Control System

Dr. Lekshmi R. R.
Asst. Prof.
Department of Electrical & Electronics Engineering
Amrita School of Engineering
Coimbatore
1
 Classification of Control Systems
Based on Feedback Path
Open loop system
Input Output
Plant

Closed loop system

Reference +
Error Output
Controller Plant
-

Sensor
Dr. Lekshmi R. R. 2
Mathematical
Modelling
3
 Need for mathematical representation
of physical system
• Physical System: A system in which physical objects are connected to
perform an objective
• Need to formulate a mathematical description of the system
– For the analysis and design of control systems
• Formulation of mathematical description requires physical model of system
• It is not possible to represent any physical system in its real form.
– This requires assumptions to be made for analysis and synthesis of
systems.
• An idealized physical system is called a physical model.
• Mathematical model is then obtained from physical model.
– A set of mathematical equations that represent control system
• Design of control system means finding the mathematical model when we
know the input and the output.
 Physical Model
• Incandescent lamp controlled by a single
switch, incorporating master switch.

230V, P
50Hz,
Single
phase
ac
supply
N
Physical Model
Physical Model
Physical Model
Physical Model
 Mathematical model of system
Switch 1 Switch 2 Lamp
A B Y
OFF OFF OFF AND gate!!!!
OFF ON OFF
ON OFF OFF
ON ON ON

Y=AB
 Linear Time Invariant system
• Class of systems that are both
– Linear
• Homogeneity
• Superposition

– Time-invariant
 Linear Time Invariant system
• Homogeneity

x(t) y(t)
A.x(t)
LTI A.y(t)
 Linear Time Invariant system
• Superposition
x1(t) y1(t)
LTI
x2(t) y2(t)
LTI
x1(t)+x2(t) y1(t)+y2(t)
LTI
 Linear Time Invariant system
• Time-invariant:
– Systems where the output does not depend on when
an input is applied.
 Differential equation model
Example – Electrical System

𝑒 = iR di 1
e=L 𝑒= 𝑖𝑑𝑡
dt 𝐶
e 1
i= 𝑖= 𝑒𝑑𝑡 de
R 𝐿 i=𝐶
dt
 Differential equation model
Example – Electrical System
e - input voltage applied to this circuit

di 1
• 𝑒 = Ri + L + 𝑖𝑑𝑡 −−−− −(1)
dt 𝐶
dq
• i= −−−− −(2)
dt
• (2) in (1)
d𝑞 d2 𝑞 1
• 𝑒=R +L + q
dt dt2 𝐶
1
• Lq + Rq + q=e
C
 Differential equation model
Example – Electrical System

𝑖 𝑡 = 𝑖𝑅 + 𝑖𝐿 + 𝑖𝐶

e 1 de
• i t = + edt + C −−−− −(1)
R L dt
dφ
• e= −−−− −(2)
dt
• (2) in (1)
1 dφ 1 d2 φ
• i t = R dt
+ L
φ+ C dt2
d2 φ 1 dφ 1
• i t = C dt2 + R dt +Lφ
1 1
• C𝜑 + R 𝜑 + L φ=i
 Differential equation model
– Mechanical Translational System

x • f – Applied force in N
f • m – mass in kg
m
• x – Displacement in m

• 𝑓 = 𝑚𝑎
• 𝑓 = 𝑚𝑥
 Differential equation model
– Mechanical Translational System
x2 x1 f

• f – Tensile force in spring in N

• k – Spring constant in n/m
• x1 and x2 – Displacements in m

• 𝑓 = 𝑘(𝑥1 − 𝑥2 )
 Differential equation model
– Mechanical Translational System
x2 x1
f

• f – Tensile force in dashpot in N

• b – Coefficient of damping in n-s/m
• x1 and x2 – Displacements in m

• 𝑓 = 𝑏(𝑥1 − 𝑥2 )
 Differential equation model
– Mechanical Translational System

0
𝑓𝑘 = 𝑘(𝑥 − 0) 𝑓𝑏 = 𝑏(𝑥 − 0)

M M

x
F F
 Differential equation model
– Mechanical Translational System
• F − fk − fb = Ma
𝑓𝑘 = 𝑘(𝑥 − 0) 𝑓𝑏 = 𝑏(𝑥 − 0)

