ELECTRICAL

ENGINEERING

CONTROL
SYSTEMS

Comprehensive Theory
with Solved Examples and Practice Questions

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Control Systems Second Edition : 2016

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 Control Systems
CHAPTER 1 CHAPTER 4

Introduction............................................................1-7 Signal Flow Graphs.......................................49-69

1.1 Open Loop Control Systems................................................ 1 4.1 Introduction.............................................................................49

1.2 Closed Loop Control Systems.............................................. 2 4.2 Terminology of SFG...............................................................49

1.3 Difference between Performance of Open Loop 4.3 Construction of Signal Flow Graphs...............................51
Control System and Closed Control Systems................. 3 4.4 Mason’s Gain Formula..........................................................54
1.4 Laplace Transformation......................................................... 4 Objective Brain Teasers..........................................................58

Conventional Brain Teasers..................................................66

CHAPTER 2
CHAPTER 5
Transfer Function.............................................8-27
2.1 Transfer Function and Impulse Feedback Characteristics............................ 70-83
Response Function.................................................................. 8
5.1 Feedback and Non-Feedback Systems..........................70
2.2 Standard Test Signals............................................................10
5.2 Effect of Feedback on Overall Gain.................................71
2.3 Poles and Zeros of a Transfer Function..........................11
5.3 Effect of Feedback on Sensitivity.....................................72
2.4 Properties Of Transfer Function........................................13
5.4 Effect of Feedback on Stability.........................................75
2.5 Methods of Analysis..............................................................14
5.5 Control Over System Dynamics by the
2.6 DC Gain for Open Loop........................................................15 Use of Feedback.....................................................................76
2.7 Interacting & Non-Interacting Systems.........................19 5.6 Control on the Effects of the Disturbance
Objective Brain Teasers..........................................................21 Signals by the Use of Feedback........................................77

Conventional Brain Teasers..................................................26 5.7 Effect of Noise (Disturbance) Signals..............................78

Objective Brain Teasers..........................................................80

CHAPTER 3 Conventional Brain Teasers..................................................83

Block Diagrams.............................................28-48
CHAPTER 6
3.1 Block Diagrams : Fundamentals.......................................28

3.2 Block Diagram of a Closed-Loop System......................29 Modelling of Control Systems...................84-108

3.3 Block Diagram Transformation Theorems.....................31 6.1 Mechanical Systems..............................................................84

Objective Brain Teasers..........................................................41 6.2 Electrical Systems..................................................................86

Conventional Brain Teasers..................................................44 6.3 Analogous Systems...............................................................86

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 Control Systems

6.4 Nodal Method for Writing Differential Equation 9.4 Gain Margin and Phase Margin from
of Complex Mechanical System.......................................87 Root Locus Plot.................................................................... 222

6.5 Gear Train..................................................................................87 9.5 Effects of Adding Poles and Zeros to G(s)H(s)........... 225

6.6 Servomechanism...................................................................89 9.6 Complementary Root Locus (CRL) or

Objective Brain Teasers....................................................... 102 Inverse Root Locus (IRL).................................................... 226

Conventional Brain Teasers............................................... 105 Objective Brain Teasers....................................................... 229

Conventional Brain Teasers............................................... 237

CHAPTER 7
CHAPTER 10
Time Domain Analysis of
Control Systems....................................... 109-185 Frequency Domain Analysis of
7.1 Introduction.......................................................................... 109 Control Systems....................................... 250-353
7.2 Transient and Steady State Response......................... 109 10.1 Introduction.......................................................................... 250

7.3 Steady State Error............................................................... 111 10.2 Advantages of Frequency Response........................... 250

7.4 Static Error Coefficients.................................................... 112 10.3 Frequency Response Analysis of

Second Order Control System........................................ 251
7.5 Dynamic (or Generalised) Error Coefficients............. 120
10.4 Frequency-Domain Specifications............................... 253
7.6 Relationship between Static and
Dynamic Error Constants................................................. 121 10.5 Correlation between Step Response and Frequency
Response in the Standard Order System.................... 255
7.7 Transients State Analysis.................................................. 123
10.6 Frequency Domain Analysis of Dead Time or
7.8 Dominant Poles of Transfer Functions........................ 144
Transportation Lag Elements......................................... 258
Objective Brain Teasers....................................................... 152
10.7 Relative Stability: Gain Margin & Phase Margin....... 260
Conventional Brain Teasers............................................... 166
10.8 Gain Margin and Phase Margin for Second
Order Control System........................................................ 262
CHAPTER 8 10.9 Graphical Methods of Frequency
Domain Analysis.................................................................. 268
Stability Analysis of
10.10 Polar Plots.............................................................................. 268
Linear Control Systems........................... 186-211
10.11 Stability from Polar Plots.................................................. 275
8.1 The Concept of Stability................................................... 186
10.12 Effect of (Open Loop) Gain on Stability...................... 276
Objective Brain Teasers....................................................... 204
10.13 Gain Phase Plot.................................................................... 277
Conventional Brain Teasers............................................... 208
10.14 Theory of Nyquist Criterion............................................. 279

10.15 Bode Plots.............................................................................. 295

CHAPTER 9
10.16 Basic Factors of G(Jω)H(Jω).............................................. 295

The Root Locus Technique...................... 212-249 10.17 General Procedure for Constructing

9.1 Introduction.......................................................................... 212 the Bode Plots...................................................................... 300

9.2 Angle and Magnitude Conditions................................ 213 Objective Brain Teasers....................................................... 308

9.3 Construction Rules of Root Locus................................. 214 Conventional Brain Teasers............................................... 327

iv
 Control Systems

CHAPTER 11 CHAPTER 12

Industrial Controllers State Variable Analysis............................397-450

and Compensators................................... 354-396 12.1 Introduction.......................................................................... 397

11.1 Introduction to Compensators...................................... 354 12.2 State Space Representation of Control System....... 397

11.2 Lead Compensator............................................................. 357 12.3 Special Case: State Equation for Case that

11.3 Lag Compensator............................................................... 359 Involves Derivative of Input............................................ 399

11.4 Comparison of Lead and Lag Compensators........... 361 12.4 State-Space Representation using Physical
Variables - Physical Variable Model.............................. 399
11.5 Lag-Lead Compensator.................................................... 361
12.5 Procedure for Deriving State Model for a Given
11.6 Design by Gain Adjustment............................................ 369
Physical System................................................................... 403
11.7 Industrial Controllers......................................................... 372
12.6 State Model from Transfer Function............................. 403
11.8 Proportional (P) Controller.............................................. 373
12.7 State Model from Signal Flow Graph........................... 416
11.9 Integral (I) Controller (Reset Mode)............................. 374
12.8 Transfer Function from State Model............................ 418
11.10 Derivative (D) Controller (Rate Mode)......................... 375
12.9 Stability from State Model............................................... 420
11.11 Proportional Integral (P-I) Controller........................... 377
12.10 Solution of State Equations............................................. 421
11.12 Proportional Derivative (P-D) Controller.................... 379
12.11 Properties of State Transition Matrix [f(t) = eAt]....... 422
11.13 Proportional Integral Derivative (P-I-D)
12.12 Cayley-Hamilton Theorem............................................... 427
Controller............................................................................... 380
12.13 Controllability and Observability.................................. 428
11.14 Op-Amp based Realisation of Controllers................. 381
12.14 State Variable Feedback................................................... 429
Objective Brain Teasers....................................................... 387
Objective Brain Teasers....................................................... 433
Conventional Brain Teasers............................................... 393
Conventional Brain Teasers............................................... 440