MT 452

Control Systems
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Pre-Requisites
❑Modeling and Simulation in Mechatronics (MT373)
❑ODE, Laplace, inverse Laplace
❑MATLAB/Simulink/SimScape, Solid Works
❑Motors/drivers, Arduino, Sensors

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Course Description
This course covers the process of modeling linear time-invariant (LTI)
dynamical systems in dual domains: in the time domain using ordinary
differential equations and in the Laplace domain (s-domain). It includes the
behavior of LTI systems qualitatively and quantitatively, both in the
transient and steady-state regimes, and appreciate how it impacts the
performance of electro-mechanical systems. It introduces feedback
control and understanding of using the s-domain primarily how feedback
impacts transient and steady-state performance. It also includes learning
how to design proportional, proportional-integral, proportional-
derivative, and proportional-integral-derivative feedback control systems
meeting specific system performance requirements. Introduce qualitatively
the frequency response of LTI systems and how it relates to the transient
and steady-state system performance.
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Study Material
❑Textbook
❑Control System Engineering by Nise, 7th Edition
❑Reference book
❑Modern Control Engineering by Ogata, 5th Edition
❑Control System by Schuam series
❑Software
❑MATLAB, Simulink, Simscape

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Course Learning Outcomes

CLO CLO Statement PLO Learning Domain & Level
Develop mathematical models of different
physical systems through various modeling Application
1 PLO 1
techniques such as differential equations, C3
transfer function, and state space.
Analyze the system model for different Analysis
2 PLO 2
properties and desired response. C4
Design of feedback control system to achieve Synthesis
3 PLO 3
the desired response. C5

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Course Outline
Week Chapter Title Task
Week 1 1 Basic concepts of control systems, Transfer functions
Week 2 2 A quick review of mathematical modeling Assignment 1
State space equations, Time Response of First and Second Order Systems,
Week 3 3 Quiz 1
Similarity Transformations
Decomposition of Transfer function, Controllability Observability of Linear
Week 4 4 Assignment 2
Systems
Quiz 2
Week 5 5 Block Diagrams, Reduction of Block Diagrams using theorems
Converting block diagram to signal flow graphs, Signal Flow Graphs, Mason’s
Week 6 5 Assignment 3
Rule
Stability and Routh-Hurwitz Stability Criterion, Routh Table for entire row of
Week 7 6 Quiz 3
zeros
Steady state errors, Find the steady-state error for a unity feedback system,
Week 8 7
specify a system’s steady-state error performance
Mid-Term Exams

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Course Outline
Week Chapter Title Task
Design the gain of a closed-loop system to meet a steady-state error
Week 10 7 Assignment 4
specification
Week 11 8 Root Locus Techniques and Analysis Quiz 4
Week 12 8 Pole Placement in Time Domain Assignment 5
Quiz 5
Week 13 9 Design via Root Locus, PID controller Design,
Cascade Compensation, Lead Compensator, Lag Compensator, Lead-Lag
Week 14 9 Assignment 6
Compensator
Week 15 10 Frequency Response Techniques and Analysis, Quiz 6
Week 16 10 Frequency Response Design, Bode, Nyquist Plots
End-Semester Exam

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Evaluation
Criteria Marks
Quizzes 10
Assignments 10
Complex Engineering Problem 10
Mid-Term Exam 25
Final Exam 45
Total 100

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Policies
❑Join Google Classroom & WhatsApp class group.
❑Maintain attendance (on-campus and online).
❑Individual quizzes and assignments.
❑No make up for missed/late assessment items.
❑Zero marks in the assessment module for plagiarized work.
❑Do not hesitate to ask questions.

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Lecture 1: Introduction to Control System
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Lecture 1 Overview
❑Control Systems Introduction
❑Types: Open loop and close loop
❑Definitions
❑Analysis and Design Objectives
❑Case Study
❑Examples

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Lecture 1: Introduction
Control System
◦ It refers to the arrangement of physical components connected in a way to direct or
regulate itself or another system.
◦ Control systems can be man-made as well as natural.

