ADVANCED

CONTROL
SYSTEMS

B.N. Sarkar
Advanced Control Systems

B.N. Sarkar
Professor
Department of Electrical and Electronics Engineering
Dayananda Sagar College of Engineering
Bangalore

Delhi-110092
2013
ADVANCED CONTROL SYSTEMS
B.N. Sarkar

© 2013 by PHI Learning Private Limited, Delhi. All rights reserved. No part of this book may be
reproduced in any form, by mimeograph or any other means, without permission in writing from
the publisher.

ISBN-978-81-203-4710-6

The export rights of this book are vested solely with the publisher.

Published by Asoke K. Ghosh, PHI Learning Private Limited, Rimjhim House, 111, Patparganj
Industrial Estate, Delhi-110092 and Printed by Mohan Makhijani at Rekha Printers Private Limited,
New Delhi-110020.
In the memory of my loving parents
late Sri M.N. Sarkar
and
late Smt. Susheela Sarkar
 Contents

Preface   xi

1. Advanced Controllers 1–14

1.1 Introduction    1
1.1.1 Limitations of Linear Control System   1
1.2 Advantages of Modern Control Systems   2
1.3 Controllers   2
1.4 Properties of Controllers   3
1.5 Classification of Controllers   4
1.5.1 Proportional Controller   5
1.5.2 Integral Controller   6
1.5.3 Derivative Controller   8
1.5.4 Comparison of Different Controllers   9
1.6 Composite Controller   9
   1.6.1 Proportional and Integral Controller    9
1.6.2 Proportional and Derivative Controller   11
1.6.3 Proportional Integral and Derivative Controller   13
Review Questions   14

2. State Space Analysis 15–69

2.1 Introduction   15
2.2 Concept of State   15
2.2.1 State Model    18
2.3 State Space Representation of nth Order Linear Systems
with r Forcing Functions   23
2.4 State Model of Linear Systems from Differential Equations   26
v
vi   Contents

2.5 State Space Model from Transfer Functions   32

2.5.1 Transfer Function without Numerator Dynamics   32
2.5.2 Transfer Function with Numerator Dynamics    34
2.5.3 Determination of State Equation from Signal Flow Graph   35
2.6 Determination of Transfer Function from State Equations   37
2.6.1 Determination of Characteristic Equation from Differential Equation   39
2.6.2 Determination of Characteristic Equation from Transfer Function   39
2.6.3 Nonuniqueness of State Model    40
2.7 Decomposition of Transfer Function   40
2.8 Phase Variable Form or Controllable Canonical Model   45
2.9 State Space Representation Using Physical Variables  
2.10 Armature Controlled Separately Excited DC Shunt Motor   50
2.11 Field Controlled Separately Excited DC Motor   52
2.12 Observable Canonical Form   55
2.13 Diagonal Canonical Form   55
Review Questions   66

3. Characteristic Equations, Eigenvalues and Eigenvectors 70–116

3.1 Introduction   70
3.2 Derivation of Characteristic Equation   70
3.2.1 Derivation of Characteristic Equation from Differential Equation   70
3.2.2 Derivation of Characteristic Equation from Transfer Function   71
3.2.3 Derivation of Characteristic Equation from State Equation   71
3.2.4 State Space Representations of Transfer Function Systems    71
3.3 Eigenvalues and Eigenvectors   92
3.3.1 Eigenvalues   92
3.3.2 Eigenvectors   93
3.3.3 Generalized Eigenvectors   94
3.4 Similarity Transformations   94
3.4.1 Invariance Properties of Similarity Transformation   95
3.4.2 Controllable Canonical Form    96
Review Questions   114

4. Solution of State Equations 117–173

4.1 Introduction   117
4.1.1 Classical Power Series Method   117
4.1.2 Classical Solution of Differential Equation   118
4.1.3 Solution by Laplace Transform Method    119
4.2 State Transition Matrix   120
4.2.1 Properties of State Transition Matrix   121
4.2.2 Power Series Method   122
 Contents   vii 

