Introduction is chapter deals with basic ideas about the open-loop and closed-loop control systems: The differential equations describe the dynamic operation of control systems. The Laplace transform transforms the differential equation into an algebraic equation, the solution is obtained in the transform domain. The time domain solution is determined by taking the inverse Laplace transform. ; ‘An Example of Control Action Open-Loop Control System Closed-Loop Gontro! System Use of Laplace Transformation in Control Systems 4 ‘© Laplace Transform * Solved Examples CONTROL SYSTEM Seer oe ee A control system is a combination of elements arranged in a planned manner wherein each aay causes an effect to produce a desired output. This cause and effect relationship is governed by a mathematical relation. If the aforesaid mathematical relation is linear the control system is termed as linear control system. For a linear system the cause (independent variable or input) and the effect (dependent variable or output) are proportionally related and principle of superposition is applicable throughout the operating range of a system. gi Tn a control system the cause acts through a control process which in turn results into an effect. There may be variety of systems based on the principle mentioned above but all the systems have many features in common and as such common approach for the study and analysis of control systems is possible. : Control systems are used in many applications for example, systems for the control of position, velocity, acceleration, temperature, pressure, voltage and current ete.spoitching ON O° ‘Control oa room temperature ached B15 gn apis Tempra fe reached apt ting apa The he OFF whe MA apiton of ere ‘temperature it felt ents iE, dit ate Pe alts sce te roo win trina the diferenee Det Bain ne ere aT aan re Sch room scapes ond on sired ron epee cu Te Seon om tenpeatars oy wih i rn cotrd Oe TT cm ane former case oa Ted aac tatin tb gon a rosea ond memnlan temperance aco a libration ony where ab in the Inter <86° ‘reeled ffom the output t the np LOPEN-LOOP CONTROL SYSTEM. i oun court" Cooma] Having explained the concept of control can, conte Te Sears ftom cae described ys blk diagram as = ge 1 Fe 121, oper loon eto tem she intr conte he etput mag 8c eT eput has no seni. 12, ti observed tat tn oo _ Beopeteiey ; enmmmnini tok deem eee SEE scene ee Accuracy of input calibration, [EREM ciosep-Loor conrRot SYSTEM eee alent are: = hoon mcd noun trees "Oy SS ae] feedback as shown in Fig. 1.3.1 and hence [S073 py ont cop contra yams real termed ees eect tear onic rhe rc Be teeters scent col eer fa the eupat gale. Toi proces of Re he molars Gesatainn tb op aa deed lee ough contralto proce The control systems without involving human intervention for normal operation are called automate cuntrol systems. ‘A closed-loop (feedback) control system using a power amplifying device prior 1 ‘controller and the output of such a system being mechanical ie. position, velocity ‘acceleration is called servomechanism. 1 The {rpende oe cattion’ tom pre-determined the outro 1 The 2 Th pr pte ip wrt 31. The open-top ayeteme are nable. 3. The pen loop systema are gmeraly The dowedooy 4. The operation of open-loop system ix affected 4. in terms of the j o ‘due tthe prenenee of rom hnearten i ee Iineartes IEEIILUSE OF LAPLACE TRANSFORMATION IN CONTROL SYSTEMS ‘The control action for a dynamic control ayitem whether electrical, mechanical, thermal, hydraulic ete. can be represented by a differential equation and the output response of such a dynamic system to a specified input can be obtained by solving the said differential ‘equation. The system diferential equation is derived according to physical laws governing a system in question. In order to facilitate the solution ofa differential equation describing a control system, the equation is transformed into an algebraic form. The differential equation wherein time being the independent variable is transformed into a corresponding algebraic equation by using Laplace transformation techaique and the differential equation thus transformed is known as the equation in. frequency domain Hence, Laplace transform technique transforms a time domain differential equation into a frequency domain algebraic equation. FEEGI_LAPLAcE TRANSFORM In order to transform a given function of time