Contents:-

 Introduction .
 Industrial Revolution

 Control System
 Element of control system
 Types of control system
 Refrences
Introduction:-
 Mechatronics is the integration of electronics and control
engineering with mechanical engineering. (Mechanism +
electronics)

 In 1969, Japanese company Yaskawa electric corporation engineer

Tetsuro Mori start to work with inter disciplinary of engineering.

 French standard NF E 01-010 gives the following definition:

"approach aiming at the synergistic integration of mechanics,
electronics, control theory, and computer science within product
design and manufacturing, in order to improve and/or optimize its
functionality".
Continue……..
Mechanical Engg.
(Measurement system) Automation
(Automated system
Electronics Engg. completely self
(Microprocessor and micro-controller) controlled system
Mechatronics
with storage of all
the information and
display the
Control Engg. information)
(Control system)

Example:-
 Modern car with electronics fuel injection system and ABS.
 Washing machine with auto wash control.
 Automatic production line etc.
Industrial Revolution:-
Control System:-
 Automatic means that we are going to get certain output performance
of the system for different inputs.
 To maintain the performance of the system, even though the input is
varying or we are giving some specific input.
 There are some disturbances that comes in the system from
environment and therefore, we need a control system.
System:-
 A system is an collection of components which are co-ordinate
together to perform a function System.
 System interact with the environment across separating boundary.
 Interaction is defined in terms of variables: system input, system
output, environment disturbances.

Input System output

Control System:-
 A control system is an arrangement of physical components connected
or related in such manner as to command, direct or regulate itself or
another system.
 A system which can control some variable to a particular value i.e. an
Air conditioner.
 A system which can control the sequence of event i.e. washing
machine.
 A system can control either an event occur or not. A safety lock on a
machine.

Input Control Output

system Actual
Desired
Response Response
Continue……..
 we are going to give certain input to get some desired output.
 For any system that can interact with the surrounding or environment
and it can get some disturbance input.
 The output that is different from the desired output due some
disturbance And therefore, we need a control system.
 So, therefore, what is your definition of control system?
 A control system consists of subsystems and processes assembled for
the purpose of obtaining a desired output with desired performance
at a specific given input.
Continue……..
 Example:- Response of an Elevator

 In the figure shown that, this initial part of the response is transient response.
 Transient response means, it is a time varying response. Here, it is varied with time.
 After this point, it is going to be constant and this is called a steady state response.
 There is a difference between the input command and steady state response is called
steady state error.
Element of control system:-
 Controlled Variable:- The quantity or condition of the controlled system
which can be directly measured and controlled is called controlled variable.
Example:- temp. , humidity
 Command:- The input which can be independently varied is called
command.
 Reference Point:- A standard signal used for comparison in the close loop
system.
 Actuating Signal:- the difference between feedback signal and reference
signal is called actuating signal.
 Disturbance:- Any signal other than the reference which affects the system
performance is called disturbance.
 System error:- the difference between the actual value and ideal value is
called system error.
Types of control system:-
 Open loop control system:-
 They do not monitor (measure) or correct the disturbance and are
simply commanded by the input.
 It can not compensate the disturbance 1 and 2.
 Example:- Washing machine, fan etc.
Continue…….
 Close loop control system:-
 They monitor the output and compare it to the input.
 If an error is detected, the system correct the output and hence correct
the effect of disturbance.
 Example:- Air conditioner, microwave oven etc.
Continue…….
Open Loop Close Loop

1. They do not monitor (measure) or 1. They monitor the output and compare
correct the disturbance and are simply it to the input.
commanded by the input.
2. Simple 2. Greater Accuracy

3. Sensitive to disturbance 3. Less sensitive to noise and disturbance

and change in environment
4.Less expensive 4. More complex and expensive
Performance Specifications:-

1. Transient Response
2. Steady – State error
3. Stability
4. Other consideration

Stability:- a system is stable if, with time it is natural response

approaches to 0 and after certain time, the total response of the
system will be the forced response.
Other:-
Finance:- Budget allocation and competitive price.
Robustness:- System will not sensitive to parameter change.
Control system design process:-
Continue…….
Step 1:- Physical system specifications, as per the
requirements.

Step 2:- Draw a functional block diagram.

