CONTROL SYSTEMS

for

EC / EE / IN
By

www.thegateacademy.com

Syllabus

Control Systems

Syllabus for 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 ProportionalIntegral-Derivative (PID) control. State variable representation and solution of state equation of
LTI control systems.

Analysis of GATE Papers

(Control Systems)
Year

ECE

EE

IN

2013

11.00

10.00

10.00

2012

9.00

9.00

13.00

2011

8.00

8.00

12.00

2010

11.00

9.00

7.00

Over All
Percentage

9.75%

9.00%

10.5%

th

th

th

THE GATE ACADEMY PVT.LTD. H.O.: #74, KeshavaKrupa (third Floor), 30 Cross, 10 Main, Jayanagar 4 Block, Bangalore-11
: 080-65700750, [email protected] Copyright reserved. Web: www.thegateacademy.com

Contents

Control Systems

CONTENTS
Chapter
#1.

#2.

Basics of Control System

1 - 30

1- 4
4-5
5-8
8 - 10
11 - 17
18 - 22
22 - 24
25
25 - 30

#4.

Classification of Control Systems

Effect of Feedback
Transfer Functions
Signal Flow Graphs
Solved Examples
Assignment 1
Assignment 2
Answer Keys
Explanations

Time Domain Analysis

31 - 58

31 - 32
32 - 33
33 - 35
35 - 39

#3.

Page No.

Introduction
Standard Test Signals
Time Response of First Order Control System
Time Response of Second Order Control System
Time Response of the Higher Order Control System &
Error Constants
Solved Examples
Assignment 1
Assignment 2
Answer Keys
Explanations

39 - 41
42 - 46
47 - 51
51 - 53
54
54 - 58

Stability &Routh Hurwitz Criterion

59 - 79

59 - 61
61 - 62
62 - 63
64 - 67
68 - 70
71 - 72
73
73 - 79

Introduction
Relative Stability Analysis
Routh Hurwitz Criterion
Solved Examples
Assignment 1
Assignment 2
Answer Keys
Explanations

Root Locus Technique

80 - 99

80
80 - 81
81 - 83
84 - 88

Introduction
Rules for the Construction of Root Locus
Complementary Root Locus
Solved Examples
th

th

th

THE GATE ACADEMY PVT.LTD. H.O.: #74, KeshavaKrupa (third Floor), 30 Cross, 10 Main, Jayanagar 4 Block, Bangalore-11
: 080-65700750, [email protected] Copyright reserved. Web: www.thegateacademy.com
Page I

Contents

#5.

#6.

#7.

#8.

Control Systems

89 - 92
93 - 94
95
95 - 99

Assignment 1
Assignment 2
Answer Keys
Explanations

Frequency Response Analysis Using Nyquist Plot

100 -131

100 - 101
101 - 103
103 - 107
107 - 108
109 - 113
114 - 119
119 - 125
126
126-131

Frequency Domain Specifications

Polar Plot
Nyquist Plot and Nyquist Stability Criteria
Gain Margin
Solved Examples
Assignment 1
Assignment 2
Answer Keys
Explanations

Frequency Response Analysis Using Bode Plot

132 -156

132 - 134
134 - 137
137 - 140
141 - 145
146 - 150
151 - 152
153
153 - 156

Bode Plots
Bode Magnitude Plots for Typical Transfer Function
M & N Circles
Solved Examples
Assignment 1
Assignment 2
Answer Keys
Explanations

Compensators & Controllers

157 - 175

157
157 - 158
159 - 160
161 - 163
163 - 164
165 - 168
169 - 170
170 - 172
173
173 - 175

Introduction
Phase Lag Compensator
Phase Lead Compensator
Phase Lag Lead Compensator
Controllers
Solved Examples
Assignment 1
Assignment 2
Answer Keys
Explanations

State Variable Analysis

176 - 198

176
176 - 179
179 - 180
180 - 181
182 - 186

Introduction
State Space Representation
State Transition Matrix
Characteristic Equation & Eigen Values
Solved Examples
th

th

th

THE GATE ACADEMY PVT.LTD. H.O.: #74, KeshavaKrupa (third Floor), 30 Cross, 10 Main, Jayanagar 4 Block, Bangalore-11
: 080-65700750, [email protected] Copyright reserved. Web: www.thegateacademy.com
Page II

Contents

Control Systems

187 - 190
190 - 192
193
193 - 198

Assignment 1
Assignment 2
Answer Keys
Explanations

Module Test

199 - 216
199 - 210
211
211 - 216

Test Questions
Answer Keys
Explanations

Reference Books

217

th

th

th

THE GATE ACADEMY PVT.LTD. H.O.: #74, KeshavaKrupa (third Floor), 30 Cross, 10 Main, Jayanagar 4 Block, Bangalore-11
: 080-65700750, [email protected] Copyright reserved. Web: www.thegateacademy.com
Page III

