MET65 CONTROL SYSTEM ENGINEERING (3 1 0 4)

OBJECTIVES
 To introduce to the basics of Control System Engineering as part of life.
 To make aware of different tools and duties of Control System Engineer.
 To conversant with Mathematical Modeling of Physical Systems.
 To convey the concepts to analyze the simple systems in time and frequency
domain.
 To introduce to Modern Control Systems

UNIT – I
Introduction to Control Engineering –Examples – as part of life - Basic Components
of Control System –Different tools for Control Engineer - Open loop and Closed loop
system –Introduction to Mathematical Modeling - Transfer Functions. (09 hours)
UNIT – II
Modeling of Physical Systems – Mechanical, Thermal, Fluid and Electrical systems –
Block Diagram reduction Techniques – Introduction to Time Domain Analysis –
Standard Test Signals. (09 hours)
UNIT – III

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Response of First Order Systems and Second Order Systems for different standard
input signals - Sources of errors: static and dynamic error constants. Design
Specification for Control Systems – PD, PI and PID Controllers. (09 hours)
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UNIT – IV
Poles and Zeros – Stability of Systems – Conditions for Stability – Routh – Hurwitz
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Stability Criterion – Root Locus Analysis – Properties – Root Locus Plots. (09 hours)
UNIT – V
Frequency Response of Control Systems – Correlation Between Time Response and
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Frequency Response – Bode Plot – Nyquist Stability Criterion and Closed Loop
Frequency Response – Introduction to control using state variable system models –
Transfer function from State Model. (09 hours)
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Text Books:
1. Jacqueline Wilkie, Michael Johnson and Reza Katebi – Control Engineering – An
Introductory course. PALGRAVE (2002).
2. N.C. Jagan – Control Systems – BS Publications (2008).
3. Katsushiks Ogata - Modern Control Engineering, IV Edition, Prentice Hall of India,
2002.
Reference Books:
1. B.C.Kuo - Automatic Control System, VII edition, Prentice Hall of India, 2002.
2. Asish Tewari – Modern Control Design with MATLAB and SIMULINK – John Wiley
& Sons, Ltd., 2002.
3. Norman S. Nice – Control Systems Engineering - John Wiley & Sons, Inc., 2011.

R.Kurinjimalar, Associate Professor, Department of ECE, Sri Manakula Vinayagar Engineering College. 2
 MET65 CONTROL SYSTEM ENGINEERING

Introduction to Control Engineering –Examples – as part of life -

Unit- Basic Components of Control System –Different tools for Control
I Engineer - Open loop and Closed loop system –Introduction to
Mathematical Modeling - Transfer Functions
PART- A
1. What is control system?
A system consists of a number of components connected together to
perform a specific function. In a system when the output quantity is controlled by
varying the input quantity then the system is called control system.

2. Distinguish between open loop and closed loop system

Open Loop System Closed Loop System

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1. Inaccurate and unreliable 1. Accurate and reliable
2. Simple and economical 2. Complex and costly
3. Changes in output due to 3. Changes in output due to
external disturbances are not external disturbances are
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corrected automatically corrected automatically
4. They are generally stable 4. Great efforts are needed
to design a stable system
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3. What are the effects of feedback on control system?

The feedback is a control action in which the output is sampled and a proportional
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signal is given to input for automatic correction of any changes in desired output.
Negative feedback results in better stability and rejects disturbance signal. Positive
feedback amplifies internal signal.
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4. Why negative feedback preferred in control systems?

The negative feedback results in better stability in steady state and rejects any
disturbance signals. It also has low sensitivity to parameter variations. Hence
negative feedback is preferred in closed loop systems.
5. Define open loop system
The control system in which the output quantity has no effect upon the input quantity
are called open loop control system. This means that the output is not feedback to
the input for correction.
6. List out the advantages of closed loop control system
I. The closed loop control system is accurate
II. The closed loop control systems are accurate even in the presence of
non-linearities
 III. The sensitivity of the systems may be made small to make the system
more stable
IV. The closed loop systems are less affected by noise
7. Define transfer function of control system.
The transfer function of a system is defined as the ratio of Laplace transform of
output to Laplace transform of input with zero initial conditions. It is also defined as
the Laplace transform of the impulse response of system with zero initial condition.
8. What are the important features of open loop control systems?
The control system in which the output quantity has no effect upon the input quantity
is called open loop control system. This means that the output is not feedback to the
input for correction.
9. What are the basic elements used for modeling of mechanical translational
system?

The model of mechanical translational systems can obtain by using three basic
elements mass, spring and dashpot. When a force(F) is applied to a translational

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mechanical system, it is opposed by opposing forces due to mass(M), friction(B) and
elasticity(K) of the system.
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10. What are the basic elements used for modeling of mechanical rotational
system?
The model of rotational mechanical systems can be obtained by using three
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elements, moment of inertia [J] of mass, dash pot with rotational frictional coefficient
[B] and torsion spring with stiffness[K].When a torque is applied to a rotational
mechanical system, and it is opposed by opposing torques due to moment of inertia,
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friction and elasticity of the system.

