INSTITUTE OF ENGINEERING & MANAGEMENT
SUBJECT: CONTROL SYSTEM ENGINEERING
SUBJECT CODE: PCCEC601
Course Outcomes:
1. Define and explain Transfer function, feedback control system and discuss the importance of
performance, robustness and stability in control design.
2. Student will be Interpret and apply block diagram, signal flow diagrams for representations of different
control systems and design PID controllers. Student will learn time response analysis and static and
dynamic error analysis of the system.
3. Student can compute stability of linear systems using the Routh array and will be able to design root
locus techniques to check the stability of the system.
4. Compute gain and phase margins from Bode diagrams and Nyquist plots and understand their
implications in terms of robust stability, State Space analysis.
CONTROL SYSTEM CLASS NOTES
CONTENTS
MODULE 1 : Introduction to control system (CO1 and CO2)
• Open-loop & Closed-loop Systems
• Pole-Zero Concepts
• Transfer Function
• Types & Order
• Block Diagram Reduction method
• Signal Flow Graph & Masson’s Gain Formula
• Related Problems
MODULE 2 : Mathematical modelling of dynamic systems (CO1)
• Tachometer
• Servomechanism
• Synchro
MODULE 3 : Time response analysis (CO2)
• First Order & Second Order Responses
• Steady State Error & Constants
• Related Problems
MODULE 5 : Control system performance measure (CO2)
• PID Controller
MODULE 6 : State Space Analysis (CO4)
• State Space Equations
• State Transition Matrix
• Related Problems
MODULE: I
TOPIC: Introduction to control system.
CO1: Define and explain Transfer function, feedback control system and discuss the importance of
performance, robustness and stability in control design.
CO2: Student will be Interpret and apply block diagram, signal flow diagrams for representations of
different control systems and design PID controllers. Student will learn time response analysis and static
and dynamic error analysis of the system.
Control system is to control a mechanism to achieve desired output. Two types of basic control systems
are there:
(i) OPEN-LOOP CONTROL SYSTEM: It is one way control system, no feedback path is there.
(ii) COLSED-LOOP CONTROL SYSTEM: Output of this system is controlled by feedback signal
path.
TRANSFER FUNCTION: Ratio of Laplace transform of output to Laplace transform of input
[C(S)/R(S)]. It gives the characteristics of a control system. Denominator of a transfer function shows
the roots or poles of a control system while numerator of a transfer function shows the zeros of a control
system.
OPEN-LOOP TRANSFER FUNCTION:
Open-loop Transfer Function = C(S)/R(S) = G(S).
CLOSED-LOOP TRANSFER FUNCTION:
G(S) = C(S) / E(S)…….(i) Where, E(S) = R(S) – B(S)
Here, H(S) = B(S) / C(S) or, B(S) = H(S).C(S)
Substituting the values of B(S) and E(S) in equation (i), Overall Transfer Function = C(S)/R(S) =
G(S)/[1+ G(S).H(S)] for (–)ve feedback system. In case of (+)ve feedback system C(S)/R(S) = G(S)/[1-
G(S).H(S)].
POLES / ZEROS: Let, overall transfer function = C(S)/R(S) = (S+a)/(S+b).
If S+a = 0, then S = -a. For this value of S, transfer function becomes zero. Therefore (S+a) gives a zero
of a control system.
If S+b = 0, then S = -b. For this value of S, transfer function becomes infinite. Therefore (S+b) gives a
pole of a control system.
EXAMPLE: Find the transfer function of the following network.
Soln: vo(t) = [vi(t)/(R+1/sC)]×(1/sC) or, vo(t)/vi(t) = 1/(1+sRC).
ORDER & TYPE OF A SYSTEM: Highest power of S in denominator of a transfer function is the order
of a system and the number of poles passing through the origin of s-plane gives the type of a system.
For this given transfer function, C(S)/R(S) = (S-3)/[S2.(S+1)(S+2)]
Order is 2 and Type is also 2. Thus it is a second order Type 2 system.
NOTE :
SIGNAL FLOW GRAPH: Signal flow graph is a graphical representation of algebraic equations. Nodes
and branches are the basic elements of signal flow graph. All the blocks, summing points and take-off
points are eliminated by these nodes and branches. A signal on the branch travels in the direction of arrow
indicated on the branch.
