Control Systems

• CEC19: Computer Control Systems

• Feed Back Characteristics of Control Systems:
• Feedback and Non-feedback Systems, Reduction of Parameter Variations by use of Feedback,
Control Over System Dynamics by use of Feedback, Control of Effects of Disturbance Signal by use
of Feedback and Regenerative Feedback.
• Time Response Analysis, Design Specifications and Performance Indices:
• Standard Test Signals, Time Response of First-order Systems, Time Response of Second-Order
Systems, Steady-State Error and Error Constants, Effect of Adding a Zero to a System, P, PI and PID
Control Action and Their Effect, Design Specifications of Second-Order Systems and Performance
Indices.
• Concepts of Stability Criteria:
• The Concept of Stability, Necessary Conditions for Stability, Hurwitz Stability Criterion, Routh
Stability Criterion and relative Stability Analysis.
• The Root Locus Technique:
• The Root Locus Concept, Construction of Root Loci, Root Contours, Systems with Transportation
Lag, Sensitivity of the Roots of the Characteristic equation, MATLAB : Analysis and Design of Control
Systems.
• Frequency Response Analysis:
• Correlation Between Time and Frequency Response, Polar Plots, Bode Plots, and All
• Pass and Minimum-Phase Systems. Mathematical Preliminaries, Nyquist Stability
Criterion, Definition of Gain Margin and Phase Margin, Assessment of Relative Stability
using Nyquist Criterion and Closed-Loop Frequency Response.
• Introduction to Design:
• The Design Problem, Preliminary Considerations of Classical Design, Realization of Basic
Compensators, Cascade Compensation in Time Domain Cascade Compensation in
Frequency Domain, Tuning of PID Controllers. MATLAB based Frequency domain analysis
of control system.
• Digital Control System
• Introduction to Digital Control, Discrete time System Representation, Sampling and
Reconstruction, Modeling discrete time systems by pulse transfer function. Revisiting
Z-transform, Mapping of S-Plane to Z-Plane, pulse transfer function of closed loop
systems.
• Programmable Logic Controller (PLC) and its applications. Review of computers in process
control: Data loggers, Direct Digital Control (DDC). Supervisory Control and Data
Acquisition Systems (SCADA), sampling considerations. Functional block diagram of
computer control systems. alarms, interrupts. Characteristics of digital data, controller
software, linearization. Digital controller modes: Error, proportional, derivative and
composite controller modes.
• Emerging Trends
• ECC14: Control Systems
Basic control system components; block diagrammatic description,
reduction of block diagrams.
Open loop and closed loop (feedback) systems and stability analysis of
these systems.
Signal flow graphs and their use in determining transfer functions of
systems
Transient and steady state analysis of LTI control systems and frequency
response
Tools and techniques for LTI control system analysis: Root loci,
Routh-Hurwitz criterion, Bode and Nyquist plots
Control system compensators: elements of lead and lag compensation,
elements of Proportional-Integral Derivative (PID) control
State variable representation and solution of state equation of LTI control
systems, Introduction to fuzzy control
• Books: Control Systems I J Nagrath and M. Gopal
•Automatic control systems B C Kuo
• Modern Control Engineering K Ogata
•Other books for Numerical
• A system/mechanism to maintain/alter a quantity of interest, generally output in a
desired manner
• Example: Driving System
Speed= f(accelerometer pedal)
Driving system (engine, body) is the control
system
I/p is Pressure on accelerometer pedal
O/p is speed
• Open loop Control: No feedback

Closed loop or Feedback control

• Information about Instantaneous O/p state is fed back to I/P and used to
modify it to achieve desired O/P
• Continuous manual control: Human
• Fast and complex systems:
System response too rapid
Very high operator skills
Self destructive systems
Automatic control is the key
Automatic Control System

Open loop: No correction for O/P variations

External conditions change: age, temp. humidity
pressure O/p changes
• OK if output stays fixed: controlled environment
• Closed loop can lead to stability issues
• Mathematical modeling of Control Sys.
Physical system: Collection of objects to serve an objective e.g.
Industrial plant, Electricity
System: Collection of components not essentially physical: economic
system, biological system, management system
Can’t represent a system with full intricacies:
Idealizing assumptions
• Physical Model: Idealized physical system
Problem specific or accuracy dependent
Satellite: point, rigid body or flexible body
Tradeoff: computational complexity vs. accuracy
Mathematical Model: Physical laws
Same Physical model different mathematical model: KCL, KVL
Dynamic response: Mathematical model solution input conditions
Linear System: Superposition and Homogeneity
• Linear System
• Mathematical Models: Differential equations
Coefficients f(t): LTV
or Constant: LTI
Linear Systems: Fourier or Laplace
Mechanical Systems: Three translatory and three rotational
• Columbic Friction: Dry surfaces
• Viscous Friction: solid in liquid or separated by liquids
• Proportional to velocity
• Dashpots
• Spring Mass Dashpot

• Linear constant coefficient differential equation 2nd order

• Electrical Systems: Series RLC

• Comparison with Spring-Mass-Dashpot: Analogous system

• Force (Torque)-Voltage

• Force (Torque)-Current
• Transfer Function: LTI system is the ratio of Laplace transform of
output variable to the input variable under zero initial conditions

• 2nd order : Highest power of s in denominator, RLC series

• TF independent of input, no info on internal system structure
• Sinusoidal transfer function: replace s by jw

• Procedure TF:
• No loading effect on output
• Linear lumped constant parameter model, Loading & No Loading
Rules:
• Rules:
• BD
• BD
• BD
• Feedback System: CL
• Signal Flow graphs: Complex systems Block D is tedious, time coms.
• Graphical relation between variables, set of linear algebraic eqn.
• Node: Sum of all incoming signals
• Branch: Direction of signal travel
• I/P node: only outgoing branches
• O/p node: only incoming branches
• Path: Traversal of branches in arrow direction, no node encountered
more than once
• Forward path: I/p node to O/p node
• Loop: Path starting and terminating at same node
• Non touching loops: loops no common node
• Forward path gain: Product of branch gains, Loop gain
• SFG: Masons Gain Formula
• Solution using MGF
• SFG

• P1

• P2
• Loops
• L1

• L2

• L3
• Loops

• L4

• L5
• SFG
• SFG: Masons Gain Formula
• Practice:BD
• SFG