eee “TL ntroduction iD (0) System: A ayatern i Combination of Waieaas een Com ponent > Connected ee by aome form of ngelee interactions to ach aepehes and ‘Perform oa Cevtoin objechve- Cortvol System: Defre 4 Pore Combination ek devices connected ov widtesd nee” and Component +o Command, adlivect ov saa tt aelf or another System (or) Tt nw a Sytem wheve the output 1» Controlled Varying the imped The gutput 0 Called 29 by Vor P ? Response and tnpat Excitation. Contvolled Vanable 7 Called Command Syrol ov Level, Postion ete. Applications. Contve\ of Temperature , RealTime Example: output input | Accelew [san Cortretied ) [cna cee Vamiable Speed ara Command (ye Drtuinp Syste Automobile Control Sytem of a” vias y stem of Si aaabilehae Component a i a Control Sy ater Karbance Drctarbortss wectly ae vaneble Reberence wor, twput 51g indwectly Contvalled Variable 1 Rejerence Input Elementa. “Rene Conatttate the poartion of peedboet Contvo\ ayrtem that eatabluhen the velotion shi p between the Command a certain vehevence input - a tol liahs 2 Command. The # deliberetely troduced al ertoblishea external te ane independent of Jedback by rome means, Cont rel Ayatem under Conaidevotion 3. Reperence Input: Tt wa Syne! eateblahed an & tlandayd of Compevinen fer o feedbock Contral Oyen by Vivtwe of ttn velation te the Commend - yg. Ewor Detector: T+ is an element m which one Ayatem variable (feedback) t® Aublvacted fom another Vavieble (repe rence soa!) to obtain thivd Varioble (Error Syne!) . Tt tp alae Colled Comparator 5. Feed back Element: Feedback Sugoal hoa function °f Controlled output which ty Compared worth reference Spot os eles os ier s. '6. Ewer Signal: Th is an Algebraic Sum of veferencs inp at and Primary feedback. | 1. Controller: Tt tw an element reputed to generate appropriate Contvol hE oiely 8- Output dale Finetiew, Ch ts. « Condetlen tent is Vevied an a functron of the actuating agra! fel ea te: change the Velue ok Controlled Voreble. 4. Controlled System : Tt bn a body, Procenn or mehme of which a Particular Condition 1a te be Contmalled lo Controlled Variable. rt & * voeweble that ia divectly measured and Cantvalled » Diaturbance ia an input other than Command that tends effect tae Wale of Controlled Venable - We Output Elements: These are elements thet establind the velotionabip betocen divectly Controlled Variable and indivectly Controlled VanableClanvification of Control Systema 1. Opeen Loop and Closed Loop Constvo| Syater: The Syatemn im which output han ne etpect ag the Co ntvol Sgetion ave Colled open-loop Conv! Systems Ex: nea Machine Reference nr actuating | Conbotied| fentvalied Ss Pro cer) meat et a out put Feedback Control Systems are refered to a0 clored loop Contre! Systema. In Cloned Loop, the actuating Evvor oe A he4 to the Contveller Ao ar to Veduce the erroy and bring the output of the Ayatem +o the deared value - rf the Contro! Bction is dependent on the output , the system 9 Called Closed Loop Sy stem Com po-vaclot output Feedback| Digyeyen cee Between Open- Loop ana Closed - | Ofen Loop An change output har C no eqpect on in pet bey feedback doer not exrat Generally Stable - Ewov Detector 14 Absent Ajjected by Non-Linear n Hthe Sy atem Simple to Conatruct and Economica) Bandwidth 1p Small gear nes 1a determined by the Calibvetion of their Elementa Generally and un veliable Hyg