Control Engineering is applied to various simple household devices like washing
machine to fighter aircraft. Without this field, machines would not be able to operate
without human control.
i) To introduce the components and their representation of control systems
ii)To understand the concepts of feedback control and stability analysis in time
and frequency domain
i)Identify the various control system components and their representations
ii)Analyze the various time domain and frequency domain parameters
iii)Apply the concepts of various system stability criterion
iv)Design various transfer functions of digital control system using state variable
models
i) Circuit Analysis/EC8251
ii)Engineering Physics/PH8151
iii)Engineering Mathematics/MA8151
i)Unit I deals with control system components and its representation and the system
transfer function is obtained
ii)Time response and frequency response analysis of the system is performed.To
improve the performance of the system compensator is introduced
iii)From the transfer function,the stability of the system is analyzed
iv)Design various transfer functions of digital control system using state variable
models
UNIT I SYSTEMS COMPONENTS AND THEIR REPRESENTATION
Control System: Terminology and Basic Structure-Feed forward and Feedback control
theoryElectrical and Mechanical Transfer Function Models-Block diagram Models-Signal
flow graphs models-DC and AC servo Systems-Synchronous -Multivariable control
system
UNIT II TIME RESPONSE ANALYSIS
Transient response-steady state response-Measures of performance of the
standard first order and second order system-effect on an additional zero
and an additional pole-steady error constant and system- type number-PID
control-Analytical design for PD, PI,PID control systems
UNIT III FREQUENCY RESPONSE AND SYSTEM ANALYSIS
Closed loop frequency response-Performance specification in frequency domain-
Frequency response of standard second order system- Bode Plot – Polar Plot-
Nyquistplots-Design of compensators using Bode plots-Cascade lead
compensation-Cascade lag compensation-Cascadel ag-lead compensation
UNIT IV CONCEPTS OF STABILITY ANALYSIS
Concept of stability-Bounded – Input Bounded – Output stability-Routh stability
criterion-Relative stability-Root locus concept-Guidelines for sketching root
locus-Nyquist stability criterion.
UNITV CONTROL SYSTEM ANALYSIS USING STATE VARIABLE METHODS State
variable representation-Conversion of state variable models to transfer functions-
Conversion of transfer functions to state variable models-Solution of state equations-
Concepts of Controllability and Observability-Stability of linear systems-Equivalence
between transfer function and state variable representations-State variable analysis
of digital control system-Digital control design using state feedback.
Control System
System-An interconnection of elements and devices for a desired
purpose.
Control System-An interconnection of components forming a system
configuration that will provide a desired response.
Process-The device, plant or system under control.
Open-loop Control System(OLCS)
The output signal of OLCS is not fed back to influence the control action
The control action of an OLCS depends only on the input signal
OLCS are not capable of filtering disturbances or noise
OLCS are suitable when input signal for satisfactory system performance can be
estimated/approximated and does not change
Advantages of OLCS are that its structure is simple compared to a closed loop
control system and is cheaper to build.
Closed-loop Control
System(CLCS)
The output signal of a CLCS is fed back to influence the control action and improve the
overall system performance
Examples: robot arms, velocity control systems, temperature control systems
However, in practical, a combination of both OLCS and CLCS is normally used. For
example, washing machine: the process of filling up the tank with water is a CLCS operation,
while the process of washing and rinsing is an OLCS operation
Feedback Control Systems
i)Translational System
ii)Rotational Mechanical System
Basic Elements of Translational Mechanical Systems
Translational Spring
i)
Translational Mass
ii)
Translational Damper
iii)
SIGNAL FLOW GRAPH
SFG is a diagram which represents a set of simultaneous equations.
This method was developed by S.J.Mason. This method
does n’t require any reduction technique.
It consists of nodes and these nodes are connected by a directed line
called branches.
Every branch has an arrow which represents the flow of
signal.
For complicated systems, when Block Diagram (BD) reduction method
becomes tedious and time consuming then SFG is a good choice.
Node: It is a point representing a variable.
Branch : A line joining two nodes.
Input Node : Node which has only outgoing branches.
Output node/ sink node: Only incoming branches.
Path : It is the traversal of connected branches in the direction of branch arrows, such
that no node is traversed more than once.
Forward path : A path which originates from the input node and
terminates at the output node and along which no node is traversed
more than once.
Loop : Path that originates and terminates at the same node and
along which no other node is traversed more than once.
Self loop: Paththat originates and terminates at the same node.
Loop gain: it is the product of branch transmittances of a loop.
Non-touching loops: Loops that don’t have any common node or
branch.
•
Mason’s Gain Formula
A technique to reduce a signal-flow graph to a single transfer
Examples
function Ofapplication
requires the ControlofSystemone formula.
