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CS Lect1

The document outlines a comprehensive course on Control Systems, covering definitions, representations, feedback characteristics, stability criteria, and analysis techniques. It includes mathematical modeling of mechanical and electrical systems, as well as design considerations and tools like MATLAB for system analysis. Key topics also encompass transfer functions, block diagrams, and the root locus technique, providing a foundational understanding of control systems and their applications.

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aadityapanicker11
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7 views

CS Lect1

The document outlines a comprehensive course on Control Systems, covering definitions, representations, feedback characteristics, stability criteria, and analysis techniques. It includes mathematical modeling of mechanical and electrical systems, as well as design considerations and tools like MATLAB for system analysis. Key topics also encompass transfer functions, block diagrams, and the root locus technique, providing a foundational understanding of control systems and their applications.

Uploaded by

aadityapanicker11
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Control Systems

ICICC11
Course in brief
• Control System: Definition and Representation , Few Examples
• Control System Representation : Transfer Function
• Block Diagram and Signal Flow graph
• Block Diagram Reduction
• Masons Gain Formula
• Mathematical Modelling of Components
• Mathematical Modelling of Systems:
• Mechanical and Electrical 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.
• Books: Control Systems I J Nagrath and M. Gopal
•Automatic control systems B C kuo
•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
• Columb 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
Block Diagram Algebra
Rules:
• Rules:
• 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
• Practice:BD
• SFG

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