Step 3:- Draw a schematic diagram.

Step 4:- Mathematical modelling, or block diagram.

Step 5:- if there is multiple block we can reduce to a single

block.

Step 6:- Analysis of design and test or re design.

Example of antenna azimuth position control system.
Example of antenna azimuth position control system.

Step1. System concept Step 1. Design layout

Continue…….

Step 2. Functional block dia. Step 3. Schematic block dia.

Continue…….

Step 4. block dia.

Continue…….

Step 5. equivalent block dia.

Continue…….

Step 6. analysis, response and redesign

Continue…….

Step 6. analysis, response and redesign

Block Diagram:-
A control system may consists of number of components. In
control engineering to shown the functions performed by each
component, we commonly use a diagram called block diagram.

The element of block diagram are block, branch point and

summing point.
Block:- the functional or simple block is a symbol for the
mathematical operation on the input signal to the block that
produce the output.
The arrowhead pointing towards the block indicates the input and
the arrowhead leading away from the block represents the output.
The output signal from the block is given by the product of input
signal and transfer function in the block.

Input, A Transfer function output, B

G(S)
B = A . G(S)
Continue….
Summing point:- Summing point are used to add two or more
signals in the system. In the figure a circle with a cross is the
symbol that indicate a summing operation.
To plus or minus sign at each arrowhead indicates whether the
signal is to be added or subtracted. It is important that the
quantities being added or subtracted have the same unit.

Branch Point:- a branch point is a point from which the signal

from a block goes concurrently to other block or summing point.
Block diagram reduction:-
The block diagram reduction can be reduced to find the overall
transfer function of the system.
The following rules can be used block diagram reduction. The
rules are framed such that any modification made on the diagram
does not alter the input output signals.

The block in cascade or series.

The block in parallel.

Continue……
Laplace Transform……
A system represented by a differential equation is difficult to
model as a block diagram.
By the Laplace transform, with which we can represent the
input, output, and system as separate entities. and their
interrelationship will be simply algebraic.
Continue……
Transfer Function:-
Let us begin by writing a general nth-order, linear, time-invariant differential equation,
Continue……
 Transfer function are commonly used to characterize the
input-output relationships of components or system that
can be described by linear – invariant differential
equations.
 Transfer function (TF) of a linear, time-invariant,

differential equation system is defined as the ratio of

Laplace transform of the output to the Laplace transform
of the input, under the assumption that initial conditions
are zero.
Continue……
 Transfer function (TF) is a property of the system itself.
It is independent of the input. However, it does not
provide any information concerning the physical
structure of the system.
 TF is defined only for a linear, time-invariant system. It

is not defined for nonlinear system.

Transfer function of Close loop control
system:-

±B(S)
±B(S)

H(S)

 Where :- R(S) = Reference I/P. E(S) = Error signal

 G(S) = Equivalent forward path T.F.
 H(S) = Equivalent feedback path T.F. and ±B(S) = feedback signal
Continue……
 From the figure we can written as :-
 E(S) = R(S) ± B(S) ………….(1)
 H(S) = B(S) / C(S)
 B(s) = H(S) . C(S) ………… (2)
 G(S) = C(S) / E(S)
 C(S) = G(S) . E(S)…………..(3)
 Put the valve of B(S) from equation no. (2) to in equation no.
(1) so
 E(S) = R(S) ± H(S) . C(S) …..(4)
 From equation no. (3) :- E(S) = C(S) / G(S)
 So equation no. (4) become:-
 C(S) / G(S) = R(S) ± H(S) . C(S)
Continue……
 C(S) = R(S) . G(S) ± H(S) . C(S) . G(S)
 C(S) ± H(S) . C(S) . G(S) = R(S) . G(S)
 C(S) [1 ± H(S) . G(S)] = R(S) . G(S)
 T. F. = C(S) / R(S) = G(S) / [1 ± H(S) . G(S)]

R(S) C(S)
G(S) / [1 ± H(S) . G(S)]