bly Senartve to Disturbances 8° and Environmental change? loop Closed Loop Il. Change o in ud nae out pt 1 Affects the Input which ia Possible by Mas of feedback 2. Can become unstable under Certain Conditions 3. Evroy Detector '* Present q- Adjusta to etbeet> ok Non- Linearities in the Syastern & Compheeted to Deagn and hence Contlier Git Bandvidth 1 large te none Accurate anl Stable - inaccurate Lean Senartwe to the Environmental changea* Arche arenEx: Web ke - taht syatema Very im cpevetion. Some Systema ove closed loop and Some Ye Open wep. In Open loop sty pei, there (1a a att ny mechaniam which 1a eer Te purteh the light ot eos intervela , weeapecnve Value of Tredge ° Tn Closed loop type» the amount oy trodice Paes hrgugh tea jwnctions montoved and the duration of} “ved ond “green” Conditions are adjusted for eoch Part of the junction 2. Lear ond Nion- Lineav Contre) Systema A Lineay System i one wheh obeyo the Principle of Super Ponition , which states shat the ves pone Produced by pimultan cour application of taco difjerend pres functions tn the Qum of mdividual Yeapones. Non-Linear Syotems de not obey Prinerple of Super posits 3. Contnucua and Discrete Control Sytem Continuow in Continuous Syotema, all Pavometeva ave functon offime A ad ce A clinerete Syatem involve one ov more Parameters that ar4. “Thine. In Venant and Time Varying Control Syatens Time Invariant System 4 one where Pavametern do not Vary wrth dime and rerpense tr inde pendent ob time of which put tn applied: in whieh one oF mor A | Time - Verygeng Syotem ia one Paremeters vary with time and Yeaponse depends dhe time od which mput i applied 6. Single Input - Swele Output (Siso) and Multiple nput Multioutput (mimo) Conte! Systems in S180, theve in one Command and one Coutvolled ote in MiMo, there ave Multiple Inputa ard Multiple out puts 6. Lumped Parameter and Diatnbuted Rrameter Contvol Sy atema Contve| Systema dercrbed by ordinary aibperenhal guste ave lumped Pavameler Systema Wherean Dirtubuted Parameter Systema are dencribed by Partie! Sipe ventral equation J. Detevmanistc and Stochastic Control Syatema - A Contvo) System in delevminihe if the response 1% Predictable and “epeatable . Tf rot, Syatemia Stechad which invelves vyandem Variables and ParametersEjpects ot FeedBack of feedback on Parameter Vari ations I eqyect P, tun of ayotem vith trenaker Verein funtion Gls) may Vary orth changin y environment, aging ae of exact veluer ef ayrten Parameter and other aetore! oer thet ageet a Control Synten A Prmary advantace of uring feed back fine. Co nto) Syatem 14 to veduce Syater'a Sensitivity te Paveameter Variations. the change acs) ef out put due to Parameter Variations AGl8) of Trenaler punction qs) 4 ge by Ac)= Aals): RG) for open leop System Aas) RG) fr cloned loop S9tteM ee 1 + @ls)HeD So the change m output due to Parameter Variation ek Gls) m clered loop veduced by|a fackr [EGG INOS) Which is Uomally greater than unity“ “The Senaitivity Se i” beer by S. See fe closed loop System ond : 14 GG) HOD 2 \ ee open loop System | Beanitividy 1a reduced by a fact *b Aguas * with veapect te Variation of eve) “The Senatwity ot Closed loop ayoteme to changer in H(s) gwen by ” am_ oH S ee eet Fees : aH + oe at als)| 4 @GINO - ~@ts) HG) 14 Gls) H OSD ib a) H@ lave, & become unity and output 4), Veaponne '4 thereby atpected by directly changing 4 must be mamtamed Constant wth So feed back elemen envive nment clearing The ebkes of arcs trie eats ° She senaitivity of Parameter Variation on outpu! eedback in a Contro) Syatem in to2 Eqpect see of Feedback on Steady - State — fov open loop Syatem etn RG)- =? lee eee R (Ss) els) = als) - acs) e&) et) - (i- ats)] RG) Le ess 7 - ets) sree Peeecaes -RG) 32° Foy a unit Step mest v@)el , REI= Us e,. 