f(t) into its corresponding Laplace transform first multiply (0) by es being a complex number(s = 6 +o Integrate this product wr time with limits as zero and infinity. This integration results in Laplace transform of / (2), which is denoted by F (s) oF £/(. ‘The mathematical expression for Laplace transform is, cflt)=F(e) 120 or Fa)= [fo-e* de ay The term “Laplace transform of ft) is used for the letter £f (0, ‘The time function f() is obtained back from the Laplace transform by a process called transformation and denoted as £* thus ef Ol= ORO = Fo) ‘The time function f(t) and its Laplace transform F (s) are a transform pair. transform pairs of some commonly used functions and Laplace inverse Lapl Table 1.5 giv ransform pairs for some functions are derived here under.a Tae ee a Vii B= a fed! Bs othr, bernooueriow ‘Therefore, using Eq. (1.2) Least en pe sat jo) 6+a)- jo = © (cos ut + sin at) 1 (s+a)+ jo Gra-jo Grarro™ ‘Separating into real and imaginary parts, eee 1.10 Le (cos at + j sin ot) ie sina AD) Gro Pre ee (0.22) Gra? +e m (1.13) % oe ot Table 1.5. Table of Laplace transform pairs 1 ‘(0 wnit impulse at = 0 1 2 (0 wit sep ate= 0 ; a eG DunitstepatieT Gg a ‘ ' iz e a fi a i an ‘ . ae = 1 it Gc wa a452. Basic Laplace Transform Theorems : Basic theorems of Laplace transform are given below 1. Laplace transform of Kinear combination Lla ft) + bff) = oF (s)+ BPs) where f(), ff) are functions of time and a, b are constant, Alive Laplace transorm of f(s FG), then @) O -ere-roon er i) 2 ste Fe) -sf04-f0 apo BLO teny-2709-¢0s--0%n 1.18) a7) are the vues otf), LO LLON ae 108 whore f(0-4), (10 +), ("0 41 110+), (10 +), 70+) fe 3, Ifthe Laplace transform of f(t) is F (s), then wefro- (fe woeffro =. Solution. Since rit 100 1 Piet OF G4 25550) 100 32 = 20 unit Example 1.6.8 The Laplace transform of the error signal in a control system is ‘expressed by @ relation te. Ans, By) = RO) Caleulate the steady state value ofthe error ifr Solution. Since r¢)=# R G60 25) According to final value theorem 1 m8 Bis)= lim st B= BR Gh9Ge+25) 1 A =o unit. Ans. = lim 2) ye 25 ~ 25 Example 1.6.9. Find f (0 +), ((0 4) and ("0 +) for the function whose Laplace transform is given below aes Fe) = were) jon. (1) F(0 +) is determined as follows f(0-+)= Jim fe) = kim + Fis) (Initial valve theorem) ase Aaa 1(04)=0. AnsCokanot Svar @ror eins mS Ep escf)-PON=8 yg GED 110-4) fim f'(t)= tim s6F' sf Os)=4 Ane. (8) f7(0 4) is determined as fellows: Ef =e £ft)~sf0)-F 0%) a8 a deat ease FTG Tete PGR EDE N= +2) £704) = him FW lim cf" f7)=1. Ans. 1 Beainple 1.610. The Laplace transform off eve by Bie 4 7 } PO e+ 2) | Bind the final value axing the final value theorem and verify the result by “determining fusing inerse Laplace transform. ‘Solution. (1) The final value is the value of) a >=. ‘As per final value thoorem, fit)= lim s FO) 4 4 lim — = lim 2B teen” aD 2 fl) =2, Ans. (2) The expression for f(t) is determined as follows 4 ie+2) Using partial fraction expansion ined ash = 2and b, ‘Taking inverse Laplace transform on both sides eel nee eet ieee or erect (2 2 PROBLEMS 1.1. Find the inverse Laplace transform ofthe functions given below : ORO anew eo ae a 0% Gonn= a Worn Frinton ay Ww Fae 2 Porwer 1.2. Express the following difleretial equations in Laplace transform frm = To, 68 ax =o, given 0 and 0+)=2 and (0+) =0 given 00 +) = 0,010 +) =0 and @4(0+)= 0. 04) 1.8, By using Laplace transform determine the ratio CIS for the differential equation given below [Assume al inital conditions as zero Ifrt) = 1 evaluate the time solution fore. 14. Find the inital valve ofthe etions having following Laplace transform i 2009) os at a se +0540) 1.5, Find the final value of the functions having following Laplace transform = mee Wet 4845) ORs = (oni) 2222 where a0 SuTransfer Function a conol aptem sexed. The cOncEts of pots rm ctpe nate in ee en Palen eee Maing the tater hnclon ced Eos For any control system there exists an input termed as excitation or cause (denoted as r) ‘which operates through a transfer operation termed as transfer function (denoted as g) and produces an effect resulting in output or response termed as controlled variable (denoted ‘a5c). Thus the cause and eect relationship between the output and input is related to each other through a transfer function. The relationship between the output and input is ‘represented by a diagram known