• The transfer function, C(s)/R(s), of a system represented by
k = number of forward path Pk = the kth forward path gain
∆ = 1 – (Σ loop gains) + (Σ non-touching loop gains taken two at a
time) – (Σ non-touching loop gains taken three at a time)+ so
on .
∆ k = 1 – (loop-gain which does not touch the forward path)
Example1
Example1
Example1
Example2
Example3
Block Diagram
Block diagram is a graphical representation of a physical system, illustrating the
functional relationships among its components.
A Block Diagram is a pictorial representation of the system.
Components of a Block diagram for a Linear Time Invariant
System
System components are alternatively called elements of the system.
Block diagram has four components:
Signals
System/ block
Summing junction
Pick-off/ Take-off point
Components of a Block diagram for a Linear Time
Invariant System
Block diagram Reduction Techniques
1. Combining blocks in cascade
G1 G2 G1 G2
2. Combining blocks in parallel
G1
G1 +G2
G2
Block diagram Reduction Techniques
3. Moving a summing point ahead of a block
G G
1
G
4. Moving a summing point behind a block
G G
Block diagram Reduction Techniques
5. Moving a pick off point behind a block
6. Moving a pick off point ahead of a block
Block diagram Reduction Techniques
7. Eliminating a feedback
loop G G
G 1∓GH
H
8. Swap with two neighboring summing
points
B B
Blockdiagram reduction
Example
Example
Example
Example
Example
Example
Example
Example2
Example2
Example2
Example3
Example3
Example3
Electrical Networks
Example
Example3
Example3
Example3
Example3
Example
Example3
Example3
Example3
Example3
Example3
Example3
Example3
1.Determine the transfer function Y2(s)/F(s) and draw the force
voltage and force current electrical analogous circuits for the
mechanical system shown in figure below
2.Determine the overall transfer function and draw the force voltage and force
current electrical analogous circuits for the following mechanical system shown
in fig
3.Apply Mason’s Rule to calculate the transfer function
of the system represented by following Signal Flow
Graph
4.Reduce the block diagram
5.Convert the block diagram to signal flow graph and
obtain the transfer function of the system.
QUIZ
1.The overall transfer function from block diagram reduction for cascaded blocks is :
a) Sum of individual gain
b) Product of individual gain
c) Difference of individual gain
d) Division of individual gain
2.The overall transfer function of two blocks in parallel are :
a) Sum of individual gain
b) Product of individual gain
c) Difference of individual gain
d) Division of individual gain
3.Feedback can always reduce the effects of noise and disturbance on system
performance?
a) True
b) False
QUIZ
4.At summing point, more than one signal can be added or _________
a. Subtracted
b. Multiplied
c. Both a and b
d. None of the above
5.Which among the following are the elements of rotational motion?
a. Mass, Spring, Friction
b. Inertia, Damper, Spring
c. Work, Energy, Power
d. Force, Pressure, Viscocity
6.Which system exhibits the initiation of corrective action only after the output gets
affected?
a. Feed forward
b. Feedback
c. Both a and b
d. None of the above
QUIZ
7.Two loops are said to be non-touching only if no common ______exists between
them
a. Loop
b. Feedback path
c. Branch
d. Node
8.In a signal flow graph method, how is an overall transfer function of a system
obtained?
a. Poisson's equation
b. Block diagram reduction rules
c. Mason's equation
d. Lagrange's equation
9. In block diagram representation, what do the lines connecting the blocks,known as?
a. Branches
b. Nodes
c. Datums
d. Sources
QUIZ
10.Which among the following is not an advantage of an open loop system?
a. Simplicity in construction & design
b. Easy maintenance
c. Rare problems of stability
d. Requirement of system recalibration from time to time
11. In a signal flow graph, nodes are represented by small _____
a. Circles
b. Squares
c. Arrows
d. Pointers
WEB RESOURCE LINKS
1)http://electrical4u.com/root-locus-technique-in-control-system-root-locus-plot/
2)http://www.ce.utwente.nl/lecturesjob/mov/CE04_Rootloci.mov
3)http://control.asu.edu/Classes/MAE318/318Lecture10.pdf
4)https://www.youtube.com/watch?v=xAdocbk-Nds
ANNA UNIVERSITY/IES/GATE QUESTIONS
1. Find the transfer function for the signal flow graph
shown in fig
ANNA UNIVERSITY/IES/GATE QUESTIONS
2. Determine the overall transfer function and draw the
torque voltage and torque current electrical analogous
circuits for the following mechanical system
ANNA UNIVERSITY/IES/GATE QUESTIONS
3. Determine the Transfer function of the electrical
network
ANNA UNIVERSITY/IES/GATE QUESTIONS
4. Determine the Transfer function using block reduction
and SFG method