2 & “s. [i= ee Ss So 1- ale) Glo) often Cole than unity @ J DC Gain and normally greeterFor a2 Closed loop Unity feed back Syatem, Hl(s)= ) ets)+ ap RI) -cs) Gut ee RG) 1+ LS) ets) = RW)- Gs) aw) tx Gs) 14 GG) ~ a ats) eae Ris) ets) ee Gls) ee 5 €cs) Ss S20 Foy unit Step mput vir) =) RG)= Vs ess = ue ee eee . wos $30 als) + 1 e = 1 — = t+ @(o) ess for an open loop Syatem will be of ayeater macnn bars ar Compared to Clered loop& Etyect of Feedback on Noise @) Nowe mn fovravd Pathe. acs) Tis). cs? . Ga) NCS) 14 G(s) G69 NS) Als), For Racheat Care [6,(5 GO) >>! Tis) = GW) G(s)G,(8) 45) Hee ee ee =, ets) = NG? G(s)HG) Gn b Efyect ek Nerme on output can be veduced PY makin 1a, (8) | Aufpeently lovee (b) Neime tn Feedback <(s)-als) ails) tis) = ree eee NCS) 14 G(s JH Cs) 4,6) Foy [at) #8) ¥, )] pei Tits) = - G(s) H(s) Gts ) 4, (s) 4,05) Ts). =! 4, Gs) ets) ge So NCS) H(s) By making H, (s) large the effects of Node Com %e efpectwely veduced Ettect sy Syote m Dynamics Syatem Dynamic? Can be chanced porthout o ctuallly altering the Syatem Pave mete ra. Conmider a twat order Syitem tite Toanaher Function, ky eas Ske ae -T_k, Impulae Response 3} the Syatem in hayel ea) ott z ke ccs) —— Rs) an Cs) Mme Constant T Aen by Te Ve , Gan = Kfa| Ps x Syatem apeed ta to be im proved , anly the to be changed - Puvemeter & hen Po Connidey a Second order gyatem, Gls) = = Sea | Hoss) ay. (2 K [sae Res) 14 Ms SEn Tis) = RK, gS +arks _(areoet mpulte Response, THI? KE ark, System Responae Car be Apeeded by decreasing the at constant by om puitable Velue of kK, Shun wrtreut altering the Paremeter 1g! the ayatem Aime Constant Con be adjusted But the Gain in teduced - andwtdtn mM sheet oy feedback on B Conridey a open loop Syntem north GCs) = K t+ sTAr any en frequency, $2 jo gtie) = tt jot JaGe)| = 4 — Jurjer) \ foy OTs! Vl = Jacier| = S02 where Glol=k oe o='l/r Types ee Conridey a Unity feed back Sy atem 1+ sT K[1+st ‘i 2 es tees 14.sT+k 1+5T tov So je, co a fe oy = rae? ly jot 4k [7 Ge) = —— JirjeoT+k) doy ots tk 5 we Ink icc aul Irce)| = 1 21k ra a 4k Bandurd th of Cloned toe p Ayotem 14 (tk) times ba nduid th of open loop sytem. Speed Renponne ° k Cloned loop ayatem 1a larger than that eo} open loop Sytem6. Elyect of Feedback on Stability Wanner Function of a Feed back (negative ) System 'v cs) ab) ee ey RG) 1 G(s) HGS) AL eee) ictal estest oj te ayatem o y input whieh is finite and the mya te fo van pyrtem 12 aa8 +o be unotable- Fla dace ean are tes pyoten that ir orginally ptable ty becoire unrtable . when ured | feedback 19 # two edped Sued, improperly, + con be bomful one advantage o} Jecdback ia thet tt com Atebilize an unstable Syatem dn Peechee, GUINE) 10 & qunchon of frequency dnd stability Condition dependa en ia pet de and Phene °f Gls) HGs) .