 If H(S) . G(S) is negative then denominator less than one

 1 ± H(S) . G(S)] < 1
 In this situation T. F. > G(S) and we have positive

feedback.
Continue……
 If H(S) . G(S) is positive then denominator greater than
one
 1 ± H(S) . G(S)] > 1
 In this situation T. F. < G(S) and we have negetive

feedback.
Translational mechanical system:-

F(t) x(t)
system

Free body diagram:-

c ˙x.
k.x

F(t) ¨x(t)
Continue……
 we apply the Newton’s Second Law
 m¨x =ΣF
 m¨x = F(t) – k.x – c˙x.
 m¨x + k.x + c˙x = F(t)

 To find the T.F. of given system we take L.T. both side.

 ms2X(s) + C s X(s) + k X(s) = F (s)………..(1)

F(S) G(S) X(S)

Continue……
 G(S) = output / input = X(S) / F(S)
 From equation no. (1)
 [ms2 + C s + k ]X(s) = F (s)
 So X(s) / F(s) = 1/ ms2 + C s + k

F(S) G(S) = 1/ ms2 + C s + k X(S)

 T. F. is the property of system. It does not depend on the input

conditions. It depend on the parameter of system system parameter
is M, C, and K. Transfer function give the information about system.
 This was a translational mechanical system of single degree of
freedom and second order system
 Two degree of freedom system :-
C3

C1 C2

F(t)

K1.X1 K2 (X1 – X2)

M1 K3 X2)
K2 (X1 – X2)
M2
C1.˙x1 C3(˙x1 - ˙x2 )
C3(˙x1 - ˙x2 ) C2 ˙x2

¨x 1
¨x 2
Continue……
 we apply the Newton’s Second Law,
 ΣF=m¨x
 m ¨x 1=f ( t )−k 1 x 1−c1 ˙x 1−k 2( x1−x 2)−c3( ˙x1−˙x 2)

 m ¨x 1=f ( t )−(k 1+k 2) x1−(c 1+c 3) ˙x 1+k 2( x 2)+c3 ˙x2

 m ¨x 1+( c1+c3) ˙x 1+(k 1+k 2) x 1−k 2( x 2)−c 3 ˙x2=f (t )............(1)

Continue……
 For mass M2
 m2 ¨ x 2 = k 2 ( x1−x 2)+c3( ˙x1−˙x 2)−c 2 ˙x 2−k 3 x2

 = −(k 2+k 3) x 2−(c 3+c2) ˙x2+k 2( x1)+c 3 ˙x1

 m2 ¨ x 2+(c2+c 3) ˙ x 2+(k 2+k 3) x2−c3 ˙x 1−k 2( x1)=0…….(2)

 Now, we can take the Laplace Transform of these both equations.

 m2 s2 X 2( s )+(c 2+c 3) sX 2( s )+(k 2+k 3) X 2( s)−c 3sX 1(s)−k

2(X 1(s))=0
Continue……
 (m2 s2+(c2+c3) s+(k2+k3)) X2( s )−(c3s+k2)(X1( s))=0 ….(3)

 From equ. 1
 m1 s2 X 1( s )+(c 1+c 3) sX 1( s )+(k 2+k 3) X 1( s )−c3 s X 2( s)
−k 2(X 2( s ))=F( s)

 (m1s2+(c1+c3) s+(k2+k3) ) X 1( s)−(c3 s + k2) (X 2( s) ) = F(s).........(4)

Continue……
 We can apply Cramer’s Rule
Continue……

X 2 (s) / F (s) = c 3 s + k 2 / Δ.
component Force displacement Transfer Function Impedance

1/K

1/fvS

1/MS2
For Rotational
component Force displacement Transfer Function Impedance

1/K

1/DS

1/JS2
 Transfer Functions for Systems with Gears

Input gear with radius r1 and N1 teeth is rotated through angle Ɵ1(t) due to a torque, T1(t).