• F − kx − bx = Mx

M • Mx + bx + kx = F

F
 Differential equation model
– Mechanical Translational System Problem
0 𝑓𝑘2 = 𝑘2(𝑥2 − 0) 𝑓𝑏2 = 𝑏2(𝑥2 − 0)

x2
M2
M12
M
x2
𝑓𝑘1 = 𝑘1(𝑥1 − 𝑥2) 𝑓𝑏1 = 𝑏1(𝑥1 − 𝑥2)

x1
M1 M1
x1
F F
 Differential equation model
– Mechanical Translational System Problem
𝑓𝑘2 = 𝑘2(𝑥2 − 0) 𝑓𝑏2 = 𝑏2(𝑥2 − 0)
• Mass M1:
• 𝐹 − 𝑓𝑘1 − 𝑓𝑏1 = 𝑀1𝑥1
M2 • 𝐹 − 𝑘1(𝑥1 − 𝑥2) − 𝑏1(𝑥1 − 𝑥2) =
𝑀1𝑥1
• 𝑀1𝑥1 + 𝑘1 𝑥1 − 𝑥2 − 𝑏1 𝑥1 − 𝑥2 = 𝐹
𝑓𝑘1 = 𝑘1(𝑥1 − 𝑥2) 𝑓𝑏1 = 𝑏1(𝑥1 − 𝑥2) • Mass M2:
• 𝑓𝑘1 + 𝑓𝑏1 − 𝑓𝑘2 − 𝑓𝑏2 = 𝑀2𝑥2
• 𝑘1 𝑥1 − 𝑥2 + 𝑏1 𝑥1 − 𝑥2 − 𝑘2𝑥2 + 𝑏2𝑥2 = 𝑀2𝑥2
• 𝑀2𝑥2 + 𝑏2𝑥2 + 𝑘2𝑥2 + 𝑏1 𝑥1 − 𝑥2 +
M1 𝑘1 𝑥1 − 𝑥2 =0

F
Force illustration C
B
A
 Differential equation model
– Mechanical Rotational System
T θ ω
J
• T – Applied torque in Nm • T=Jθ
• J – Moment of inertia in kg-m2
• θ – Displacement in radians • T = Jω
• ω – Angular speed in rad/sec
 Differential equation model
– Mechanical Rotational System
• T – External torque
applied on torsional
T θ1 θ2
spring in Nm
• G – Torsional spring
k
constant in Nm/rad
• θ – Displacement in
radians
𝑇 = 𝑘(𝜃1 − 𝜃2 )
 Differential equation model
– Mechanical Rotational System
T ω1 ω2

• T – External torque applied on damper in Nm

• b – Coefficient of torsional damping in Nm-s/rad
• ω – Angular speed in rad/sec

T = b(𝜃1 − 𝜃2 )
 Differential equation model
– Mechanical Rotational System

T θ θ 0 • T−t k − t b = Jθ
J • T−kθ − bθ = Jθ
k
• Jθ+bθ+ kθ=T
b

𝑇𝑘 = 𝑘(𝜃 − 0) 𝑇𝑏 = 𝑏(𝜃 − 0)
T
J
 Differential equation model
Example – Electrical System
e - input voltage applied to this circuit

di 1
• 𝑒 = Ri + L + 𝑖𝑑𝑡 −−−− −(1)
dt 𝐶
dq
• i= −−−− −(2)
dt
• (2) in (1)
d𝑞 d2 𝑞 1
• 𝑒=R +L + q
dt dt2 𝐶
𝟏
• 𝐋𝐪 + 𝐑𝐪 + q=e
𝐂
 Differential equation model
– Mechanical Translational System
𝐌𝒙 + 𝐛𝒙 + 𝐤𝐱 = 𝐅
0
𝑓𝑘 = 𝑘(𝑥 − 0) 𝑓𝑏 = 𝑏(𝑥 − 0)

M M

x
F F
 Differential equation model
– Mechanical Rotational System

T θ θ 0 • T−t k − t b = Jθ
J • T−kθ − bθ = Jθ
k
• 𝐉𝛉+𝐛𝛉+ 𝐤𝛉=T
b

𝑓𝑘 = 𝑘(𝜃 − 0) 𝑓𝑏 = 𝑏(𝜃 − 0)
T
J
 Torque/Force-Voltage Analogy

T
J k
M
b

F
1 Mx + bx + kx = F
Lq + Rq + q=e Jθ+bθ+ kθ=T
C
Voltage (e) Force (F) Torque (T)
Inductance (L) Mass (M) Moment of Inertia (J)
Resistance (R) Coefficient of damping (b) Coefficient of damping (b)
Reciprocal of Capacitance (C) Spring constant (k) Spring constant (k)
Charge (q) Displacement (x) Angular displacement (θ)
 Torque/Force- Current Analogy