4.2.3 Cayley–Hamilton Theorem   122

4.2.4 Canonical Transformation   123
4.2.5 Sylvester’s Interpolation Formula    124
4.3 Solution of Nonhomogeneous State Equation with Input   146
4.3.1 Classical Solution of Differential Equation   146
4.3.2 Laplace Transform Method    147
4.4 Concept of Controllability and Observability    161
4.4.1 Controllability   162
4.4.2 Observability    165
4.5 Principle of Duality   169
Review Questions   171

5. Pole Placement Technique 174–210

5.1 Introduction   174
5.2 Necessary and Sufficient Condition for Arbitrary Pole Placement   175
5.3 Determination of Matrix k   177
5.4 State Observers   190
5.4.1 Concept of State Observer    190
5.4.2 Full Order State Observer    191
5.4.3 Dual Problem   192
5.4.4 Necessary and Sufficient Condition for State Observation   192
5.4.5 Determination of State Observer Gain Matrix   193
5.5 Comments on the Selection of Best ko   195
Review Questions   208

6. Nonlinear Systems 211–219

6.1 Introduction   211
6.1.1 Properties of Nonlinear Systems   211
6.2 Classification of Nonlinear Systems   213
6.2.1 Incidental Nonlinearity   213
6.2.2 Intentional Nonlinearity   218
Review Questions   219

7. Phase Plane Analysis 220–255

7.1 Introduction   220
7.2 Basic Concept of Phase Plane   220
7.3 Singular Points   223
7.3.1 Nodal Points   225
7.4 Limit Cycles and Jump Resonance   240
7.5 Jump Resonance   241
7.6 Stability of Nonlinear Systems   242
viii   Contents

7.7 Construction of Phase Trajectory   242

7.7.1 Construction of Phase Trajectory by Graphical Methods    243
Review Questions   254

8. Lyapunov’s Stability Analysis 256–283

8.1 Introduction   256
8.2 Stability in the Sense of Lyapunov   257
8.2.1 Asymptotic Stability   257
8.2.2 Asymptotic Stability in the Large   258
8.2.3 Instability   258
8.3 Some Important Definitions   258
8.3.1 Positive Definite   259
8.3.2 Negative Definite   259
8.3.3 Positive Semidefinite   259
8.3.4 Negative Semidefinite   259
8.3.5 Indefinite   259
8.3.6 Quadratic Form   260
8.3.7 Hermitian Matrix   260
8.4 Lyapunov’s Second Method   260
8.4.1 Lyapunov’s Stability Theorem   261
8.5 Lyapunov’s Functions for Nonlinear Systems   263
8.6 Determination of Lyapunov’s Function for Nonlinear Systems by
Krasovskii’s Method   264
8.7 Lyapunov’s Functions for Linear Systems   266
Review Questions   283

9. Describing Function Method 284–309

9.1 Introduction   284
9.1.1 Basis of Describing Function Analysis    286
9.2 Types of Relays   287
9.3 Derivation of Describing Functions for Relays   288
9.4 Stability Criteria in Terms of Describing Function   301
Review Questions   309

10. Digital Control Systems 310–341

10.1 Introduction   310
10.2 Digital Control Systems   312
10.3 Discrete Time Signals   313
10.4 z-Transform   313
10.4.1 Properties and Theorems of z-transform   318
10.4.2 Some Important Theorems   319
 Contents   ix 

10.5 Inverse z-Transform   324

10.6 Poles and Zeroes in z-Plane   334
10.7 Difference Equations   335
Review Questions   339

Appendices 343–357
I. Laplace Transforms   343
II. Matrix Algebra   349
III. z-Transforms   354
IV. Inverse of z-Transforms   357

Suggested Reading 359

Index 361–363
 Advanced Control Systems

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Publisher : PHI Learning ISBN : 978812034 7106 Author : SARKAR, B. N.

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