Examples of feedback
system
1. Room temperature control system.
2. Speed control of switched reluctance

motor.
3. Automatic aircraft landing system.
4. Automatic car driven system.

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Transfer function
For linear time invariant system
transfer function is defied as the ratio of
Laplace transform of output to the Laplace
transform of input with initial zero condition.
G(S)
Transfer function T(S) = C(s) / R(s)

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Mechanical systems
Types of mechanical system
1.Translation system.
2.Rotational system.

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Mechanical systems
Translation system
Input Force
Output Displacement
Physical mass, spring,

Element dash pot
Physical acceleration
variable velocity.

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Mechanical systems
Rotational system
Input Torque
Output Angular Displacement
Physical Moment of inertia,

Element spring, dash pot
Physical Angular velocity,

variable acceleration

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Force-Current Analogy

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Force-Voltage Analogy

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UNIT-2
OPEN AND CLOSED LOOP
SYSTEMS
FEEDBACK CONTROL
SYSTEM

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BLOCK DIAGRAM
• A block diagram for a system is not

unique, meaning that it may manipulated
into new forms.
• Typical a block diagram will be developed

for a system. The diagram will then be
simplified through a process that is both
graphical and algebraic.

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RULES FOR BLOCK
DIAGRAM REDUCTION
• Negative feedback reduction

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• Positive feedback reduction
• Moving branches before block

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• Moving branches after block
• Moving summation function before block

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• Moving summation function after block
• Combining sequential function block

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Example for block diagram
reduction (car speed control)

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Signal flow graph(SFG)
• A signal-flow graph is a diagram consisting of
nodes that are connected by several directed
branches and is a graph representation of a set of
linear relation.
• Only valid for linear system

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Basic elements of SFG
• Branch: A unidirectional path segment.
• Nodes: The input and output points or junctions.
• Path: A branch or a continuous sequence of
branches that can be traversed from one node to
anther node.

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Basic elements of SFG
• Loop: A closed path that originates and
terminates on the same node, and along the path
no node is met twice.
• Non-touching loops: If two loops do not have a
common node.
• Touching loops: Two touching loops share one
or more common nodes.

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Mason’s gain formula
• The linear dependence (Tij) between the
independent variable xi (input) and the dependent
variable (output) xj is given by Mason’s SF gain
formula
P ijk  ijk
Tij  k

Pijk  k th path from x i to x j
  deterninant of the graph
 ijk  cofactor of the path Pijk

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Mason’s gain formula
=1 –(sum of all different loop gains) +(sum
of the gain products of all combinations of
2 nontouching loops)-(sum of the gain
products of all combinations of 3
nontouching loops)…
• The cofactor  ijk is the determinant with

loops touching the kth path removed

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Example

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Solution for Example
• Two paths :P1, P2
• Four loops
• P1 = G1G2G3G4, P2= G5G6G7G8
• L1=G2H2 L2=G3H3 L3=G6H6 L4=G7H7
• Det - (L1+L2+L3+L4)+(L1L3+L1L4+L2L3+L2L4)
• Cofactor for path 1: 1= 1- (L3+L4)
• Cofactor for path 2: 2= 1-(L1+L2)
• T(s) = (P11 + EE1265

P22)/Control Engg -
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34
Unit – III
(CHARACTERISTIC
EQUATION AND FUNCTIONS)
Laplace transform of a
derivative term
• The Laplace transform of the derivative of a
function
where y(0-) is the initial condition associated with

y(t).

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Laplace transformation

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Different Types of inputs
• Step input,
• Impulse input,
• Ramp input,
• Parabolic and
• Sinusoidal inputs,

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Step input
xs (t )
time
Figure 3.1. Step input.

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Ramp input
Figure 3.2. Ramp input.

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Sinusoidal inputs
Figure 3.3 Sinusoidal inputs

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Impulse input
•Here, UI  t    t .
•It represents a short, transient disturbance
Figure 3.4 Sinusoidal inputs

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Response of First-Order
Systems
The standard form for a first-order TF is:
Where
Find y(s) and y(t) for some

particular input x(s)

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Systems
1. Step response

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Systems
.

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Systems
2. Ramp response.

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Systems
3. Sinusoidal response.

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Response of second-Order
Systems
• Standard form of the second-order transfer
function.
Where
is the process gain.
is the time constant which determines the
speed of response of the system
is the damping factor

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Systems
• The characteristic polynomial is the denominator
of the transfer function:
τ 2 s 2  2ζτs  1 =0
Roots:

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Systems
• The type of behavior that occurs depends on the
numerical value of damping coefficient,

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Systems

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Systems

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Systems

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Time domain specification
1. Rise time( t)r is the time the process output takes
to first reach the new steady-state value.
2. peak time( tp ) is the time required for the output

to reach its first maximum value.
3. Settling time( ts ) is defined as the time required

for the process output reach and remain inside a
band whose width is equal to ±5% of the total
change in y.
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4. Overshoot: OS = a/b (% overshoot is 100a/b).
5. Decay Ratio: DR = c/a (where c is the height of

the second peak).
6. Period of Oscillation: P is the time between

two successive peaks or two successive valleys
of the response.