| Mothemotical Model» of Coatrol Syatem a Mocthematica! Medel of a Contre! Syatem Co nat tutes a as of Sif ferential eguationa. the Reapanne 4" be ae by Aol ving tne Aypeventia! eqretionn for Veviews Mput Condrtiona Mache meds a! Model of @ Syatem 14 linea 4 tH obey» ane| prince: ple of Super peattion and Homegen ty Tha at * a Syaters meds hee Paneinple tmphen veaponses y, 4) and 4,4) ‘1 any inputs x,@) and x [th ), then a,x + aptnlt) = ayy, 4) Fart) pheve O07 %> ove Constanta A matthe matical model will be line ay “ the Sipterertiot equctionn denenibing the dyote? han Constant Goof yciere Ly tie Coneppcent ave Constant, then the mode} I} the con el certo are in {linea time Invariant - functions of time, then the mode ate Nine aw tone MergingTranatey Function + Syate mn “Wena fer Functon af 0 Linear, Time Invariant “ defined an the vate ef Laplace Tron form of output to the Laplace Transderm of, the input wtth the Zevo intial Conditiena: 4 26s) nD Input and Ges) output then ctranater fanctien Ts) 2 cts) RG) fonwidac om LT Syotem defined by ne oe : a2 oot * a4 Haaser miter 1 wed b aS bg bets bee Be 4 bint wheve 12™ y is output ot the Systen x input of the Ayoten qeeees Laplace en both Sider cane mig Zevo rartial Gnditon (aaa te rand ¥G) si (be. 674 BS eb +o 4 bm) %65) ys) | bos be a bse te sy bygtbm Gs eee digg Tramater Funchen T(s) = xs) ast asVR. sevties of “Tronater Fun chen I. Tremaher Function 19 & mathematica! model Yepreentag Sid eaten 2. Tt whe property % & syatem and |4 inde pendent ok mogeitude and nature of 7 put in formathen 3 Wanaher fiwetien doen, net Provide any r abeut Physice! Construction of the Syaten. u Tp the trenaker Fanchen of & System ‘wv Known, we Can determine the behaviour of System 4p" Vovfous fin pute +o underatand the nature of the System. “Tn pulse Qeaponne: “Impulse Responne of % Syatem wo the inverse Laplace tvens fore of the System Tronafer Function [Refer Unit -T Notes for Renponse of Impulse | oon 5Aetae ieee re Detevmining cthe “Wanakey Puketien of: a Cortvol Syatem ronan late mothe mater! Eqee’ for the Syatem 1. Fovmu atem equation a 2. Take Laplace Wenaform of the Sy nvaa 2ere @aruming all mitral Condition votid of 3. Take _ Unplate Transform of the output to the Laplace Tremato re of input - ' Ex: Find the transfer dunetion MH 4m = soe 4 ode +8 4 or + ot +4 at at” até ort wheve x vs cubput amd Yo input Sole | a LT on both Sides 4 ” os) +25x8 hd rs ys) + 9@= SS e+ 3s* ySyG)+ ys) +4 are (us + 25+ y) nceh = (spt + 35% rset) XS) x(s) ust 2$tl ae y¥@) 6534 387254)Electrical Sy. stems - Obtain tne ranajeron © reno} the Electeal Cece Network , Soln = la the Piven elt) “le b ole » vy ie Funct tke Les ie cies | Ft SE op vy, 4) ee e (5) se node? land 2 - Now, pe have Let the’ node veep a Wey eee a v,G@)- “naw loplece tranajorne vis) and tn Reavotan ce Tana lores cthe welte te poulee In Aevier R, mto equivalent Current source eg * &by Rchot}? Curent law At node |, pee Rae ile RR at Ro Taking Laplace Trannforn we c,.$-v, 08) + ylsy-yl2 €(s) ae ' R worl a cee lta) R, At node 2, Mao + -e% 26 oe At 2 aaa UT, uy & - vi )- OD. 6,84) = Re v, Os) 7 vy) [eres ——F: RR Rg vy, (s) Q, Upper eee UU VRE Les cc ULL e(s) (Us se,%) (Rr ep C32 )%,)- Rs} Prob: "Delertnine the Tanaber Fun chen of the Electucal Netbork R u ot vy, o) @ | G@) network are pel evento! equations Pea. the he ith 4 aA) yeh fiw at at y(t) = ued & : Laplace Thanaterm app ling Loe) vytsy 2 ® xG)+ i ts) + vi(s) = fare tO ot via) « Lfiwe t cu 1 lsd —@® Telng ut, v, (3) = a ‘les -r(s) i Bei a tee