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Lecture 1: Introduction
Why Build Control System?
◦ Power Amplification
◦ Low power rotation of the knob → high power output rotation of antenna
◦ Remote Control
◦ Robots designed to compensate disabilities, and operate in remote and
dangerous locations
◦ Convenience of Input form
◦ Thermostat (position input of a knob → output is heat)
◦ Compensation for Disturbances

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Lecture 1: Introduction
Importance of Control System
◦ It provides a means to direct the system to perform a required operation.
◦ Control system can perform the required operation without continuous intervention of
human operator.
◦ A control system may compensate disturbances and deficiencies in the system using
feedback mechanism.

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Lecture 1: Introduction
Control System History
◦ Liquid Level Control (300 B.C)
◦ Steam Pressure and Temperature (1680s)
◦ Steam Engine Speed Control (1700s)
◦ James Watts’ centrifugal governor
◦ Windmill Speed Control (1745)
◦ Automatic Steering (1900s)
◦ 1932 Nyquist stability check
◦ 1940s PID industrial controller
◦ 1960s MIMO system control
◦ Optimal and robust control

◦ https://www.youtube.com/watch?v=B01LgS8S5C8

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Lecture 1: Introduction
Types of Control System
◦ Open Loop Control A washing machine
◦ Input is set at required level (like fan regulator set at high speed). operates as per time
◦ Input transducer converts input into signal in required form (like a dial on iron sets adjusted for washing.
thermostat). Its operation does not
◦ Controller generates appropriate signal to operate the plant (like heater or fan). depend upon output
i.e., clothes are clean
◦ Plant operates to provide output as per reference input. or not!
◦ A disturbance may result an output which is different from desired input.
◦ A disturbance can be internal or external to the system (low voltage for fan, or cool breeze
from an open window for heater).
◦ Example of Open Loop Control
◦ Fan, heater, washing machine

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Lecture 1: Introduction
Types of Control System
◦ Close Loop Control
◦ Output is compared with input.
◦ The difference between input and the output is used for corrective action by the controller.
◦ Example of Closed Loop Control
◦ Air conditioner, human walking, automatic light on/off systems

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Lecture 1: Introduction
Definitions
◦ Reference Input
◦ Determines desired output, (like
temperature set on air conditioner).
◦ Output/controlled variable
◦ Actual output, like the temperature obtained in the room.
◦ Input sensor/transducer
◦ Changes references input into required form of signal, like temperature on ac can be set in
the form of numbers (e.g. 22oC), input transducer converts it into proportional voltage.
◦ Plant/process
◦ The system which is to be controlled, like ac or heater.

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Lecture 1: Introduction
Definitions
◦ Output transducer/sensor
◦ Measures the output, and converts
into same form of signal given by input
transducer, like a thermistor to sense room temperature
and generate a proportional voltage
◦ Disturbance
◦ An unwanted input that may be generated within system (like
variation in circuit parameters, power supply fluctuation etc) or
externally (like a door opened in a heated room).

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Refer to Control by
Schaum series book for

Lecture 1: Introduction more definitions

Definitions
◦ Summing point
◦ A circuit that adds/subtracts signals.
◦ Error/Actuating signal
◦ A comparison is made between desired (reference input) signal with measured (actual
output). The difference is called the Error, like reference input is 22oC (say 2.2V) and actual
room temperature is 30oC (say 3V), then error is -8oC (say -0.8V). The error signal drives the
controller.
◦ Controller
◦ Generates a signal to drive an actuator such that error may be reduced. A simple controller
can be an amplifier to amplify small error signal to drive actuator.
◦ If error is large, more action by controller is required.