as block diagram as shown in Fig 20.1, lt or Exttan Fen apt or Pegs, Trea Fesong Fe 201 Bock dag, ‘The arrow in the diagram indica he ar aan nats the dren of ental action thus the block ‘The transfer function is. 8 the rat The ‘expressed asthe ratio of output quantity to input quantity ay Arwen Bt DS DS NS RA ‘Ax tho cause and effect approach to control systems is general, itis not necessary that the output be of the same eategory as that of input. For example in the caso of an electric motor the input is an electrical quantity and the output being a mechanical oe. With reference to control system wherein all mathematical functions are expressed by their corresponding Laplace tranaforms, therefore, the transfer function is also expressed as f ratio of Laplace transform of output to Laplace transform of input. ‘Thus if, Rls) = Laplace transform ofthe input function C(s) = Laplace transform of the output function then the block diagram for a control system is drawn as per gut ouput Fig. 2.0.2 Ro aaa. ‘The transfer function is expressed as, ee as an neem Sete eee ee A ee ie cri) ence Sn Renin oa ee eee [EBB POLES AND ZEROS OF A TRANSFER FUNCTION. ‘The transfer function ofa linear control system can be expressed in the form of a quotient of, polynomials in the following form : (2a) Ale) | 096" +038"? Bes) ~ bye" +Dys™ ‘The numerator and the denominator ean be factored into n and m terms respectively, with such a factorisation the above expression for the transfer function can be expressed a3, Ate) _ Ki Ba) ~ (9-8, le) = Ges (24) 25) Gie)= whore K'= & is known as the gain factor of the transfer function. In the transfer function expression (2.5), ifthe numerator is equated to zero, then roots ofthe equation are s,s, 8p», and Where as equating the denominator to zero, the im roots ean be determined as 8,5. Poles of the transfer function :In the transfer function expression (2.5), ifs is put tosnsay, v8, itis noted that the value of the transfer Function is infinite, hence s,8,, are called the Poles of the transfer function, ‘Zeros of the transfer function : In the transfer function expression, ifs is put equal tos) ty 2, itis noted that the value ofthe transfer function is zero, hence $83. 8, Ae called the Zeros of the transfer function,5 Loe pairs com tt oan ‘eoincide. Such poles oF ZeT08 are ¢ Te a th an ie poles oF 2704 are called sig multiple multiple eee ac deh af Ft Ur ome a transfer function , “denominatorinumerator of sora vero, The said symbols are used when The graphical symbol fora pels Xe relate real and imaginary axes (*-PI poe sn res be Sno ection (28) i i ae eof the transfer function is found to be infinity for s = Timmons et rant ft ty é. {G) and the multiple ode) of sucka ple being (07 re es ofthe transfer funtion i zero fors == Hence pcm tc ie iaeyeiea taae stn Fee deste hac if les and see located at zero and infinity are considered, then for a rational function the total number of et potinnenl cade cya Fee ae eros octet: se reat ) = ar dierHler2—j4 (+2479) ‘For the above transfer function, the poles are at(1)s, = 0, (2); Geo eee aa ‘As the number of zeros should be equal to number of poles, the remaining three zeros ia Tia cs aed fla ier ar 2 8, (8) ,=(- 244), Fie 22.4.Poes zeros plane In the transfer function expression of a control system the highest power of» in the ‘ator A (8) is either equal or less than that of the denominator B (s). “The transfer ‘of a system is completely specified in terme of ita poles and zeros and the gain factor. [EIA TRANSFER FUNCTION AND ITS RELATIONSHIP WITH IMPULSE RESPONSE In acontrol system the output is related to the input by a transfer function as defined earlier, co, Re) 2 or Cis) = Ris) Gis) 26 ‘The output time response can be determined by taking inverse Laplace transform of relation (2.6). If the input is specified as unit impulse at ¢ = 0, then R(s) = 1 and the transformed expression for the system output, i, C)=1.G66) or Cis) = Gis) en ‘Thus the output time response is, (2.8) ‘The inverse Laplace transform of G(e) i, therefore, called the impulse response of 0 aystem, or the transfer function ofa system isthe Laplace transform ofits impulse response. ‘The output impulse response of a system in time domain is thus solely determined by its transfer function. The transfer function of a system depends on its elements, assuming initial conditions as zero and is independent of the input function. Tt will be shown in the Inter chapters that the transient performance of a control system is influenced only by the poles and zeros of its transfer function PROCEDURE FOR DETERMINING THE TRANSFER FUNCTION OF A CONTROL SYSTEM. ‘The following steps give a procedure for determining the transfer function of a control system 1. Formulate the equations for the system. 