■ Control Systems Master Notes (Hinglish)
1. Control System Basics
Control system ek aisa system hai jo input ko leke output ko control karta hai.
Types:
• Open Loop System → No feedback. Example: Washing machine.
• Closed Loop System → Feedback hota hai. Example: AC thermostat.
2. Transfer Function
Formula: C(s)/R(s) = Laplace(Output)/Laplace(Input)
Example: G(s) = K / [s(s+1)(s+3)]
3. Root Locus
Graphical method jo dikhata hai poles kaise shift honge jab gain K change hota hai.
Centroid Formula: σ = (ΣPoles - ΣZeros)/(n - m)
■ Root Locus Example
Given: G(s)H(s) = K / [s(s+2)(s+4)]
Step 1: Poles at s=0, -2, -4. No zeros.
Step 2: Centroid = (ΣPoles - ΣZeros)/(n-m) = (0-2-4 - 0)/3 = -6/3 = -2
Step 3: Asymptote angles = (2q+1)180/(n-m), q=0,1,2 → 60°, 180°, 300°
Step 4: Root locus lies on real axis to the left of odd number of poles.
Step 5: Breakaway point between poles at -2 and 0. Solve dK/ds=0.
4. Bode Plot
Frequency response ko dikhata hai. Do plots bante hain:
• Magnitude (dB) vs log(ω)
• Phase (°) vs log(ω)
■ Bode Plot Example 1
Given: G(s) = 10 / [s(1+0.1s)]
Step 1: Standard Form → G(jω) = 10 / [jω(1+0.1jω)]
Step 2: Magnitude → |G(jω)| = 10 / [ω √(1+(0.1ω)^2)]
dB: 20log|G(jω)| = 20log10 - 20logω - 10log(1+(0.1ω)^2)
Step 3: Phase → ∠G(jω) = -90° - tan■¹(0.1ω)
Step 4: Break Frequency → ω=10 rad/sec
Step 5: Slope → Before 10 → -20 dB/dec, After 10 → -40 dB/dec
ω (rad/sec) Magnitude (dB) Phase (°)
0.1 ≈ 40 ≈ -90
1 ≈ 20 ≈ -96
10 ≈0 ≈ -135
100 ≈ -40 ≈ -174
■ Bode Plot Example 2
Given: G(s) = 100 / [(1+0.1s)(1+0.01s)]
Step 1: Standard Form → G(jω) = 100 / [(1+0.1jω)(1+0.01jω)]
Step 2: Magnitude → |G(jω)| = 100 / √[(1+(0.1ω)^2)(1+(0.01ω)^2)]
Step 3: Phase → ∠G(jω) = -tan■¹(0.1ω) - tan■¹(0.01ω)
Step 4: Break Frequencies → ω=10, ω=100
Slope: Before 10 → 0 dB/dec, 10 to 100 → -20 dB/dec, After 100 → -40 dB/dec
5. Stability Margins
• Gain Margin (GM) = 1 / |G(jωpc)|
• Phase Margin (PM) = 180° + ∠G(jωgc)
■ Stability Margin Example
Given: G(s) = 10 / [s(1+s)]
Step 1: Substitute s=jω → G(jω) = 10/[jω(1+jω)]
Step 2: Find |G(jω)| and phase.
At ωgc → |G(jω)|=1 → solve for ω.
At that ω, calculate phase → PM = 180° + phase.
Similarly, find ωpc where phase=-180°, then GM = 1/|G(jωpc)|.
6. PID Control
u(t) = Kp·e(t) + Ki∫e(t)dt + Kd·de(t)/dt
• P: fast response, • I: removes steady-state error, • D: improves stability
■ PID Example
Plant: G(s) = 1/s. Input = Ramp (r(t)=t).
Error without controller: ess = ∞.
With PI controller (Kp + Ki/s), steady state error becomes finite and can be reduced to zero by
tuning Ki.
7. Static Error Coefficients
• Position Error (Kp), Velocity Error (Kv), Acceleration Error (Ka).
Example: For ramp input, ess = 1/Kv.