Control System

TY-SEM-I (Div C)
A. Y. 2024-25, Sem-I

FA – 20
SA – 30
TW – 50 Course Faculty:
Dr. Varsha Bendre
Total = 100
 Control System
Objectives
• 1. To make students aware of elements of control system
and their modeling using various techniques.
• 2. To explain the methods for analyzing the time
response and stability of system.
• 3. To make students familiar with the frequency response
and stability of system.
• 4. To introduce the methods of root locus, Bode plots,
Nyquist plots for the analysis of system.
 Control System
Course Outcomes
On completion of the course, students will be able to -
CO1: Use models of physical systems in suitable forms for the
analysis and design of control systems.

CO2: Interpret transient analysis of control systems for given input

conditions.

CO3: Analyze the closed loop control system for stability.

CO4: Illustrate frequency domain analysis of control systems using

various techniques
 Control System
Course Outcomes mapping with
Syllabus
CO1: Unit 1: Introduction to Control Systems & its modelling

CO2: Unit 2: Time domain analysis

CO3: Unit 3: Stability analysis

CO4 : Unit 4: Frequency domain analysis

 Unit 1: Introduction to Control
Systems & its modelling
• Basic Elements of Control System
• Open loop and Closed loop systems
• Differential equations and Transfer function
• Modeling of Electric systems
• Translational and rotational mechanical
systems
• Block diagram reduction Techniques
• Signal flow graph.
 Unit 2: Time domain analysis

• Time domain analysis: transient response and

steady state response
• Standard test inputs for time domain analysis
• Order and type of a system
• Transient analysis of first and second order
systems
• Time domain specifications of second order
under damped system from its step response
• Steady state error and static error constants.
 Unit 3: Stability analysis

• Characteristic equation of a system

• Concept of pole and zero
• Response of various pole locations in s-plane
• Concept of stability, absolute stability, relative
stability, stability of system from pole locations
• Routh Hurwitz stability criterion
• Root locus: definition, magnitude and angle conditions,
construction of root locus, concept of dominant poles,
effect of addition of pole and zero on root locus.
• Application of root locus for stability analysis.
 Unit 4: Frequency domain analysis
• Frequency response and frequency domain
specifications
• Correlation between time domain and frequency
domain specifications
• Polar plot
• Nyquist stability criterion and construction of Nyquist
plot
• Bode plot
• Determination of frequency domain specifications and
stability analysis using Nyquist plot and Bode plot.
• Introduction to state space representation. Advantages
 Books
Text Books:
1. N. J. Nagrath and M. Gopal, “Control System Engineering”, New Age
International
Publishers, 5 th Edition, 2014
2. K. Ogata, “Modern Control Engineering”, Prentice Hall India Learning Private
Limited;
5th Edition, 2014
3. A. Nagoor Kani, “ Control Systems”, RBA Publications, second edition 2009
Reference Books:
1. Benjamin C. Kuo, “Automatic control systems”, Prentice Hall of India, 8th
Edition,2007.
2. M. Gopal, “Control System – Principles and Design”, Tata McGraw Hill, 4th
Edition, 2008.
3. Schaum’s Outline Series, “Feedback and Control Systems” Tata McGraw-
Hill,2000
 MOOC / NPTEL Courses
https://onlinecourses.nptel.ac
.in/noc23_de10/preview -
Control Systems
1. NPTEL Course “Control System”
https://nptel.ac.in/courses/107/106/107106081/

2. NPTEL Course “Control System Design”

https://nptel.ac.in/courses/115/108/115108104/
 GATE/Engineering Serives
Section 6 - Control Systems (GATE –ECE )
• Basic control system components: Feedback principle; Transfer
function; Block diagram representation; Signal flow graph;
Transient and steady-state analysis of LTI systems;
• Frequency response; Routh-Hurwitz and Nyquist stability criteria;
Bode and root-locus plots; Lag, lead and lag-lead compensation;
State variable model and solution of state equation of LTI systems.