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1. Rise time
2. peak time.
3. Overshoot:

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4. Decay Ratio:
5. Period of Oscillation:

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Steady state errors
(Step Reference)

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Steady state errors
(RAMP Reference)

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Steady state errors
(Parabolic Reference)

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Summary of steady state
errors for different systems

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Unit – IV
(CONCEPT OF STABILITY)
Basic concept of stability

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Stability
A system is stable if any bounded

input produces a bounded output for
all bounded initial conditions.

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Stability of the system and
roots of characteristic equations

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Routh-Hurwitz Criterion
It is a technique that one can use to check the
stability of the system from the characteristic
equation without solving it.
Let’s consider
Determine the closed-loop stability of this system

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example
The characteristic equation of the system is:
1 + G(s) = 0
s3 + s2 + 2s +24 = 0
The Routh-Hurwitz table can be formulated as

follows:

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example

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example
Since there are two changes in the sign of the first
column of the Routh-Hurwitz table, there are two
unstable poles in the closed-loop system.
In fact, the roots are:

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Bode plot
• Plots of the magnitude and phase characteristics
are used to fully describe the frequency response.
• A Bode plot is a (semilog) plot of the transfer
function magnitude and phase angle as a function
of frequency
• The gain magnitude is many times expressed in
terms of decibels (dB)
dB = 20 log10 A

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Bode plot procedure
There is 4 basic forms in an open-loop transfer
function G(jω)H(jω).
1.Gain factor, K
2.(jω)±p factor: pole and zero at origin
3.(1+jωT)±q factor
r
4.Quadratic factor     2
1  j 2  2
 n n 

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The magnitude and phase
plots for some typical factors
Factor Magnitude: G ( j ) dB Phase: G ( j )
Gain, K 20logK
0dB
0dB
90º
jω 0dB
45º
20 dB/decade 0º
1

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Gain, K 20logK
0dB
0dB
90º
jω 0dB
45º
20 dB/decade 0º
1

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40logω
180º
90º
jω
0dB
2
40 dB/decade 0º
1
0º
1/jω 0dB
-45º
-20 dB/decade -90º

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Factor Magnitude: G ( j ) dB Phase:G ( j )
-40logω
1/jω2 0dB
-40 dB/decade
90º
1+jωT 45º
0º
0.1/T 1/T 10/T

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The magnitude and phase plots
for some typical factors
1/(1+jωT
0.1/T

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The magnitude and phase plots
for some typical factors
Factor Magnitude: G ( j ) Phase: G ( j )
dB
2 2
 2    
20 log 1  2    2 
  
 n    n 
180º
90º
0dB
n 40 dB/decade 0º
0º
1 -40 dB/decade
 2 -90º
1  j 2  0dB
n n 2
-180º
n
2 2
 2    
 20 log 1  2    2 
  
 n   n 

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Gain margin and Phase
margin
Gain margin:
The gain margin is the number of dB that is

below 0 dB at the phase crossover frequency
(ø=-180º). It can also be increased before the
closed-loop system becomes unstable.
Phase margin:
The phase margin is the number of degrees

the phase of that is above -180º at the gain
crossover frequency..
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Gain margin and Phase
Magnitude
margin
(dB)
20dB
0dB
-20dB Gain Crossover

Gain margin
-40dB with 0dB line
-60dB Magnitude
curve
Phase
curve
0º Phase Crossover
-90º Phase margin with -180º line
-180º
-270º
Phase
Log ω
(Degree)
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Root locus
• The root locus is the path of the roots of the

characteristic equation traced out in the s-plane
as a system parameter is varied.
• Root locus and system performance
1. Stability
2. Dynamic performance
3. Steady-state error

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The Root Locus Procedure
Step 1: Write the characteristic equation as
1  F ( s)  0
Step 2: Rewrite preceding equation into the form of

poles and zerosmas follows:
 (s  z j )
1  K jn1 0
 ( s  pi )
i 1

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Step 3:
Locate the poles and zeros with specific
symbols, the root locus begins at the open-loop
poles and ends at the open-loop zeros as K
increases from 0 to infinity.
If open-loop system has n-m zeros at infinity,
there will be n-m branches of the root locus
approaching the n-m zeros at infinity.

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Step 4:
The root locus on the real axis lies in a section
of the real axis to the left of an odd number of real
poles and zeros.
Step 5:
The number of separate loci is equal to the
number of open-loop poles.
Step 6:
The root loci must be continuous and
symmetrical with respect to the horizontal real
axis.