EXAMPLE: Find the transfer function of the following signal flow graph.
Soln: x2 = a.x1+c.x3 x3 = b.x2 x4 = d.x3+f.x5 x5 = e. x4 x6 = g.x5
By eliminating intermediate variables, x2, x3, x4, x5, overall transfer function can be derived as
x6/x1 = abdeg/[1-(bc+ef)+bcef], i.e, T = P/[1-(L1+L2)+L1.L2 , where P = forward path transmittance, L1
and L2 = individual loop transmittances, L1.L2 = products of non-touching loop-pair transmittance.
MASON’S GAIN FORMULA: Let us now discuss the Mason’s Gain Formula. Suppose there are ‘N’
forward paths in a signal flow graph. The gain between the input and the output nodes of a signal flow
graph is nothing but the transfer function of the system. It can be calculated by using Mason’s gain
formula.
Pk = kth forward path transmittance or gain.
∆ = 1 – sum of all individual loop gains + sum of gain product of all possible combinations of two
non-touching loops) – sum of gain product of all possible combinations of three non-touching loops +
....
∆k = 1 - loop gain which does not touch the kth forward path.
EXAMPLE: Using signal flow graph find out the transfer function of the following block diagram.
Soln: Given block diagram can be converted into SFG as shown below.
Where, P1 = G1 ∆1 = 1 P2 = G2 ∆2 = 1 L1 = - G2H1 L2 = - G1H1
∆ = 1 – (L1+L2) + 0 = 1+G1H1+G2H1 Therefore, T = C(S)/R(S) = (G1+G2)/(1+G1H1+G2H1).
EXAMPLE: Find out the transfer function of the following SFG.
Soln: P1 = 1 ∆1 = 1 - (3/S – 24/S) = (S+27)/S L1 = -2/S L2 = -3/S L3 = -24/S
∆ = 1 – (L1+L2+L3) + (L1L2+0) = (S2+29S+6) / S2
Therefore, C(S)/R(S) = (P1×∆1)/∆ = [S(S+27)] / [S2+29S+6].
EXAMPLE: Find the transfer function for the network shown in figure & obtain the order of the system.
[B5]
Soln: V1(S) = {(1+1/S) (1+S) / (1+1/S) + (1+S)} × I(S) + (1+1/S) × I(S)
V1(S) = {(1+2.S) / S} × I(S) ………………………….(i)
V2(S) = {(1+S) / S} × I(S) ………………………….(ii)
Therefore, V2(S)/V1(S) = (1+S) / (1+2S). First order system.
EXAMPLE: The block diagram of a control system is shown in figure. Find out its transfer function.
Soln:
ASSIGNMENT QUESTIONS
1. Find out C(S)/R(S) of the following system. [B4]
2. Find out overall transfer function of the following system. [B4]
3. Obtain the steady state error for the closed loop control system shown in figure when subjected to a
unit step input. [B5]
MODULE: II
TOPIC: Mathematical modelling of dynamic systems
CO1: Define and explain Transfer function, feedback control system and discuss the importance of
performance, robustness and stability in control design.
CO2: Student will be Interpret and apply block diagram, signal flow diagrams for representations of
different control systems and design PID controllers. Student will learn time response analysis and static
and dynamic error analysis of the system.
SERVO MECHANISM: A servo mechanism is a control system where controlled variable is a
mechanical position or the rate of change of position or rate of change of velocity, i.e, velocity or
acceleration. It uses error-sensing (-)ve feedback to correct output performances of a mechanism.
TACHOGENERATOR / TACHOMETER: Tachometer are the electromechanical devices that convert
mechanical energy into electrical energy. This device works as a voltage generator with the output
voltage proportional to the magnitude of the angular velocity of the shaft. In control system, most of the
tachometers used are of dc type (i.e, output voltage is a dc signal). Figure shows a typical velocity control
system in which the tachometer output is compared with the reference voltage. The error is amplified
and used to drive the motor, so that the velocity will eventually reach the desired velocity.