PART – B
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1. What are the Basic components of control system? Explain. OR

State briefly the various controller components in a control system

Basic components of control systems

 Control System means any quantity of interest in a machine or

mechanism is maintained or altered in accordance with desired output.
 A system which controls the output quantity is called a control system
 Controlled Variable: It is the quantity or condition that is measured &
controlled
 Controller: Controller means measuring the value of the controlled
variable of the system & applying the manipulated variable to the
system to correct or to limit the deviation of the measured value to the
 desired value.
 Plant: A plant is a piece of equipment, which is a set of machine
parts functioning together. The purpose of which is to perform a
particular operation. Example: Furnace, Space craft etc.,
 System: A system is a combination of components that works
together & performs certain objective.
 Disturbance: A disturbance is a signal that tends to affect the value
of the output of a system. If disturbances created inside the system,
it is called internal While an external disturbance is generated
outside the system.
 Feedback Control: It is an operation that, in the presence of
disturbance tends to reduce the difference between the output of a
system & some reference input.
Control system consists of an input (objective), the control system and its output (result).

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Open-loop systems:
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The open-loop system is also called the non-feedback system. This is the simpler of
the two systems. A simple example is illustrated by the speed control of an
automobile as shown in Figure. In this open-loop system, there is no way to ensure
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the actual speed is close to the desired speed automatically. The actual speed might
be way off the desired speed because of the wind speed and/or road conditions, such
as uphill or downhill etc.
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Closed-loop systems:

The closed-loop system is also called the feedback system. A simple closed-
system is shown in Figure. It has a mechanism to ensure the actual speed is close
to the desired speed automatically
2. Give examples for control system.
A control system is an arrangement of physical components connected or
related in such a manner as to command, direct, or regulate itself or another system,
or is that means by which any quantity of interest in a system is maintained or altered
in accordance with a desired manner. Any control system consists of three essential
components namely input, system and output. The input is the stimulus or excitation
applied to a system from an external energy source.

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EXAMPLE - 1 Rotational Generator
The input to rotational generator is the speed of the prime mover ( e.g steam turbine)
in rpm. Assuming the generator is on no load the output may be induced voltage at
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the output terminals. Rotational Generator
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EXAMPLE – 2 Washing machine

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Most ( but not all ) washing machines are operated in the following manner. After the
clothes to be washed have been put into the machine, the soap or detergent, bleach
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and water are entered in proper amounts as specified by the manufacturer. The
washing time is then set on a timer and the washer is energized. When the cycle is
completed, the machine shuts itself off. In this example washing time forms input and
cleanliness of the clothes is identified as output

EXAMPLE – 3 WATER TANK LEVEL CONTROL

To understand the concept further it is useful to consider an example let it be desired
to maintain the actual water level 'c ' in the tank as close as possible to a desired
level ' r '. The desired level will be called the system input, and the actual level the
controlled variable or system output. Water flows from the tank via a valve Vo , and
enters the tank from a supply via a control valve Vc. The control valve is adjustable
manually.

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Block Diagram
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A closed loop control system is one in which the control action depends on the
output. In closed loop control system the actuating error signal, which is the
difference between the input signal and the feedback signal (output signal or its
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function) is fed to the controller.

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Block Diagram
EXAMPLE – 1 – THERMAL SYSTEM
To illustrate the concept of closed loop control system, consider the thermal system
shown in fig. Here human being acts as a controller. He wants to maintain the
temperature of the hot water at a given value ro C. the thermometer installed in the
hot water outlet measures the actual temperature C0 C. This temperature is the
output of the system. If the operator watches the thermometer and finds that the
temperature is higher than the desired value, then he reduce the amount of steam
 supply in order to lower the temperature. It is quite possible that that if the
temperature becomes lower than the desired value it becomes necessary to increase
the amount of steam supply. This control action is based on closed loop operation
which involves human being, hand muscle, eyes, thermometer such a system may
be called manual feedback system.

Manual Control of Thermal System

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Block Diagram
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3. Explain Mathematical Modeling of Mechanical system.

4.Mechanical Translational systems
The model of mechanical translational systems can obtain by using three basic elements
mass, spring and dash-pot. The force acting on a mechanical body is governed by
Newton‘s second law of motion. For translational systems it states that the sum of
forces acting on a body is zero.
Translational System:

It has 3 types of forces due to elements.

1. Inertial Force: Due to inertial mass,

2. Spring force

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3. Mechanical Rotational Systems

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The model of mechanical rotational system is obtained using three elements. moment of
inertia [J] of mass, dash pot with rotational frictional coefficient [B] and torsional spring
with stiffness[k]. When a torque is applied to a rotational mechanical system, it is
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opposed by opposing torques due to moment of inertia, friction and elasticity of the
system.