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Lecture 1: Introduction
Open Loop vs Close Loop Given a DC motor controlled by a
◦ Open loop variable voltage source whose dial is
calibrated for RPM. If due to some
◦ Control action is independent of output hence no check or correction error in system output RPM are not
mechanism for output. equal to RPM set on dial, calibration
◦ Simple design, low cost, no stability issues. must be done, but there is no
◦ Disturbance sensitive, frequent calibration required mechanism of correcting output
automatically.
◦ Close loop
◦ Control action is linked with output through feedback, hence there Modeling error refers to the error in
is a check and correction mechanism. estimation of system properties in the
form of a mathematical model. This
◦ Caters for modeling error, design discrepancies and disturbances.
model is required in the design and
◦ Complicated design, costly, can be unstable. analysis of a controller as well as the
whole control system.

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Lecture 1: Introduction
Analysis and Design Objectives
◦ A given control system is analyzed or designed
with respect to its response for a given input.
◦ Ideally, the system must exactly follow the
given reference input.
◦ Transient Response
◦ The output before it settles to the final value, like
time taken and speed change in rpm of a motor
when it starts from rest.

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Lecture 1: Introduction
Analysis and Design Objectives
◦ A given control system is analyzed or designed
with respect to its response for a given input.
◦ Ideally, the system must exactly follow the
given reference input.
◦ Steady State Response
◦ How the system follows the input, once it reaches
the final value?
◦ Steady state error
◦ If system stays at a final value which is different
from the desired value.

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Lecture 1: Introduction
Analysis and Design Objectives
◦ Stability
◦ Does the output of the system remain within
safe limits or it keeps increasing?
◦ An unstable system is of no use; if an engine’s
speed keeps increasing, it will be damaged.
◦ Ideally the transient time should be zero and to
achieve it, the gain of the controller is increased, but it
may result in instability.

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Review Questions
Answer briefly. Give examples and draw diagram if required.

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Lecture 1: Introduction
Case Study:- Antenna Position Control
◦ Problem statement
◦ It is required that the antenna’s rotation
in the plane parallel to ground (azimuth) is
controlled.
◦ a) System concept
◦ Develop a system to rotate antenna (plant)
through an angle 𝜃𝑜 (output), given an input 𝜃𝑖
(reference input).
◦ We can use a potentiometer (input transducer) to set
the input.

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Lecture 1: Introduction
Case Study:- Antenna Position Control
Gears are added to adjust torque needed for
◦ b) Detailed layout antenna and to scale position measurement
◦ We need an actuator (motor usually with gears) feedback.
for antenna rotation.
◦ Another potentiometer (out sensor) to measure
and feedback the output position.
◦ A differential amplifier (summing circuit) to
compare input and out and generate error.
◦ An amplifier to raise the power of error signal
appropriate to run the motor.

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Lecture 1: Introduction
Case Study:- Antenna Position Control
◦ c) Schematic
◦ The physical components are now drawn in
the form of schematic diagram (like we
draw a circuit diagram to solve it more
easily).
◦ Inertia models mass related resistance to
motion and viscous damping shows friction
related resistance to motion.

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Lecture 1: Introduction
Case Study:- Antenna Position Control
◦ d) Functional block diagram
◦ Now we have a standard feedback and control
system, whose mathematical model can be
derived for analysis, design and tuning.
◦ Each block represents a model (usually gain or
transfer function of that block).
◦ Signals (like Applied input, Error etc) are
multiplied with gains and outputs are generated
and these outputs proceed to next block.

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Lecture 1: Introduction
Example 1.1 (Schaum)
◦ Draw block diagram of the system to control electricity through manual switch?

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Lecture 1: Introduction
Example 1.5 (Schaum)
◦ Draw block diagram of the system of car driving on the road?

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Lecture 1: Introduction
Steady State Error
◦ Given a feedback control system with plant model G(s)=1/s3+3s2+3s+1. Simulate the system
for step input.
◦ MATLAB simulation

>> G=tf(1,[1 3 3 1]);

>> kp=2;
>> H=feedback(kp*G,1)
step(H)

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Lecture 1: Introduction
Steady State Error
◦ Given a feedback control system with plant model G(s)=1/s3+3s2+3s+1. Simulate the system
for step input.
◦ Simulink simulation

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