2. Take the Laplace transform of the system equations, assuming initial conditions 3 Specify the system output and the input. 4. Take the ratio of the Laplace transform of the output and the Laplace transform of the input, ‘The ratio as obtained in step (4) is the required transfer function. For the purpose of contol sys tem analysis, only finite poles/zeros and poles and zeros atthe origin are consideredges) fered ‘The zeros are determined from the equation. ts? +4)(142.58)=0 ‘Tharefre, the sere 8) sea jetjn 1 =e 04 ‘The pole zero configuration is plotted in = "plane as shown in Fig. 24.1. The value of Gis) ats = 2s calculated below, Gis)= 24.2. The| = ioe 4 Bo 1425.2 2 (2 + 2x14 05 x2) eet iame Function is given below! Solution. The transfer fun function consists of a ‘The poles are located at s = 0, ‘The zero is located ats =~ ‘The transfer function is thus ition has three poles and one zero, therefore, the transfer ‘one term in the numerator and three terms in the denominator. -Qande=—4 Gs) = —KE+8)__ F WaeDieed) {kis given that ate =1, the value of G (a) in 3.2 _ Kies) xs TA+2)0+0) * Txax5 _ B21K95 exo cw - 249 Fa+DG+d Example 2.4.3.Find the transfer function of the network given below (Fig. 24.3). * ca. Ans. Fig.243, Networker example 243, Solution. The network equations are a) ora =A fiat Aung lll ous ey ud tne Ll a i ser qusine) and he loring eens enn 2) fs o * Dre) 6 fal 202210) ° a From equations (5) and (6) the transfer function is obtained below,ns) =atds +f) Ms) a tae ese eaente pce sent ie ie oe) 1 an Te) HD si tie sete BPR st pe apptiod argue? andthe angular Seto ros EM eR ay Gear sptem for ample 243. sion, The effect ofthe applied torque, through the gear results in application of torque to the load and the torgues , and T, are related as follows ails My ‘The equation relating the torque 7, and the angular 8 is formulated 2s, 0, , , a0, ren ace a tae tli Ge Substituting for T, in equation (1) from equation (2) the following, equati obtained 0, a (3) ett jac transform on both sides of “) Differentiating equation (4) w.rt. time ly Mya is dt Ny dt Further, differentiating equation (5) w.r'. time #0, _N, a6, fe de N, de substatng tr and £% in equation (2) om equations (8) and (6) the folowing equstio is biained ®, Ny diay |, Ny oy Ma 2g, Ni 201 5p, Ni doe Mon, ae Me wD ‘Simplifying equation (7) ner p a Fo ES ‘The terms Jy and fing are known as the moment of inertia and coefficient of viscous friction of the secondary side referred to the primary side of the gear. Substituting for a5) et 25) fm cri nt in tn enn tn sae, ad oad 0, oS ning nie! coin tw nd aking Lalas ara on ath ie of co = Jig Gat + a GE ay 1 (6) = Dg 2 O08) + Fin 9918) 2) or Ty (8) =D eq 8 + fing HO) (a3) From equation (13) the required transfer function is obtained below ols) 1 Ans. TUS) 8g 8+ fig)- PROBLEMS * n owt ey ad : eee Gin dion sta oem BE by RULES ap eareede ne Py NAY ft awrite bre Oe hs ‘yeros and show the polo-r0ro contig! ation in s-plane: ea * | Determine the poles and 28 Peete tution favre een NP Ney ae © kas) i Gi ce Sra age ove? 19H +4), * Na } ie transfer funetion. Plot the pole-zero configuration in s- ~_petarmine the poles and 20r0s of th planes ‘ iN j 23. ‘The'impulse response of a'system is given by) A PRenary, spit) set 008 2) : | 5 Determine the transfer function of the system. ey W |3.4, A force F when applied 10 8 mass of M results in a dinlaemet of-X, obtain the transfer © function relating ‘the force applied and the mass disp! lacement. ) 25. A series circuit ‘consisting of a resistance, Rand the inductance of L'is connected to a dic. © supply of E volts. Determine the transfer vfinction relating the current flowing jn the circuit and the input voltage. ‘ Af Bees i ction of the rk shown in Fig. 2P-1 relating B,{s) and Es). im sey © 216, Determine the transfer fam oes a “7g 20. Fur forerrple2 : sn 2.7. Derive the transfer fanction of the system shown in Fig. ap-2, Kbeing the amplifier gain ’ $ : ie