Control Systems

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EC / EE / IN

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 Syllabus

Syllabus for Control Systems

Basic Control System Components; Block Diagrammatic Description, Reduction of Block

Diagrams. Open Loop and Closed Loop (Feedback) Systems and Stability Analysis of these
Systems. Signal Flow Graphs and their use in Determining Transfer Functions of Systems;
Transient and Steady State Analysis of LTI Control Systems and Frequency Response. Tools and
Techniques for LTI Control System Analysis: Root Loci, Routh-Hurwitz Criterion, Bode and
Nyquist Plots. Control System Compensators: Elements of Lead and Lag Compensation, Elements
of Proportional-Integral-Derivative (PID) Control. State Variable Representation and Solution of
State Equation of LTI Control Systems.

Analysis of GATE Papers

Year ECE EE IN
2015 9.66 9.5 8.00
2014 8.00 8.00 6.00
2013 11.00 10.00 10.00
2012 9.00 9.00 13.00
2011 8.00 8.00 12.00
2010 11.00 9.00 7.00
2009 10.00 14.00 17.00
2008 12.67 17.00 14.00
2007 12.67 15.00 19.00
2006 13.34 7.00 13.00
Over All Percentage 10.534% 10.65% 11.9%

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 Contents

Contents

Chapters Page No.

#1. Basics of Control System 𝟏 − 𝟐𝟒
 Introduction 1
 Classification of Control Systems 2−4
 Effect of Feedback 4−6
 Transfer Functions 6−9
 Signal Flow Graphs 9 − 10
 Solved Examples 10 − 16
 Assignment 1 17 − 19
 Assignment 2 20 − 21
 Answer Keys & Explanations 21 − 24

#2. Time Domain Analysis 𝟐𝟓 − 𝟒𝟖

 Introduction 25 − 26
 Standard Test Signals 26 − 27
 Time Response of First Order Control System 27 − 29
 Time Response of Second Order Control System 29 − 33
 Time Response of the Higher Order Control System & Error
Constants 33 − 35
 Time response Analysis for higher order system 35
 Solved Examples 35 − 40
 Assignment 1 41 − 43
 Assignment 2 43 − 45
 Answer Keys & Explanations 45 − 48

#3. Stability & Routh Hurwitz Criterion 𝟒𝟗 − 𝟔𝟒

 Introduction 49 − 51
 Relative Stability Analysis 51 − 52
 Routh – Hurwitz Criterion 52 − 53
 Solved Examples 54 − 57
 Assignment 1 58 − 60
 Assignment 2 60 − 61
 Answer Keys & Explanations 61 − 64

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 Contents

#4. Root Locus Technique 𝟔𝟓 − 𝟖𝟎

 Introduction 65 − 66
 Complementary Root Locus 67 − 68
 Solved Examples 69 − 72
 Assignment 1 73 − 75
 Assignment 2 76 − 77
 Answer Keys & Explanations 78 − 80

#5. Frequency Response Analysis Using Nyquist Plot 𝟖𝟏 − 𝟏𝟎𝟒

 Frequency Domain Specifications 81 − 82
 Polar Plot 82 − 84
 Nyquist Plot and Nyquist Stability Criteria 85 − 87
 Gain Margin 88
 Phase Margin 88 − 89
 Solved Examples 89 − 93
 Assignment 1 94 − 96
 Assignment 2 97 − 101
 Answer Keys & Explanations 101 − 104

#6. Frequency Response Analysis Using Bode Plot 𝟏𝟎𝟓 − 𝟏𝟐𝟑

 Bode Plots 105 − 107
 Bode Magnitude Plots for Typical Transfer Function 108 − 109
 M & N Circles 110 − 112
 Solved Examples 112 − 116
 Assignment 1 117 − 120
 Assignment 2 120 − 121
 Answer Keys & Explanations 121 − 123

#7. Compensators & Controllers 𝟏𝟐𝟒 − 𝟏𝟑𝟗

 Introduction 124
 Phase Lag/Lead Compensator 124 − 129
 Controllers 129 − 131
 Solved Examples 131 − 134
 Assignment 1 135 − 136
 Assignment 2 136 − 137
 Answer Keys & Explanations 138 − 139

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 Contents

#8. State Variable Analysis 𝟏𝟒𝟎 − 𝟏𝟓𝟔

 Introduction 140
 State Space Representation 141 − 143
 State Transition Matrix 143 − 144
 Characteristic Equation & Eigen Values 144
 Solved Examples 145 − 148
 Assignment 1 149 − 151
 Assignment 2 151 − 152
 Answer Keys & Explanations 153 − 156

