LINEAR CONTROL SYSTEMS

SEM V – SEC I

Prepared & Presented by

Dr UNVP Rajendranath
Introduction – Unit 1
• What is a system?
• Why control?
• What is feedback?
• Open loop & Closed loop concepts
• Advantages & Disadvantages
• Transfer function
• Laplace transform
 Unit - 1

Block Diagram of Process control system

https://www.polytechnichub.com/block-diagram-process-control-system/ (Pic credit)

 Block Diagram of automatic Iron control system

Block Diagram of Missile launch control system

Transfer Function

G(S) =

Y(S) = Laplace transform of output

X(S) = Laplace transform of Input
Unit-2 Syllabus

Modelling of linear control Systems

Mathematical models of Physical systems, Transfer function models of linear time-

invariant
systems, Electrical, Mechanical and Electro-Mechanical Systems, Electrical Analogues,
Block
diagram and their Reduction techniques, Signal flow graph.
Laplace Transform
concepts
• Find Laplace transform of
f(t) = cos(wt)
• Find Laplace transform of
f(t) = e-atsin(wt)
Inverse Laplace Transform
f t  
 Mathematical Models of Control
Systems
• The input and output relations of various physical components in control systems
are governed by differential equations
• Mathematical model of such system constitutes a set of differential equations
• The response/output of system can be studied by solving the differential
equations
• Mathematical model will be linear if the coefficients of differential equations are
constant. Such systems are known as linear time invariant (LTI) systems.
• The differential equations of a LTI system are reshaped into Transfer Function (TF)
form for further analysis
 Mathematical Models of Control Systems
(Contd.,)
1. Mechanical Systems - (Newton’s laws)
• Translational Systems
• Rotational Systems
2. Electrical Systems - (Kirchoff’s laws)
3. Electro-mechanical Systems

Model of mechanical translational systems are obtained by using 3 basic elements

4. Mass : Weight of the mechanical system

5. Spring : Elastic deformation
6. Dash-pot: Friction existing in rotation
Ideal Mass element

Let, F= Applied force

Fm = Opposing force due to mass
Ideal Dashpot element with one end fixed to reference

Let, F= Applied force

Fb = Opposing force due to friction
Ideal spring element with one end fixed to reference

Let, F= Applied force

Fk = Opposing force due to elasticity

x
 Steps to determine TF of Mechanical Translational
System
1. Write Force balance equations at nodes in the system. (Nodes are mass
elements in the system)
2. Assign displacement (x1, x2 etc.) to each node (mass). First derivative of
displacement is velocity. Second derivative is acceleration
3. Draw free body diagrams of the system. (Free body diagram is obtained by
drawing each mass separately and marking all the forces acting on the mass)
4. For each free body diagram, write one differential equation by equating sum
of applied forces to the sum of opposing forces
5. Take Laplace transform of differential equations to convert them to algebraic
equations
Laplace transform of x(t) = L{x(t)} = X(s)
Laplace transform of
Laplace transform of
Mass Spring Damper System Apply Laplace transform on both sides

Free Body Diagram

Example 1:
Example 2:
Mathematical Modeling of Mechanical Rotational
Systems
Consists of 3 basic elements

1. Rotational Mass : Weight of the mechanical system is represented by Moment of

Inertia (J)
2. Torsional Spring : Elastic deformation (K)
3. Rotational Dash-pot: Friction existing in rotation

When Torque is applied to a rotational mechanical system, it is opposed by opposing

torques due to moment of inertia, friction and elasticity of the system

According to Newton’s second law, Sum of the torques acting on a body is zero
 Steps to determine TF of Mechanical Rotational
System
1. Write Torque balance equations at nodes in the system. (Nodes are mass
elements with moment of inertia in the system)
2. Assign angular displacement (θ1, θ2 etc.) to each node (mass). First derivative
of displacement is angular velocity. Second derivative is angular acceleration
3. Draw free body diagrams of the system. (Free body diagram is obtained by
drawing each mass separately and marking all the torques acting on the mass)
4. For each free body diagram, write one differential equation by equating sum
of applied forces to the sum of opposing forces
5. Take Laplace transform of differential equations to convert them to algebraic
equations
Laplace transform of θ(t) = L{θ(t)} = θ(s)
Laplace transform of
Laplace transform of
Example: Write the differential equations and obtain the TF of the system
Example: Write the differential equations and obtain the TF of the system
Mathematical Modeling of Electrical Systems

Consists of 3 basic elements: Resistor, Capacitor, Inductor

 Steps to determine TF of Electrical System
1. Write differential equations by writing Voltage/Current equations using
KVL/KCL
2. Apply Laplace transform of differential equations to convert them to algebraic
equations

Example: Obtain TF for RL network (output = current flowing through inductor)

Let ‘i’ is the current flowing in the circuit

Applying KVL,
Vi = Ri + Ldi/dt
Applying Laplace transform on both sides
Vi(s) = RI(s)+LsI(s)
Example: Obtain the TF of the electrical network
Example: Obtain the TF of the electrical network
Mathematical Modeling of Electromechanical
Systems
• All auto-mobile applications need electromechanical components
• A motor is an electromechanical component that yields a displacement output for a
voltage input
• Principle: When a current carrying conductor is placed in a magnetic field, it
experiences a mechanical force whose direction is given by Fleming’s Left-hand rule
• When the current-carrying conductor placed in a magnetic field, the torque induced
makes the conductor rotate
• The rotating conductor cuts the flux of the magnetic field
• According to Faraday’s law, a current will be induced in a conductor which is exposed to
a changing magnetic field, thereby introduces an emf whose direction is opposite to
the applied voltage.