Chapter 1

Control Systems

CHAPTER 1
Basics of Control System
Introduction
It is a system by means of which any quantity of interest in a machine or mechanism is
controlled (maintained or altered) in accordance with the desired manner. Following diagram
depicts the block diagram representation of a control system.
Control
System

Reference input
r(t)

Controlled output
c(t)

Fig. 1.1 Block diagram of a control system

Any system can be characterized mathematically by Transfer function or State model.
Transfer function is defined as the ratio of Laplace Transform (L.T) of output to that of input
assuming initial conditions to be zero. Transfer function is also obtained as Laplace transform of
the impulse response of the system.
Transfer Function =
T(s) =

, ( )=
, ( )-

|initial conditions = 0

( )
|initial conditions = 0
( )

For any arbitrary input r(t), output c(t) of control system can be obtained as below,
r(t) = L

(R (s)) = L

Where L and L
operator.

(T (s) . R (s))

(T(s)) * r(t)

are forward and inverse Laplace transform operators and * is convolution

Classification of Control Systems

Control systems can be classified based on presence of feedback as below,
1.
2.

Open loop control systems

Closed loop control systems.

Open-loop Control System

Reference input

Controller

Actuating
Signal

Process

Output

Fig 1.2. Block diagram of open-loop control system

Figure 1.2 depicts block diagram of a open loop control system. Also following are salient points
as referred to an open-loop control system.

The reference input controls the output through a control action process. Here output has
no effect on the control action, as the output is not fed-back for comparison with the input.
Accuracy of an open-loop control system depends on the accuracy of input calibration.
THE GATE ACADEMY PVT.LTD. H.O.: #74, KeshavaKrupa (third Floor), 30th Cross, 10th Main, Jayanagar 4th Block, Bangalore-11
: 080-65700750, [email protected] Copyright reserved. Web: www.thegateacademy.com
Page 1

Chapter 1

Control Systems

The open loop system is simple and cheap to construct.

Due to the absence of feedback path, the systems are generally stable
Examples of open loop control systems include Traffic lights, Fans, Washing machines etc,
which do not have a sensor.
If R(s) is LT of input and C(s) is LT of output of a control system of transfer function G(s),
then
( )
= G (s)
C (s) = G (s) R (s)
( )

Closed-loop Control System (Feedback Control Systems)

Figure shown below depicts the block diagram of a closed-loop control system. Closed-loop
control systems can be classified as positive and negative feedback (f/b) control systems. Also
following are the salient points related to closed-loop control systems.

In a close-loop control system, the output has an effect on control action through a
feedback.
The control action is actuated by an error signal e (t) which is the difference between the
input signal r(t)and the feedback signal f(t).
The control systems can be manual or automatic control systems.
Servomechanism is example of a close-loop (feedback) control system using a power
amplifying device prior to controller and the output of such a system is mechanical i.e.
position, velocity or acceleration.
Reference input
r(t)

Controller

Process

Output c(t)

Feedback signal (t)

Feedback Network

Fig 1.3.Block diagram of closed loop control system

For Positive feedback, error signal e(t) = r(t) + f(t)
For Negative feedback, error signal e(t) = r(t) f(t)
r(t)

e(t)

G(s)

c(t)

f(t)

H(s)
Fig. 1.4 Transfer function representation of a closed loop control system.
Generally, the purpose of feedback is to reduce the error between the reference input and the
system output.
Let G(s) be the forward path transfer function, H(s) be the feedback path transfer function and
T(s) be the overall transfer function of the closed-loop control system, then
T(s) =

( )
( ) ( ))

Here negative sign in denominator is considered for positive feedback and vice versa.
THE GATE ACADEMY PVT.LTD. H.O.: #74, KeshavaKrupa (third Floor), 30th Cross, 10th Main, Jayanagar 4th Block, Bangalore-11
: 080-65700750, [email protected] Copyright reserved. Web: www.thegateacademy.com
Page 2

Chapter 1

Positive feedback Control Systems

Unity F/B (H(s) = 1)

Non Unity F/B (H(s)

1)

T(s) =

T(s) =

T(s) =

Non Unity F/B

( )
( )
( )
( ) ( )

T(s) =

Negative feedback Control Systems

Unity F/B
:

Control Systems

( )
( )
( )
( ) ( )

Here, G(s) is T.F. without feedback (or) T. F of the forward path and H(s) is T.F. of the feedback
path.
Block diagram shown below corresponds to closed loop control system.
R(s)

G(s)

C(S)

F(s)