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Step 7:
The loci proceed to zeros at infinity along
asymptotes centered at and with angles
n m
 p  z
i 1
i
j 1
j
a 
nm
( 2k  1)
a  ( k  0,1, 2, n  m  1)
nm

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Step 8:
The actual point at which the root locus crosses
the imaginary axis is readily evaluated by using
Routh criterion.
Step 9:
Determine the breakaway point d (usually on
the real axis):
m n
1 1
j1 d  z  i1 d  p
j i

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Step 10:
Determine the angle of departure of locus from
pi
a pole and the angle of arrival of the locus at
a zero zi by using phase angle criterion
m n
 pi  1800  (  z j pi   p j pi )
j 1 j 1, j  i
m n
 zi  180  (
0

j 1, j i
z j zi    p j zi )
j 1

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Step 11:
Plot the root locus that satisfy the phase
P( s )  ( 2k  1)
criterion. k  1, 2,
Step 12:
s1
Determine the parameter value K1 at a specific
root using the magnitude
n criterion.
 (s  pi )
K1  i 1
m
 (s  z
j 1
j )
s  s1

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Example
Sketch the root locus of the following system

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UNIT-V
SAMPLED DATA SYSTEMS
Digital control
1. More useful for computer systems
2. Time is discrete
 denoted k instead of t
3. Main tool is z-transform

Z[ f (k )]  F ( z )   f (k ) z k
k 0
 f(k) ® F(z) , where z is complex

 Analogous to Laplace transform for s-domain

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Digital Controller Advantage
1. Modern digital technology(DSP, FPGA,ADC)
2. Cost effective and precise power supply
3. High flexibility and modularity
4. High functionality
5. Built in all functions for PS
• Current regulator(PI, feed forwarder)
• Direct PWM generation
• Fast control port
• Analog, Digital I/O

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Block-diagram of digital
system

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Two views of uniform-rate
sampling:

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Spectrum of a Sampled
Signal
• Spectrum
– Consider a cont. signal r(t)
– with sampled signal r*(t)
– Laplace transform R*(s) can be calculated

r  (t )  r (t )   (t  kT )
k   r(t) r*(t)

1
R ( s)   R( s  jns )
T k   T

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Spectrum of a Sampled
Signal

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Z transform
• Consider a sequence of values: {xk : k = 0,1,2,... }
• These may be samples of a function x(t),
sampled at instants t = kT; thus xk = x(kT).
• The Z transform is simply a polynomial in z
having the xk as coefficients:

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Uses of Z transform
• Analysis of Discrete & Sampled-data Systems
• Transfer Function & Block Diagram
Representations
• Exploit the z-plane
– Dynamic Analysis
– Root Locus Design

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Z-transform of a sampled
signal

f *(t)  k 0
f ( k T ) (t  k T )

F *(s)  L  f *(t)  
k 0
f (kT )e  ksT
1  sT
z  e 

F (z)  
k 0
f (kT )z  k

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Partial table of z- and s-
transforms

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z-transform theorems

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Sampled-data systems and
their z-transforms

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EE 1265 Control Engineering

EE1265 Control Engg - 3

 A control system is a system that is

 Control is an essential element of almost

EE1265 Control Engg - 4

• Open loop control system

• Closed loop control system

EE1265 Control Engg - 5

 Any physical system which does not

 The output may be changed to any

EE1265 Control Engg - 6

EE1265 Control Engg - 7

 A system that uses a measurement of

EE1265 Control Engg - 8

EE1265 Control Engg - 9

2. Speed control of switched reluctance

3. Automatic aircraft landing system.

4. Automatic car driven system.

EE1265 Control Engg - 10

Transfer function T(S) = C(s) / R(s)

EE1265 Control Engg - 11

Types of mechanical system

EE1265 Control Engg - 12

Physical mass, spring,

EE1265 Control Engg - 13

Output Angular Displacement

Physical Moment of inertia,

Physical Angular velocity,

EE1265 Control Engg - 14

EE1265 Control Engg - 16

EE1265 Control Engg - 17

EE1265 Control Engg - 19

• A block diagram for a system is not

• Typical a block diagram will be developed

EE1265 Control Engg - 20

EE1265 Control Engg - 21

• Moving branches before block

EE1265 Control Engg - 22

• Moving summation function before block

EE1265 Control Engg - 23

• Combining sequential function block

EE1265 Control Engg - 24

EE1265 Control Engg - 25

EE1265 Control Engg - 26

EE1265 Control Engg - 27

• Only valid for linear system

EE1265 Control Engg - 28

• Nodes: The input and output points or junctions.

• Path: A branch or a continuous sequence of

branches that can be traversed from one node to

EE1265 Control Engg - 29

EE1265 Control Engg - 30

EE1265 Control Engg - 31

• The cofactor  ijk is the determinant with

EE1265 Control Engg - 32

EE1265 Control Engg - 33

• P1 = G1G2G3G4, P2= G5G6G7G8

• L1=G2H2 L2=G3H3 L3=G6H6 L4=G7H7

• Det - (L1+L2+L3+L4)+(L1L3+L1L4+L2L3+L2L4)

• Cofactor for path 1: 1= 1- (L3+L4)

• Cofactor for path 2: 2= 1-(L1+L2)

• T(s) = (P11 + EE1265

where y(0-) is the initial condition associated with

EE1265 Control Engg - 36