The tachometer is coupled with the motor through a shaft and thus generates corresponding voltage
output which is compared with the reference. DC tachometer uses permanent magnet for producing
magnetic field. As the magnetic flux is constant due to the use of permanent magnet, the generated output
voltage is proportional to the shaft speed.
Following figure shows a feedback control system where DC generator which is here termed as
tachogenerator acts as a feedback sensor. A dc tachogenerator can also be used for ac system by using a
modulator to convert dc voltage signal into an ac voltage signal.
The mechanism that minimizes the difference between the actual value and the desired value of the
system output is known as controller.
The way in which automatic controller produces control signal is known as control action.
Actuating signal: It is the input to the control unit that causes the output to have the desired value.
SYNCHRO: It is a type of transducer which transforms the angular position of the shaft into an electrical
signal. It is used as an error detector.
ASSIGNMENT QUESTIONS
1. What is servo mechanism & synchro?
2. Explain how tachogenerator can be used as feedback device.
TOPIC: Time domain analysis
MODULE: III
CO2: Student will be Interpret and apply block diagram, signal flow diagrams for representations of
different control systems and design PID controllers. Student will learn time response analysis and static
and dynamic error analysis of the system.
For a given input change in output with respect to time is known as time response.
ASSIGNMENT QUESTIONS
1. Give the output response c(t) of a second order feedback system for a unit step input.
2. If output response of a second order system is given as
c(t) = 1- [e-ζ.ωn.t /√(1-ζ2 )] × sin (ωd.t + φ), then give the expression for maximum over shoot (Mp).
3. For a secondorder standard system show that roots are complex when the system is underdamped.
4. For which values of K and a, the following feedback system oscillates at 2rad/sec?
5. If C(S) / R(S) = 100 / [S2+20s+100], prove that system is critically damped.
6. If C(s)/R(s) = (1/sT+1), prove that steady state error is zero for a unit step function.
8. Find out steady state error of the given system for a unit step input.
9. Give the expression for steady state error for the following system.
TOPIC: Control system performance measure
MODULE: V
CO5: Student will be able to learn design and study of different controllers such as PI, PD and PID
controllers.
PID CONTROLLER: An automatic control system is used to maintain its output within desirable limits
by means of a control action. Any deviation of output from the reference input is detected by an error
detector. This error is used as an actuating signal for control action through a controller. The details of
PID controller is explained below.
Proportional control: Actuating signal is proportional to error signal. e a(t) ∞ e(t) or, ea(t) = k.e(t) or,
Ea(s) = k.E(s).
Derivative control: Actuating signal is proportional to derivative of error signal. ea(t) ∞ d/dt[e(t)] or,
ea(t) = Td.d/dt[e(t)] or, Ea(s) = [Link].E(s).
Integral control: Actuating signal is proportional to integral part of error signal. ea(t) ∞ ∫[e(t)]dt or, ea(t)
= Ti.∫[e(t)]dt or, Ea(s) = (Ti/s).E(s).
In case of PID controller combination of these three is used, i.e., actuating signal consists of proportional
error signal added with derivative and integral of the error signal.
Ea(s) = (k+[Link]+Ti/s).E(s). or, Ea(s)/E(s) = k+[Link]+Ti/s.
PID controller combines the advantages of proportional, derivative and integral control action.
Block diagram of a PID controller based motor controlling has been shown below.
TOPIC: State variable analysis
MODULE: VI
CO4: Compute gain and phase margins from Bode diagrams and Nyquist plots and understand their
implications in terms of robust stability, State Space analysis.
SET - 1
SET - 2
ASSIGNMENT QUESTIONS
1. A system is described by the state equation x.(t) = Ax(t) +Bu(t). The output is given by y(t) = Cx(t),
where
2. Obtain the transfer function Y(s)/U(s) of a system described by the state equations
x.(t) = -2.x(t)+2.u(t) and y(t) = 0.5.x(t).
3. For the transfer function Y(s)/U(s) = 1/ (s3+3s2+4s+3), obtain the state equations with signal flow
graph.
4. Obtain the transfer function Y(s)/U(s) of a system described by the state equations
x.(t) = -2.x(t)+2.u(t) and y(t) = 0.5.x(t).