Module Test 𝟏𝟓𝟕 − 𝟏𝟔𝟕

 Test Questions 157 − 164
 Answer Keys & Explanations 164 − 167

Reference Books 𝟏𝟔𝟖

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 “Try not to become a man of success, but

1
rather try to become a man of value.”
….Albert Einstein

1
CHAPTER

Basics of Control System

Learning Objectives
After reading this chapter, you will know:
1. Classification of Control Systems
2. Effect of Feedback
3. Block Diagram Reduction Techniques
4. Signal Flow Graphs

Introduction
It is a system by means of which any quantity of interest in a machine or mechanism is controlled
(maintained or altered) in accordance with the desired manner. Following diagram depicts the
block diagram representation of a control system.

Reference Input Control System Controlled Output

r(t) c(t)
Block Diagram of a Control System

Any system can be characterized mathematically by Transfer function or State model.

Transfer function is defined as the ratio of Laplace Transform (L.T) of output to that of input
assuming initial conditions to be zero. Transfer function is also obtained as Laplace transform of the
impulse response of the system.
Laplace transform of output
Transfer Function = | initial conditions = 0
Laplace transform of input
L [ c(t)] C (s)
T(s) = = | initial conditions = 0
L [ r(t)] R (s)
For any arbitrary input r(t), output c(t) of control system can be obtained as below,
c(t) = L−1 [C(s)] = L−1 [T(s) R(s)] = L−1 (T(s)) ∗ r(s)
Where L and L−1 are forward and inverse Laplace transform operators and * is convolution
operator.

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 Basics of Control System

Classification of Control Systems

Control systems can be classified based on presence of feedback as below,
1. Open loop control systems
2. Closed loop control systems

Open-loop Control System

Actuating
Reference input Controller Process Output
Signal
Block Diagram of Open-Loop Control System

Figure shown above depicts the block diagram of an open loop control system. Also following are
salient points as referred to as open-loop control system.
 The reference input controls the output through a control action process. Here output has no
effect on the control action, as the output is not fed-back for comparison with the input.
 Accuracy of an open-loop control system depends on the accuracy of input calibration.
 The open –loop system is simple and cheap to construct.
 Due to the absence of feedback path, the systems are generally stable.
 Examples of open loop control systems include Traffic lights, Fans, Washing machines etc,
which do not have a sensor.
 If R(s) is LT of input and C(s) is LT of output of a control system of transfer function G(s), then
C(s)
= G(s) ⇒ C(s) = G(s) R(s)
R(s)

Closed-Loop Control System (Feedback Control Systems)

Figure shown below depicts the block diagram of a closed-loop control system. Closed-loop control
systems can be classified as positive and negative feedback (f/b) control systems. Also following are
the salient points related to closed-loop control systems.
 In a close-loop control system, the output has an effect on control action through a feedback.
 The control action is actuated by an error signal ‘e(t)’ which is the difference between the input
signal ‘r(t)’and the feedback signal ‘f(t)’.
 The control systems can be manual or automatic control systems.
 Servomechanism is example of a closed-loop (feedback) control system using a power
amplifying device prior to controller and the output of such a system is mechanical i.e., position,
velocity or acceleration.
+ Controller Process Output c(t)
Reference Input ±
r(t) Feedback Signal (t)

Feedback Network
Block Diagram of Closed Loop Control System

For Positive feedback, error signal e(t) = r(t) + f(t)

For Negative feedback, error signal e(t) = r(t) – f(t)
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 Basics of Control System

r(t) + e(t)
G(s) c(t)

± f(t)

H(s)

Transfer Function Representation of a Closed Loop Control System

Generally, the purpose of feedback is to reduce the error between the reference input and the
system output.
Let G(s) be the forward path transfer function, H(s) be the feedback path transfer function and
T(s) be the overall transfer function of the closed-loop control system, then
G(s)
T(s) =
(1 ∓ G(s)H(s))
Here negative sign in denominator is considered for positive feedback and vice versa.