H(s)
Fig. 1.5 Block diagram of a closed loop control system
The overall transfer function can be derived as below,
L{r(t)} = R(s) Reference I/P
L{c(t)}= C(s) Output (Controlled variable)
L*f(t)+ F (s) Feedback signal
L{e(t)} = E(s) Error or actuating signal
G( )H( ) Open loop transfer function
E( )/R( ) Error transfer function
G(s) Forward path transfer function
H(s) Feedback path transfer function
E(s) = R(s) F(s) ; F(s) = H(s) C(s)
C(s) = E(s) G(s) C(s) = { R(s) H(s)C(s)+ G(s)
( )
( )

Also,

( )
( )

( )
( ) ( )

( ) ( )

Here negative sign is used for positive feedback and positive sign is used for negative feedback.
The transfer function of a system depends upon its elements assuming initial conditions as zero
and it is independent of input function

Comparison of Open-loop and Close-loop Control Systems

Table below summarizes the comparison between open and closed loop control systems.

S.No
1.

Open-loop C.S.

Closed-loop C.S.

The accuracy of an open loop system

depends on the calibration of the input.
Any departure from pre determined
calibration affects the output.

As the error between the reference

input and the output is continuously
measured through feedback, the closeloop system works more accurately.

THE GATE ACADEMY PVT.LTD. H.O.: #74, KeshavaKrupa (third Floor), 30th Cross, 10th Main, Jayanagar 4th Block, Bangalore-11
: 080-65700750, [email protected] Copyright reserved. Web: www.thegateacademy.com
Page 3

Chapter 1

Control Systems

2.

The open-loop system is simple to

construct.

The close-loop system is complicated to

construct

3.

Cheaper

Costly.

4.

The open-loop systems are generally

stable.

The close-loop systems can become

unstable under certain conditions.

5.

The operation of open loop system is

affected due to presence of nonlinearities in its elements.

In terms of the performance, the closeloop systems adjusts to the effects of

non - linearities present in its elements.

Effect of Feedback
The feedback has effects on system performance characteristics such as stability, bandwidth,
overall gain, impedance and sensitivity.

1.

Effect of feedback on Stability

Stability is a notion that describes whether the system will be able to follow the
input command.
A system is said to be unstable, if its output is out of control or increases without
bound.
Negative feedback in a control system improves stability and vice versa.

2.

3.

Effect of feedback on overall gain

Negative feedback decreases the gain of the system and Positive feedback increase
the gain of the system.

Effect of feedback on Sensitivity

Consider G as a parameter that can vary. The sensitivity of the gain of the overall system T
to the variation in G is defined as
=

/
/

Where
denotes the incremental change in T due to the incremental change in G;
and / denote the percentage change in T and G, respectively.
=

Similarly,

/
/

-1

Negative feedback makes the system less sensitive to the parameter variation.
4.
5.
6.

Negative feedback improves the dynamic response of the system

Negative feedback reduces the effect of disturbance signal or noise.
Negative feedback improves the Bandwidth of the system.
Let

A variable that changes its value

A parameter that changes the value of

change in
change in

THE GATE ACADEMY PVT.LTD. H.O.: #74, KeshavaKrupa (third Floor), 30th Cross, 10th Main, Jayanagar 4th Block, Bangalore-11
: 080-65700750, [email protected] Copyright reserved. Web: www.thegateacademy.com
Page 4

Chapter 1

Control Systems

Open Loop Control System

R(s)

C(s)
G(s)

M(s),open loop control system-

( )
( )

G(s)

( )
( )
( )

( )
( )

( )
( )

Closed Loop control system

R(s)

G(s)

C(s)

H (s)

M(s),closed loop control systemG(s)

( )
( )
( )

( )
( )

( )
( )

( )

0
)

( )
( ) ( )

( )
1
( )

( )
( ) ( )

( )

( )
( )

G(s)H(s)
( )
1
( ) ( )

From equation 1
( )
,
G(s) H(s)- x
( )

( ) ( ) ( ) ( )
,
( ) ( )-

( ) ( )-

( ) ( )-

( ) ( )

1 + G(s) H(s) = Noise Reduction factor

= Return Difference

Sensitivity of closed loop system is reduced by factor [1 + G(s) H(s)]

Open Loop control systems are more sensitive to any external or interval disturbance.
( ) ( )
Complementary sensitivity function =
T(s)
( )
( )

(s)

T(s) = 1

Transfer Functions
Transfer function of a generic control system can be found using block diagram approach or
signal flow graphs as described in the following sections.

THE GATE ACADEMY PVT.LTD. H.O.: #74, KeshavaKrupa (third Floor), 30th Cross, 10th Main, Jayanagar 4th Block, Bangalore-11
: 080-65700750, [email protected] Copyright reserved. Web: www.thegateacademy.com
Page 5