1. Find out ORDER and TYPE of the system with G(s) = (s-2)/[s.(s+1)].
2. What do you mean by the TYPE of a system?
3. Find out the transfer function of the following system.
4. Obtain transfer function for
5. Find out transfer function of the following network.
6. Find out transfer function for the following block diagram.
7. Find out the transfer function of the system described by d2y(t)/dt2 + dy(t)/dt = du(t)/dt +2u(t)
with u(t) as input & y(t) as output.
MODULE 2
8. What do you mean by analogous systems?
9. What are the two types of analogy between mechanical translational and electrical systems?
10. What do you mean by synchro’s?
11. What is actuator?
12. Define servo mechanism.
13. What do you mean by controller?
MODULE 3
14. What is steady state error?
15. What is the steady state error for a feedback system of TYPE 1 due to a step input?
16. What is the steady state error for a feedback system of TYPE 1 due to a ramp input?
17. What do you mean by maximum over shoot (Mp)?
18. What is settling time (ts) of a system?
19. What do you mean by steady state error?
20. What do you mean by time response?
21. What are the steady state error constants?
22. What is the steady state error due to a step input for type 1 system?
23. Obtain the steady state error due to a ramp input for a feedback system of type 2.
24. Define impulse function.
25. Define unit step function.
26. Define velocity error constant (Kv).
27. What is characteristic equation?
28. Write down the expression of transfer function for a closed loop system with positive feedback.
29. Define Step signal, Ramp signal and Parabolic signal.
30. How can you express standard characteristic equation for a second order feedback control system?
31. What do you mean by damping factor?
32. Justify that impulse function is a first order derivative of step function.
33. What are the standard test signals employed for time domain studies?
34. What are time domain specifications?
35. What is meant by stable system?
MODULE 4
36. State the necessary and sufficient conditions for Routh stability criteria.
37. Explain the significance of breakaway point for the drawing of root locus.
38. G(s) = 10/(s+4)(s+6), determine the damping ratio and undamped natural frequency of oscillation.
39. Explain the concept of breakaway point for checking the stability using root locus.
40. Explain the significance of asymptotes for the drawing of root locus .
41. State Routh stability criteria.
42. Define gain-cross over frequency (ω ).
gc
43. Define non-minimum phase transfer function?
44. Define minimum phase transfer function.
45. For a stable system the gain cross over occurs earlier than phase cross over. Justify your
answer.