2. Control Systems( UPSC ESE-ECE)

• Classification of signals and systems; Application of signal
and system theory; System realization; Transforms& their
applications; Signal flow graphs, Routh-Hurwitz criteria, root
loci, Nyquist/Bode plots; Feedback systems - open &close
loop types, stability analysis, steady state, transient and
frequency response analysis; Design of control systems,
compensators, elements of lead/lag compensation, PID and
industrial controllers.
 List of Tutorials
1. Numerical on Block diagram reduction technique.
2. Numerical on Signal Flow Graphs.
3. Computation of transfer function of Electric Circuits, Mechanical
Circuits Force-Voltage and
Force Current analogy
4. Time domain specifications of the given system.
5. Steady state error and error coefficients of the type 0, 1 and 2
systems for step, ramp and
parabolic inputs.
6. Stability analysis using Routh Hurwitz Criterion.
7. Computation of root locus for given G(s)H(s).
8. Frequency domain specifications of the system.
9. Computation of frequency response analysis using Bode Plot for
given G(s) H(s).
10. Frequency response analysis using Nyquist Plot
 Formative Assessment (FA) and
Summative Assessment (SA)
• FA 1 : Quiz Based on Gate Questions – 10 M
• FA2 : Problem solving and verification using
simulation tool – 10M
• SA: Unit 1 – 8M, Unit 2 – 6M, Unit 3 – 8M and
Unit 4– 8M = 30M
• FA+SA = 50M
• TW = 50M
• Total = 100M
 Introduction
System An interconnection of elements and devices for a desired purpose.

Control is the process of causing a system variable such as temperature to

confirm to some desired value.

Control System An interconnection of components forming a system

configuration that will provide a desired response.

Process The device, plant, or system under control. The input and output
relationship represents the cause-and-effect relationship of the process.

14
 Definition of Control System
• A system is a combination of number equipment or
components connected in a sequence to perform a
specific function.
• In a system, when the output quantity is controlled by
varying the input quantity then the system is called as
a control system.
• The meaning of control is to regulate or to direct or to
command and therefore, a control system is an
arrangement of distinct physical components
connected in such a manner so as to regulate or to
direct or to command itself or some other system.
 Examples Control Systems?
Human System

i.Pancreas
Regulates blood glucose level
ii.Adrenaline
Automatically generated to increase the heart rate and oxygen in
times of flight
iii.Eye
Follow moving object
iv.Hand
Pick up an object and place it at a predetermined location
v.Temperature
Regulated temperature of 36°C to 37°C
16
A manual level control system

17
Control system for a boiler of a thermal plant

18
Schematic diagram of temperature control of an
electric furnace

19
 Transportation

Car and Driver

• Objective: To control direction and speed of car

• Outputs: Actual direction and speed of car
• Control inputs: Road markings and speed signs
• Disturbances: Road surface and grade, wind, obstacles
• Possible subsystems: The car alone, power steering system, breaking
system
 Transportation

Functional block diagram:

Desire Actual
d course
course + Error Steering of
Driver Automobile
of Mechanism travel
-
travel

Measurement, visual and tactile

Time response:
 Control benefits

Improved control is a key enabling technology to:

• enhanced product quality
• waste minimization
• environmental protection
• greater throughput for a given installed capacity
• greater yield, and
• higher safety margins

22
 Successful Control

Success in control engineering depends on some

of the issues:
• plant, i.e. the process to be controlled
• objectives
• sensors
• actuators
• computing
• accounting for disturbances and uncertainty

23
 Plant
• The portion of a system which is to be controlled
or regulated is called as plant or process.
• It is a unit where actual processing is performed
and the input of the plant is the controlled signal
generated by a controller.
• A plant performs necessary actions on a
controlled system and produces the desired
output.

24
 Plant
• The physical layout of a plant is an intrinsic part of
control problems.
• Thus a control engineer needs to be familiar with the
"physics" of the process under study.
• This includes a knowledge of the basic energy balance,
mass balance and material flows in the system.
• As an example consider position control of an
aeroplane, or temperature control of a room.

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 Objectives

Before designing sensors, actuators or control

architectures, it is important to know the goal,
that is, to formulate the control objectives. This
includes
• what does one want to achieve (energy reduction, yield
increase,...)
• what variables need to be controlled to achieve
these objectives
• what level of performance is necessary (accuracy, speed,...)

26
 Sensors
Sensors are the eyes of control enabling one to
see what is going on. Indeed, one statement
that is sometimes made about control is:

If you can measure it, you can control it.

As an example consider the altitude sensor in an

aeroplane or the temperature sensor in a room.

27
 Actuators

Once sensors are in place to report on the state

of a process, then the next issue is the ability to
affect, or actuate, the system in order to move
the process from the current state to a desired
state.

As an example consider the ballet in an

aeroplane or the fan in a room.

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 Computing

In modern control systems, the connection between sensors and

actuators is invariably made via a computer of some sort.

Thus, computer issues are necessarily part of the overall design.

Current control systems use a variety of computational devices

Including PLC's (Programmable Logic Controllers), PC's (Personal
Computers), microcontrollers, etc.

29
 In Summary

Sensors provide the eyes and actuators the

muscle but control science provides the finesse.

30
 In Summary

❖ Better Sensors
Provide better Vision

❖ Better Actuators
Provide more
Muscle
❖ Better Control(Computing)
Provides more finesse by combining sensors and
actuators in more intelligent ways

31
 Disturbances and Uncertainty

One of the things that makes control science interesting is

that all real life systems are acted on by noise and external
disturbances. These factors can have a significant impact on
the performance of the system.