An output gear with radius r2 and N2 teeth responds by rotating through angle Ɵ2(t) and
delivering a torque, T2(t).

r1 Ɵ1 = r2 Ɵ2
Continue…

T.F. for angular T.F. for torque

displacement
Electric system (RC Circuit)

For First Loop:

∫
vin(t)=R i(t) + 1/C i(t)dt

Applying Laplace transformation

Vin(s)=R I(s) + I(s)/s.C
Second Loop equation

∫
vout(t)= 1/C i(t)dt

Applying Laplace transformation

Vout(s)= I(s)/s.C

Therefore Transfer function is

Transfer function (TF)= Vout(s)/ Vin(s)=1/(1+RC)
Electric system (RLC Circuit)

For First Loop:

vin(t)=R i(t)+L ∫
+1/C i(t)dt
Applying Laplace transformation
Vin(s)=R I(s) + I(s)/s.C+L(s)I(s)
 Second Loop equation

∫
vout(t)= 1/C i(t)dt
Applying Laplace transformation
Vout(s)= I(s)/s.C

Therefore Transfer function is

V out s 
Transfer function (TF) = V in s  =
 Poles and Zeros

The concept of poles and zeros, fundamental to the analysis and design of control
systems, simplifies the evaluation of a system’s response.
The Pole of transfer function are:-
(1) the values of the Laplace transform variable, s, that cause the transfer function to
become infinite or
(2) any roots of the denominator of the transfer function

The zeros of a transfer function are:-

(1) the values of the Laplace transform variable, s, that cause the transfer function to
become zero, or
(2) any roots of the numerator of the transfer function
Poles and Zeros
First-Order Systems

the highest power of S in the denominator of the transfer function decides the type of
the system or order of the system.
We now discuss first-order systems without zeros to define a performance
specification for such a system.
First-Order Systems
Time Constant:-

• The time it takes for the step response to rise to 63% of its final value.
• The time constant can be considered a transient response specification for a first
order system, since it is related to speed at which the system responds to a step
input.
Rise Time Tr :-

• Time for response to go from 0.1 to 0.9 of its final value.

Settling Time Ts :-

• Time for response and stay within 2 % of its final value.

Second order system:-
Count…..
Count…..
Count…..
Count…..
Count…..

Problem 4.3 and 4.4 from Norman nice for practice

Stability of Control System:-

the total response of a system is the sum of the forced and natural responses, or
C(t) = Cforce (t) + Cnatural (t)

Using these concepts, we present the following definitions of stability, instability,

and marginal stability:
• A linear, time-invariant system is stable if the natural response approaches zero
as time approaches infinity.
• A linear, time-invariant system is unstable if the natural response grows without
bound as time approaches infinity.
• A linear, time-invariant system is marginally stable if the natural response
neither
decays nor grows but remains constant or oscillates as time approaches infinity.
Stability of Control System:-

with the location of poles:-

• Stable system have close-loop transfer functions with poles only in the left-half
plan.
• Unstable systems have close loop transfer functions with at least one lope in the
right half plan and for pole of multiplicity greater than one on the imaginary
axis..
• Marginally stable systems have close loop transfer function with only imaginary
axis poles of multiplicity one and poles in the left half plane.
Stability of Control System:-
Stability of Control System:-
Routh-Hurwitz Criterion :-
we learn a method that yields stability information without the need to solve for the
closed-loop system poles.

the Routh-Hurwitz criterion declares that the number of roots of the polynomial that
are in the right half-plane is equal to the number of sign changes in the first column.
 Controller :-
 A controller is a mechanism that seeks to minimize the difference between the actual
value of a system (i.e. the process variable) and the desired value of the system (i.e. the
set point).

 The important uses of the controllers include:-

 Controllers improve the steady-state accuracy by decreasing the steady state error.

 As the steady-state accuracy improves, the stability also improves.

 Controllers also help in reducing the unwanted offsets produced by the system.

 Controllers can control the maximum overshoot of the system.

 Controllers can help in reducing the noise signals produced by the system.

 Controllers can help to speed up the slow response of an overdamped system.

Types of controller
 Proportional
 Derivative
 Integral
 PD (Proportional derivative)
 PI (Proportional Integral)
 PID (Proportional integral derivative)
Proportional
 Output (actuating signal) is directly proportional to error signal.

 For a proportional controller, there are two conditions and these are written below:-

 The deviation should not be large; i.e. there should not be a large deviation between
the input and output.

 The deviation should not be sudden.

 u(t) α e(t)
 U(t) = Kp . e(t)
 where Kp is the proportional constant
 Take L.T. both side
 U(s) = Kp. E(s)
 U(s)/E(s) = Kp
 T. F. = Kp
Advantages of Proportional Controller:-
 The proportional controller helps in reducing the

steady-state error, thus makes the system more stable.