46. What is meant by frequency response of system?
47. List the frequency domain methods to find the stability of the system.
48. What are frequency domain specifications?
49. What are the advantages of frequency response analysis?
50. Give the limitations of frequency response analysis.
51. What is bode plot?
52. Define a decade in bode plot.
53. What is a polar plot?
54. Give the advantages of polar plots?
55. Define phase cross over frequency in nyquist plot.
56. Define phase cross over point in Nyquist plot.
57. Define phase margin in Nyquist plot.
58. What is Nichol’s chart?
59. What are the advantages of Nichols chart?
60. How the closed loop frequency response is determined from the open loop frequency response?
61. For a stable system the gain margin and phase margin should be positive. Justify answer.
62. Give the factors of G(jω) used in the construction of bode plots.
63. Discuss relative stability in frequency domain
64. The gain of a system is 10 at some frequency. Express it in terms of db.
65. If the gain of the open loop system is doubled, what will be the gain margin?
66. What are compensators?
67. What is auxiliary polynomial?
68. The Routh-Hurwitz criteria gives absolute stability. Justify your answer.
69. The addition of a pole will make a system more stable. Justify your answer.
70. What do you mean by root locus technique?
71. How will you find the root locus on real axis?
72. What is centroid?
73. How the centroid is calculated?
74. What are asymptotes?
75. Give the formula for finding angle of departure at complex pole.
76. What is magnitude criterion of root locus?
77. Give the formula for finding angle of arrival at complex pole.
78. Give the effect of addition of poles on the root locus.
79. Give the effect of addition of zero on the root locus.
80. State the advantages of root locus method.
81. State the principle of argument.
MODULE 5
82. Define derivative (D) controller.
83. Define proportional (P) controller.
84. Distinguish between transfer function technique and state space analysis.
85. What is the need for observability test?
86. What is controllability?
87. What is observability?
88. What is an actuating signal?
MODULE 6
89. Why most of the systems are non-linear in nature?
90. Write the general form of state variable matrix.
91. For 3rd order control system how many number of state variables are needed?
92. Mention the conditions for formulation of state space equations.
93. List the advantages of state variable analysis.
94. Define identity matrix with example.
95. What are the limitations of transfer function technique?
96. What is state transition matrix?
97. What is state space?
98. What is state vector?
99. For this block diagram given below draw a signal flow graph.
100. Draw a signal flow graph and give the transmittance for the following system.
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5 MARKs
MODULE 1
101. Give short note on signal flow graph.
102. For the following system mention the forward paths, individual loops and pair of non-touching
loops.
103. Find the transfer function of the following signal flow graph.
104. Find out overall transfer function of the following signal flow graph.
105. Find out the transfer function V2(S)/V1(S) of the circuit shown below
106. Find the overall transfer function of the following block diagram.
107. The block diagram of a control system is shown in figure. Obtain the transfer function Y(S)/R(S)
for the system.
108. Show that how Masson’s Gain formula can be applied for the following system to calculate the
overall transfer function.
109. How can you apply signal flow graph technique to calculate overall transfer function of the
following system?
110. Obtain the steady state error for the closed loop control system shown in figure when subjected to a
unit step input.
111. How can Masson’s gain formula be applied for finding out C(S)/R(S) ratio of the following system?
112. How can you apply block diagram reduction method for finding out over all transfer function of
the following system?
113. Calculate transfer function for the network shown in figure & from there obtain the ORDER of the
system. Make comments on the TYPE of the system.
114. Determine the transfer function from the block diagram shown below.
115. Determine the overall transfer function relating C and R for the system whose block diagram is
shown below.
116. Determine the overall transfer function for the following system.
117. Reduce the block diagram shown in figure below.
118. Find out the transfer function C1/R1, C2/R2, C1/R2 and C2/R1 from the block diagram.
119. Obtain overall transfer function for the following system.
120. Reduce the block diagram shown in figure below to a single block representation.
MODULE 2
121. Design a system with block diagram where tacho-generator is used as a sensor.
MODULE 3
122. Find out the steady state error of a first order system of G(s) = 1/(1+sT) for unit ramp input.
123. Derive an expression for steady state error of a unity feedback control system.
124. Transfer function of a system is G(s) = (s+6)/(ks2+s+6) and damping ratio is 0.5. Find out the value
of k.
125. Considering unit step response of a unity feedback control system whose open loop transfer function
is G(s) = 1/[s(s+1)], find out the maximum overshoot.
126. Find out the open-loop dc gain of a unity negative feedback system with closed-loop transfer
function (s+4)/(s2+7s+13).
127. What is the value of K for a unity feedback system with G(s) = K/s(s+1) to have a peak overshoot
of 50% ?
128. Design the following feedback system with the values of K and a so that the system oscillates at
2rad/sec?
129. A unity feedback control system has forward path transfer function given by G(s) = [S+2] / S(S+1).
Determine the expression for unit step response and maximum overshoot.
130. Determine the unit step time response of a system having closed loop transfer function given below
as C(S)/R(S) = 1 / [(S+1)(S2+1)].
131. Determine the steady state error for a system whose open-loop transfer function is given by G(s)H(s)
= 5(S+4) / [S(S+1)(S+5)]. The input to the system being r(t) = 0 for t < 0 and r(t) = 2+2.t for t ≥ 0.
132. The open-loop transfer function of a unity feedback control system is given by G(S) = 5(S+1) /
S2.(S+4). Determine the steady state error if the input is r(t) = 2 – t + 2.t2.
MODULE 4
133. Discuss Nyquist stability criterion.
134. List the steps to solve problems by Nyquist criterion.
7.1a / 7.1b / 7.1c / 7.1d / 7.1e / 7.2 / 7.3 / 7.4 / 7.5 / 7.6 / 7.7a / 7.7b / 7.7c / 7.7d / 7.7e (Each carrying 5 marks)
MODULE 5
135. Distinguish between controllability and observability.
136. Give short note on PID controller.
MODULE 6
137. Deduce the state variable representation of the system, 5.d3y/dt3 + 10.d2y/dt2 + [Link]/dt + 2y = u(t).
138. Find the state transition matrix for the system given below.
139. A linear system is described by the following equations x.(t) = Ax(t) +Bu(t), where
Find out the state transition matrix of the system.