Positive Feedback Control Systems

G (s)
 Unity Feedback (H(s) = 1) : T(s) =
1−G (s)
G (s)
 Non Unity Feedback (H(s) ≠ 1) : T(s) =
1−G (s) H(s)

Negative Feedback Control Systems

G (s)
 Unity F/B : T(s) =
1+G (s)
G (s)
 Non Unity F/B : T(s) =
1+G (s) H(s)
Here, G(s) is T.F. without feedback (or) T. F of the forward path and H(s) is T.F. of the feedback path.
Block diagram shown below corresponds to closed loop control system.
+
R(s) G(s) C(s)
± G(s
F(s) C
)
(
S
H(s) )
H
Block Diagram of a Closed Loop(Control System
s
The overall transfer function can be derived as below, )
L{r(t)} = R(s) → Reference input
L{c(t)}= C(s) → Output (Controlled variable)
L{f(t)} = F(s) → Feedback signal
L{e(t)} = E(s) → Error or actuating signal
G(s)H(s)→ Open loop transfer function

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 Basics of Control System

E(s)/R(s)→ Error transfer function

G(s) → Forward path transfer function
H(s) → Feedback path transfer function
E(s) = R(s) ± F(s); F(s) = H(s) C(s)
C(s) G(s)
C(s) = E(s) G(s) ⇒ C(s) = { R(s) ± H(s)C(s)} G(s) ⇒ =
R(s) 1 ∓ G(s)H(s)
E(s) 1
Also, =
R(s) 1 ∓ G(s)H(s)
Here negative sign is used for positive feedback and positive sign is used for negative feedback.
The transfer function of a system depends upon its elements assuming initial conditions as zero and
it is independent of input function.

Comparison of Open-Loop and Close-Loop Control Systems

Table below summarizes the comparison between open and closed loop control systems.
Sl. No Open-Loop C.S. Closed-Loop C.S.
1. The accuracy of an open – loop system As the error between the reference input
depends on the calibration of the input. and the output is continuously measured
Any departure from pre – determined through feedback, the closed-loop system
calibration affects the output. works more accurately.
2. The open-loop system is simple to The close-loop system is complicated to
construct. construct.
3. Cheaper. Costly.
4. The open-loop systems are generally The close-loop systems can become
stable. unstable under certain conditions.
5. The operation of open – loop system is In terms of the performance, the
affected due to presence of non-linearities closed-loop systems adjusts to the effects
in its elements. of non - linearities present in its elements.

Effects of Feedback
The feedback has effects on system performance characteristics such as stability, bandwidth, overall
gain, impedance and sensitivity.
1. Effect of Feedback on Stability
 Stability is a notion that describes whether the system will be able to follow the input
command.
 A system is said to be unstable, if its output is out of control or increases without bound.
For a bounded input.
If the input itself is not bounded, then the output would definitely increase without bound,
even if the system is inherently stable.
 Negative feedback in a control system introduces a possibility of instability, if not properly
tuned.
2. Effect of Feedback on Overall Gain
 Negative feedback decreases the gain of the system and Positive feedback increases the
gain of the system.

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 Basics of Control System

3. Effect of Feedback on Sensitivity

Consider G as a parameter that can vary. The sensitivity of the gain of the overall system T to
the variation in G is defined as
∂T⁄T % change in T
SGT = =
∂G⁄G % change in G
Where ∂T denotes the incremental change in T due to the incremental change in G;∂T/T and
∂G/G denote the percentage change in T and G, respectively.
∂T G 1
SGT = =
∂G T 1 + GH
T
∂T⁄T −GH
Similarly, SH = = ≅ −1
⁄
∂H H 1 + GH
In general, the sensitivity of the system gain of a feedback system to parameter variation
depends on where the parameter is located.
1 −GH
SGT = ; SHT
= ≅ −1
1 + GH 1 + GH
Therefore, an increase in the value of “GH” tends to reduce the sensitivity of the system gain to
variations in the parameter “G”. But the same increase in “GH” produces a one-to-one response
to variations in “H”. A decrease in the value of “GH” would reduce the sensitivity of the system
gain to variations in the parameter “H”.
4. Negative feedback improves the dynamic response of the system.
5. Negative feedback reduces the effect of disturbance signal or noise.
6. Negative feedback improves the Bandwidth of the system.
7. Negative feedback improves the accuracy the system by reducing steady state error.
8. Improved rejection of disturbances.
Let α = A variable that changes its value
β = A parameter that changes the value of α
% change in α dα⁄α β ∂
Sβα = = = ×
% change in β dβ⁄β α ∂β

Open Loop Control System

R(s) G(s) C(s)

C(s)
α = T(s)[open loop control system] = = G(s)
R(s)
β = G(s)
T(s) G(s) 2T(s)
SG(s) = × = 1 × 1 = 1 [∴ α = β]
T(s) 2G(s)

Closed Loop Control System

R(s) +– G(s) C(s)

H(s)

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