Armature controlled DC motor Equivaent circuit of Armature

TF of Armature controlled DC motor:

From armature equivalent circuit,

Torque produced in DC motor is proportional to the armature current,

The back emf produced is proportional to the speed (angular velocity),

The differential equation governing the mechanical system of DC motor

 ɵ ( 𝑠) 𝐾𝑡
𝑇𝐹 = =
𝑉 𝑎( 𝑠) ( 𝑅 𝑎+ 𝑠𝐿𝑎 )( 𝐽𝑠2+ 𝐵𝑠 ) + 𝑠𝐾𝑏𝐾𝑡

TF of Field controlled DC motor:

𝑑 2𝜃 𝑑𝜃
𝐽 +𝐵 =𝑇
𝑑𝜃2 𝑑𝑡

ɵ( 𝑠) 𝐾 𝑡𝑓
𝑇𝐹 = =
𝑉 𝑓 ( 𝑠) ( 𝑅 𝑓 + 𝑠𝐿𝑓 )( 𝐵+ 𝑠𝐽 ) 𝑠
Electrical analogous to Mechanical Translational systems
• The electric analogue of other kind of system is of greater importance since it is
easier to construct electrical models and analyze them
• The 3 basic elements mass, dash-pot, spring are comparable (analogous) to
resistance, inductance and capacitance
• The input Force is analogous to either voltage source or current source
• The output velocity is analogous to either current or voltage
Force – Voltage Analogy
Force-Voltage analogue
 Mechanical Electrical Electrical
(Force-Current) (Force-Voltage)
Force Current Voltage

Mass, M Capacitance (C) Inductance (L)

Spring, K Inductance (1/L) Capacitance (1/C)

Damper, B Conductance (1/R) Resistance, R

Displacement, x Flux, ɸ Charge, q

Velocity, v Voltage Current

Write the differential equations governing the mechanical system. Draw the force-
voltage and force-current analogous circuits
Write the differential equations governing the mechanical system. Draw the force-
voltage and force-current analogous circuits
Write the differential equations and obtain the TF of the system. Draw the
Force-Voltage analogous circuit
Electrical analogous to Mechanical Rotational systems
Electrical analogous to Mechanical Rotational systems
Electrical analogous to Mechanical Rotational systems
Electrical analogous to Mechanical Rotational systems
Write the differential equations governing the mechanical rotational system. Draw
the Torque-voltage and Torque-current analogous circuits
Block diagram of a control system

• Block diagram of a system is a pictorial representation of functions

performed by components and flow of signals
• They represent interrelationships that exist among various
components
• All system variables are linked to each other through functional blocks

• Block: Symbol for mathematical operation with input and output as

shown
• Summing point: Used to add two or more signals

• Branch point: From which the signal from a block goes to other blocks
or summing points
Reduction of Block diagram - Rules
Reduction of Block diagram - Rules
Reduction of Block diagram - Rules
Reduction of Block diagram - Rules
Using block diagram reduction technique, find closed loop transfer function (CLTF)

Example 1:
Example 2:
Example 3: Obtain TF C(S)/R(S)
Example 4: Obtain TF for cases when input R is at station ‘A’ and station ‘B’
Example 5: Determine C1/R1 and C2/R1
Example 6: Obtain TF C(S)/R(S)
 Signal Flow Graph

• Developed by S J Mason
• Represents the flow of signals from one point of the system to another
(graphical representation)
• The direction of signal flow is indicated by an arrow placed on the
branch and
• Using Mason’s gain formula, the overall gain and TF of the system can
be computed easily
• Node: A point representing a variable or signal
• Branch: Directed line joining two nodes
• Path: Traversal of connected branches in the direction of arrows
• Forward path: Path from input node to output node that does not
cross any other node more than once
• Forward path gain: Product of gains of a forward path
Signal Flow Graph Reduction – Using Mason’s gain formula
method
Let R(s) = Input ; C(s) = Output

According to Mason’s gain formula

Overall gain,

where, Pk = Forward path gain of Kth forward path

K = Number of forward paths in signal flow graph
Δ = 1 – (Sum of individual loop gains) +(sum of gain products
of all possible combinations of two non-touching loops) –
(sum of gain products of all possible combinations of three
non-touching loops) + …………………………………..
Δk = Δ for that part of the graph which is not touching K th forward path
Example 1: Find overall transfer function of the system
Example 2: Find overall transfer function of the system
Example 3: Find overall transfer function of the system
Example 3: Find overall transfer function of the system
Example 5: Convert the block diagram to signal flow graph and find the transfer function of the system. Compare that
with transfer function obtained from Block diagram reduction technique
Example 5: Convert the block diagram to signal flow graph and find the transfer function of the system. Compare that
with transfer function obtained from Block diagram reduction technique
Example 5: Convert the block diagram to signal flow graph and find the transfer function of the system. Compare that
with transfer function obtained from Block diagram reduction technique
Example 5: Convert the block diagram to signal flow graph and find the transfer function of the system. Compare that
with transfer function obtained from Block diagram reduction technique