 The slow response of the overdamped system can be

made faster with the help of these controllers.

Disadvantages of Proportional Controller:-

 Due to the presence of these controllers, we get some

offsets in the system.

 Proportional controllers also increase the maximum

overshoot of the system.

Derivative
 Output is directly proportional to derivative of error signal.
 u(t) α d/dt . e(t)
 u(t) = Kd . d/dt . e(t)
 where Kd is the derivative constant
 Take L.T. both side
 U(s) = Kd . S . E(s)
 U(s)/E(s) = Kd . S
 T. F. = Kd . S
 Where, Kd is proportional constant also known as controller gain.
The derivative controller is also known as the rate controller.
 Advantages of Derivative Controller

 The major advantage of a derivative controller is that it

improves the transient response of the system.

 We never use derivative controllers alone. It should be

used in combinations with other modes of controllers
because of its few disadvantages which are written below:-

 It never improves the steady-state error.

 It produces saturation effects and also amplifies the noise

signals produced in the system.
Integral
 Output is directly proportional to Integral of error
signal.
 u(t) α ꭍ e(t)

 u(t) = K . ꭍe(t)
i
 where Ki is the integral constant
 Take L.T. both side
 U(s) = K . 1/S . E(s)
i
 U(s)/E(s) = Ki / S
 T. F. = Ki / S
 Advantages of Integral Controller

 Due to their unique ability, Integral Controllers can return the

controlled variable back to the exact set point following a
disturbance that’s why these are known as reset controllers.

 Disadvantages of Integral Controller

 It tends to make the system unstable because it responds

slowly towards the produced error.
Proportional + Integral (PI)
 Output is directly proportional to error signal + Integral of
error signal.
 u(t) α e(t) + ꭍ e(t)
 u(t) = Kp. e(t) + Ki . ꭍe(t)
 where Kp and Ki is the proportional and integral constant
 Take L.T. both side
 U(s) = Kp .E(s) + Ki . 1/S . E(s)
 U(s)/E(s) = Kp + Ki / S
 T. F. = Kp + Ki / S
 PI controller may reduce the stability; but its main
advantage is that it reduces steady-state error
drastically, due for this reason it is one of the most
widely used controllers.
Proportional + Derivative (PD)
 Output is directly proportional error signal + derivative of
error signal.
 u(t) α e(t) + d/dt . e(t)

 u(t) = Kp. e(t) + K . d/dt . e(t)

d
 where Kp and Kd is the proportional and derivative constant
 Take L.T. both side
 U(s) = Kp .E(s) + K . S . E(s)
d
 U(s)/E(s) = Kp + Kd . S
 T. F. = Kp + Kd . S
 Generally, it is said, PD controller improves transient
performance and the PI controller improves the
steady-state performance of a control system.
Proportional + Derivative + Integral (PID)
 A PID controller is generally used in industrial control
applications to regulate temperature, flow, pressure, speed, and
other process variables.
 Output is directly proportional to error signal + derivative of
error signal + integral of error signal.
 u(t) α e(t) + d/dt . e(t) + ꭍ e(t)
 u(t) = Kp. e(t) + Kd . d/dt . e(t) + Ki . e(t)
 where Kp Kd and Ki is the proportional derivative and integral
constant
 Take L.T. both side
 U(s) = Kp .E(s) + Kd . S . E(s) + Ki . E(s) / S
 U(s)/E(s) = Kp + Kd . S + Ki / s
 T. F. = Kp + Kd . S + Ki / S
When you are designing a PID controller for a given system, general guidelines to obtain
the desired response are as follows:-

 Obtain the transient response of closed-loop transfer function and determine what
needs to be improved.
 Insert the proportional controller, Design the value of ‘K’ through Routh-Hurwitz or
suitable software.
 Add an integral part to reduce steady-state error.
 Add the derivative part to increase damping (damping should be between 0.6-0.9). The
derivative part will reduce overshoots & transient time.
 SISO tool, available in MATLAB can also be used for proper tuning and to obtain a
desired overall response.
Books:-
 Norman S. Nise, control system engineering
 K. Ogata, Modern control engineering

 https://www.electrical4u.com/types-of-controllers-
proportional-integral-derivative-controllers/
Thank you