T
J k
M
b

F
1 1 Mx + bx + kx = F
C𝜑 + 𝜑 + φ=i(t) Jθ+bθ+ kθ=T
R L
Current (i) Force (F) Torque (T)
Capacitance (C) Mass (M) Moment of Inertia (J)
Reciprocal of Resistance (R) Coefficient of damping (b) Coefficient of damping (b)
Reciprocal of Inductance (L) Spring constant (k) Spring constant (k)
Flux (φ) Displacement (x) Angular displacement (θ)
 Torque/Force-Voltage Analogy
1 Mx + bx + kx = F
Lq + Rq + q=e
C

• Mass M1:
• 𝑀1𝑥1 + 𝑘1 𝑥1 − 𝑥2 + 𝑏1 𝑥1 − 𝑥2 = 𝐹
• Mass M2:
• 𝑀2𝑥2 + 𝑏2𝑥2 + 𝑘2𝑥2 − 𝑏1 𝑥1 − 𝑥2 − 𝑘1 𝑥1 − 𝑥2 =0

M12
M • Mass M1:
1
• 𝐿1𝑞1 + 𝑞 1 − 𝑞 2 + 𝑅1 𝑞 1 − 𝑞 2 = 𝑒
𝐶1
• Mass M2:
1 1
• 𝐿2𝑞2 + 𝑅2𝑞2 + 𝑞 − 𝑅1 𝑞 1 − 𝑞 2 − 𝑞1 − 𝑞2 =0
𝐶2 2 𝐶1

M1

F
 Torque/Force-Voltage Analogy
• Mass M1:
1
• 𝐿1𝑞1 + 𝑞 1 − 𝑞 2 + 𝑅1 𝑞 1 − 𝑞 2 = 𝑒
𝐶1
• Mass M2:
1 1
• 𝐿2𝑞2 + 𝑅2𝑞2 + 𝑞 − 𝑅1 𝑞 1 − 𝑞 2 − 𝑞1 − 𝑞2 =0
𝐶2 2 𝐶1
1 1
• 𝐿2𝑞2 + 𝑅2𝑞2 + 𝑞 + 𝑅1 𝑞 2 − 𝑞 1 + 𝑞2 − 𝑞1 =0
𝐶2 2 𝐶1

• Mass M1:
𝑑𝑖1 1
• 𝐿1 + 𝑖1 − 𝑖2 𝑑𝑡 + 𝑅1 𝑖1 − 𝑖2 = 𝑒
𝑑𝑡 𝐶1
• Mass M2:
𝑑𝑖2 1 1
• 𝐿2 + 𝑅2𝑖2 + 𝑖2𝑑𝑡 + 𝑅1 𝑖2 − 𝑖1 + 𝑖2 − 𝑖1 𝑑𝑡 = 0
𝑑𝑡 𝐶2 𝐶1
 Torque/Force-Voltage Analogy
• Mass M1:
𝑑𝑖1 1
• 𝐿1 + 𝑖1 − 𝑖2 𝑑𝑡 + 𝑅1 𝑖1z − 𝑖2 = 𝑒
𝑑𝑡 𝐶1
• Mass M2:
𝑑𝑖2 1 1
• 𝐿2 + 𝑅2𝑖2 + 𝑖2𝑑𝑡 + 𝑅1 𝑖2 − 𝑖1 + 𝑖2 − 𝑖1 𝑑𝑡 = 0
𝑑𝑡 𝐶2 𝐶1

L1
L2
+
C1 C2
e
R1 R2
-
 Torque/Force-Voltage Analogy
x1 x1 x2 x2 0

f M1 M2

+
e
-
 Torque/Force-Voltage Analogy
i1 I1-I2
x1 x1 x2 x2 0

f M1 M2

1
Lq + Rq + q=e Mx + bx + kx = F
L1 C

+
C1
e
R1
-
 Torque/Force-Voltage Analogy
i2 i2
x1 x1 x2 x2 0

f M1 M2

1
Lq + Rq + q=e Mx + bx + kx = F
L1 C
L2
+
C1 C2
e
R1 R2
-
Thank you