MCL 212

Control Theory and Applications

4 credits: 3-0-2

Dr. Subodh V. Modak

Professor
Department of Mechanical Engineering
Indian Institute of Technology Delhi

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Course Objectives
• To study modeling and analysis of dynamic systems
• To study methods of feedback control of dynamic systems using classical control
approaches
Course outline
 Introduction; Open and close loop control, Feedforward control
 Fourier and Laplace transforms
 Mathematical modeling of dynamic systems
 Transfer function models, Impulse response, Frequency response, State space
representation
 Dynamic response analysis of first and second-order systems; Block diagrams
 Feedback control, On-Off, Proportional, integral, derivative, PI, PD and PID control;
 Realization of standard controllers using Hydraulic, Pneumatic, and Electronic systems;
 Stability; Routh’s criterion;
 Transient response and Frequency response; Design/performance specifications in time and
frequency domain;
 Root locus analysis
 Control system design using Root Locus
 Lead and lag compensation;
 Nyquist stability criterion; Frequency response and Bode plots;
 Application of MATLAB/SIMULINK for control system analysis and design 2
 Outline of the Lecture today

• Scope of control systems

• What is control?

• Open loop and closed loop control

• Comparison of open and closed loop control

• Basic structure of a control system

• Some examples of control systems

• Functional block diagram representation

• Classical and modern control

• Feedforward control
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 Control systems

• Robotic systems
• Heating systems
• Process control
• Aeroplane
• Machine tools
• Automation and manufacturing
• Ships, submarines
• Automobiles
• Missiles and defence systems
• Gun/artillery
• Space-vehicle systems
• Radar and antenna control

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 What is control?

• An act of obtaining the desired output

Controller Process/ Plant

Desired Input Output

output (Manipulated variable)

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 Open loop control

Controller Process/ Plant

Desired Input Output 6

output (Manipulated variable)
 Open loop control

Disturbances

Controller Process/ Plant

Desired Input Output 7

output (Manipulated variable)
Closed loop (or Feedback) control

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 Closed loop control

Manipulated
variable
Desired
output Input
Output
Compare Controller Process/ Plant

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 Closed loop control characteristics

• Takes care of disturbances and changes in the system

• Fast response
• Safety issue
• Better performance
• Feedback changes sensitivity
• Many variables can be controlled

• Stability
• Cost and complexity
• Higher maintenance

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 Open loop control characteristics

• Simpler system
• Less maintenance
• Less expensive

• Useful in cases of low disturbances, performance

requirements not stringent, or where deviations can be
tolerated

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 Basic structure of a feedback control system

Disturbance

Reference
Command input Manipulated
input Error Control variable Controlled
signal signal variable
Ref.
Input - Controller Actuator Plant
element
-

Feedback
signal
Feedback
sensor

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A toilet tank control system

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Functional Block Diagram

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 Speed control of Steam engine

Spring
Governor Spherical masses

Ball arms

Arm

Output shaft

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 Functional Block
Diagram
Load

Governor

Nd N
Controller Mech. Valve Engine
-
Linkage
-

Gear train

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 Automobile
power-steering
servo mechanism

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Functional Block
Diagram

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Nuclear reactor power level control

• Control the power generated by

controlling the rate of the nuclear
chain reaction

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Aircraft Fight
Control

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Electrohydraulic
Servomechanism

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Hydraulic control system for machine tool control

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Principle of feedback is the basis in many practical
situations

• A person reaching to an object

• A person driving a car

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 Principle of feedback is the basis in many
physiological processes

• Control of body temperature

• Control of blood pressure
• Regulation of heart rate
• Blood water level control

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 Control systems

• Human operator or manual based system

• Automatic control system

• Automatic control system is one where the task of

control is carried out automatically without human
intervention

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 Types of control systems

• Regulator system (fixed command input; disturbance

rejection system)

• Tracking system (Command input varies)

• Servo system (Controlled variable is related to

mechanical motion)

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 Control system design

• Classical control
(Based on frequency domain)

• Modern control
(based on state space)

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 Feedforward control

• Senses the disturbance and changes the manipulated variable to

compensate for the disturbance

Steam

Liquid

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 Feedforward control

Feedforward
Controller

Temp. Sensor Steam

Liquid

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 History
• 1784: James watt, Centrifugal governor for speed control
• 1922: Minorsky studied stability of ships
• 1932: Nyquist developed a simple method for studying stability
• 1934: Hazen, design of position control systems (named
servomechanisms)
• World war II (1942-45) (Automatic airpilot, Gun positioning system,
Radar and antenna control)
• 1940s: Bode, Frequency response based design
• 1940s: Ziegler-Nichols, PID tuning
• 1950s: Evans, Root locus technique
• 1960s and 70s: Modern control techniques
• 1970s, 80s: Optimal control
• 1980s, 90s: Robust control
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 What this course is all about?

• Modelling of various subsystems

• Dynamic response analysis

• Integration of various subsystems

• Transient and steady state response

• Introduction of controller
• Effect of controller on the system response

• Design of controller to realise desired control performance

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Course Objectives
• To study modeling and analysis of dynamic systems
• To study methods of feedback control of dynamic systems using classical control
approaches
Course outline
 Introduction; Open and close loop control, Feedforward control
 Fourier and Laplace transforms
 Mathematical modeling of dynamic systems
 Transfer function models, Impulse response, Frequency response, State space
representation
 Dynamic response analysis of first and second-order systems; Block diagrams
 Feedback control, On-Off, Proportional, integral, derivative, PI, PD and PID control;
 Realization of standard controllers using Hydraulic, Pneumatic, and Electronic systems;
 Stability; Routh’s criterion;
 Transient response and Frequency response; Design/performance specifications in time and
frequency domain;
 Root locus analysis
 Control system design using Root Locus
 Lead and lag compensation;
 Nyquist stability criterion; Frequency response and Bode plots;
 Application of MATLAB/SIMULINK for control system analysis and design 32
• end

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