140. For the given transfer function Y(s)/U(s) = 1 / (s2+2s+5), obtain state model.
141. Prove that for a multi inputs and multi outputs system transfer function is Y(s)/U(s) = C.(sI-A)-1.B
+ D.
142. For , find out resolvant matrix.
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10 MARKs
MODULE 1
MODULE 3
143. Give the output response c(t) of a second order system for a unit step input.
144. If output response of a second order system is given as -
c(t) = 1- [e-ζ.ωn.t /√(1-ζ2 )] × sin (ωd.t + φ), then give the expression for maximum over
shoot (Mp).
145. R-L-C circuit shown in figure. For step input (ei), what will be the overshoot in the output (e0)?
146. For which values of K and a, the following feedback system oscillates at 2rad/sec?
147. For the open-loop transfer function given below determine the value of K at s = -1 and comment
on stability and time response of the system using root locus technique.
G(s)H(s) = k(s+1)) / (s2+0.4s+0.4)
148. For a feedback system with G(s) = 1/(s+1) and H(s) = k/s(s+2), find the range of k for closed loop
system to be stable.
149. The system shown in figure has steady state-error 0.1 for unit step input. Find out the value for K.
150. For what values of ‘a’ does the system shown in figure have a zero steady-state error for a step
input?
151. G(s) = 2 / [s(s+3)] is the forward path transfer function of a unit feedback control system. Obtain
the expression of output response for unit step function.
152. For a feedback control system damping ratio is 0.7 and undamped natural frequency ω n is 4 rad/sec.
Obtain the values of K and a.
153.
6.16. The overall transfer function of a unity feedback control system is given by C(S)/R(S) = 10 /
[S2+6S+10]. Find out
(a) Kp, Kv, Ka.
(b) Determine the steady state error if the input is r(t) = 1+t+t2.
MODULE 4
153. Design a system which used two integrators and after that it is multiplied with an open loop gain K
and cascaded with (s+1)/(s+3.6). Now sketch its poles and zeros location using a suitable method and
determine its stability and find its limitation in terms of K.
154. Design a system where it has one open loop gain K, one integrator and two poles located at -2+3j
and -2-3j. Check the stability by finding its breakaway point and necessary steps for realization.
155. The characteristic equation for the control system for an a.c induction motor is
(s+2)(s+4)(s+a)+k=0. To achieve good dynamic behavior, it is desired that the damping ratio is
0.5 and natural frequency is 4. Evaluate ‘a’ and ‘k’ by any method.
156. Apply the angle condition to determine whether the point s=-2+3j is on the root locus plot for s(s+2)
+ K(s+4) =0. If it is, evaluate the value of K at this point and the factored form of the characteristic
equation.
157. Consider a feedback system having the characteristic equation 1+K/(s+1)(s+1.5)(s+2) =0. It is
desired that all the roots of the characteristic equation have real parts less than -1. Extend the Nyquist
stability criterion to find largest value of K, satisfying this condition.
158. Evaluate gain and phase margin for an open loop system with gain 0.5 and poles are at 0 and -1+j
and -1-j using Bode plot.
MODLE 5
MODULE 6
159. For the following value of A, obtain the state transition matrix.
160. For a system with the transfer function Y(s)/U(s) = 3(s-2) / (s3+4s2-2s+1). Find out the matrix A in the
state space from x.(t) = Ax(t) +Bu(t)
161. Consider the system described by following state space equations -
If U is unit step input, then find out the steady state error of the system.
162. Obtain the transfer function Y(s)/U(s) of a system described by the state equations
x.(t) = -2.x(t)+2.u(t) and y(t) = 0.5.x(t).
163. For the given transfer function Y(s)/U(s) = [s 3+12s2+44s+48] / [s3+9s2+23s+15], obtain the state space
equations and give its corresponding signal flow graph.
164. Draw the signal flow graph and find the transfer function for the following state space equations.
165. For the transfer function Y(s) / U(s) = (s+3) / (s2+2s+7) give the state model and the system block diagram.