eee + te 2 Me OS) [Re ts 71 xs) 1+ Res tles és —= ucs)ona letonat Mechanical ati ned by three basic elemenh Annumed to be at Centre ek body - Maar = ~ Spring - Elastic Deformation = Danh Pt - Friclkon 3 with & Piaten moving inaide Gjinder fle Vin Coun jleé mechenicat Dytter, we — Force w applied to o translational ue to marr, prigter and opponed by 0 orcen 3 ee 4 pporing yorcer elasteby o} the ayatere on the mechanical Ayatem are Se verned rt nena, acting J law whieh atater aum of ferer ww Zevo (For tranalalon: 5 applied prces bw eq by Newten', e070 al Ayatema) acting on & bedy tweltte Nentonn Second law Atater that sur 0 dhe Aum of opposing Forces X 3 Displacement» 2 ve lvecty , IPE S m via ee dat 2 Jaec™ _ Abealancticea, MUA $ > Applied force, N (Newterad 4. => Oppering fpree ayers by mane oy the body, ™ | : i: : a Elastiaty (spring), ® 4 4.7 * ia » tration o} the body, NMp Mana, kg Jn Sirens of the Apring, yiElion Co-ef ice at N-Aec leo K- = & - viscous Eyadiios of WdealkGed Element Force Bolance fore tS) Gnaidey oo Gaal woanekment > [2 wet rg nd iat and elasticity es which has ie Let o force be applied on it Mann will offer 7 opporrng force which in ey PropovEonal t the aecelevahion of the body Let + — applied pra $4 - op poring pre due te Mans % > ge Be oy tet oR att at” aa! By Newton SeGnd low FF MAK ate ci) Spring Connider on ideal elantie element) a which her negli gible mas ana > prictor : Reference Let a force be oppied oF ct. Spre i . pring will offer an opposing force pdeportional te dis placement 4- Li ; P applied force ; $, - oppoamg jprce due & eladtiety Ke HA or) eke waded, = Kewhen the npring han daplacement at both end», the opporing & Propoytonal te dipperential displacement force Fcc (ame) Re be *2 4a k Gime) $4 »n 5 K $d REA) ait) Conri der an ideal pricbonal ele ment doarhpet which han . plied on it nian gee mann an Dash pot Wile oper an opposing 3 elask aby. ut force be of perce whech iw proper Gond to velocity of the body - x $- opplied force br ue te pcGon eae ie ae 4, - opponing force 4 ip - opening Ap 8 k ads { dx pil ae | : ae en darhpot has dir placement ot beth ends, the opporing evertial velec tt ty wh force is Proportional te di. 4 ue (m-a2)) Pe pew 4 2 Bd (HX? ; 4, Bee (47% => | te $e Ob (ae)Guideliner bo Determine TWanabey funckon o Mechanical “Trannlational Syoten (ors 7 uy ai) iii) ws w) w In MTS. digerestial equations governing the ayatem are obtained 0 ety “ay a ‘5 at by wWiling force balance equsttions at raden in ayatem: inte af elemerih . Generally neder are man Nodea ave mecling Po elements inthe Aystem: In neme Caner oder may be soitheut mam Linear displacement of manner fasden) | ere mAmieS a? and annign @ displacernent te each node . Free body Bye pat Draw the yee bedy deaqrama of the Ayatem obtained by drawing each mar on thet mand. I ‘mere diagram be A Aeperotely and then marking all force? acing is m0 opplied force then the displacement, Ve locély ond acceletal: n oppoaste to thet of opporing ree: yam Write one ditperertiol equolon y of mane bb in a divecKo For each free body diag by equating the sum of applied fprcea to the dum of “opPoning frees Toke LT of dueren Gal equal ona do Gnvert them te the olgebvare equalionn. Re- orange S-Domain equations tw unwanted Vavtables and abistutirate obtoin the eEminate Yotte between output Variable and input Variable