As a simple example, aircrafts are subject to disturbances

in the form of wind-gusts, and cruise controllers in cars

have to cope with different road gradients and different car loadings.
32
 Control System Classification

• An open-loop control system utilizes an actuating device to control the

process directly without using feedback.

Desired Actuatin
Process Output
Output g Device
Response
• A closed-loop feedback control system uses a measurement of the
output and feedback of the output signal to compare it with the
desired output or reference.
Desired
Output Compariso Controlle Process Outpu
n r t
Respons
e Measuremen
t
 Types of Control System
⚫Natural Control System
⚫Universe
⚫Human Body

⚫Manmade Control System

⚫Vehicles
⚫Aeroplanes
⚫Electronic Devices with Embedded Control System
 Types of Control System
• Manual Control Systems
– Room Temperature regulation Via Electric Fan
– Water Level Control

• Automatic Control System

– Room Temperature regulation Via A.C
– Human Body Temperature Control
 Types of Control System
Open-Loop Control Systems utilize a controller or control actuator to obtain
the desired response.
• Output has no effect on the control action. No feedback – no
correction of disturbances
• In other words output is neither measured nor fed back.

Input Output
Controller Process

Examples:- Washing Machine, Toaster, Electric Fan

 Types of Control System
• Since in open loop control systems reference input is not compared with
measured output, for each reference input there is fixed operating
condition.

• Therefore, the accuracy of the system depends on calibration.

• The performance of open loop system is severely affected by the

presence of disturbances, or variation in operating/ environmental
conditions.
 Types of Control System
Closed-Loop Control Systems utilizes feedback to compare the actual
output to the desired output response.

Input Output
Comparator Controller Process

Measurement

Examples:- Refrigerator, Iron

 Types of Control System
Multivariable Control
System

Tem Output
Humidit
p Comparator Controller Process
Pyressur s
e

Measurements
 Types of Control System
Feedback Control System
• A system that maintains a prescribed relationship between the output and
some reference input by comparing them and using the difference (i.e.
error) as a means of control is called a feedback control system.

Input + erro Output

Controller Process
- r

Feedback

• Feedback can be positive or negative.

 Feedback
• It is a controlled action in which the output is sampled
and a proportional signal is given to the input for
automatic correction of any changes in the desired
output.
• The output is given as feedback to the input for
correction i.e. information about output is given to
input for correcting the changes in output due to
disturbances.
• The feedback signal is fed to the error detector.
Negative feedback is preferred as it results in better
stability and accuracy.
• The other disturbance signals are rejected.
 Error detector
• The function of error detector is to compare
the reference input with the feedback signal.
It produces an error signal which is a
difference of two inputs which are reference
signal and a feedback signal. The error signal
is fed to the controller for necessary
controlled action. This error signal is used to
correct the output if there is a deviation from
the desired value.
 Controller
• The element of a system within itself or external
to the system which controls the plant is called as
a controller.
• The error signal will be a weak signal and so it has
to be amplified and then modified for better
control action.
• In most of the systems, the controller itself
amplifies the error signal and integrates or
differentiates to generate a control signal.
• An amplifier is used to amplify the error signals
and the controller modifies the error signal.
Block Diagram of Automatic CS
 Types of Control System
Servo
System
• A Servo System (or servomechanism) is a feedback control system
in which the output is some mechanical position, velocity or
acceleration.

Antenna Positioning Modular Servo System

System (MS150)
 Types of Control System
Linear vs. Nonlinear Control System
• A Control System in which output varies linearly with the input is called a
linear control system.

u(t Process y(t

) )
 Types of Control System
Linear vs. Nonlinear Control System

• When the input and output has nonlinear relationship the system is said
to be nonlinear.
 Types of Control System
Linear vs. Nonlinear Control System

• Linear control System Does not

exist in practice.

• Linear control systems are

idealized models fabricated by
the analyst purely for the
simplicity of analysis and design.

• When the magnitude of signals in

a control system are limited to
range in which system
components exhibit linear
characteristics the system is
essentially linear.
 Types of Control System
Linear vs. Nonlinear Control System

• Temperature control of petroleum product in a distillation column.

°
C
Temperatur
e
500°
C
Valve
Position
0 25 100%
% % %
Open
 Types of Control System
Time invariant vs. Time variant

• When the characteristics of the system do not depend upon time itself
then the system is said to time invariant control system.

• Time varying control system is a system in which one or more

parameters vary with time.
 Types of Control System
Lumped parameter vs. Distributed Parameter

• Control system that can be described by ordinary differential equations

are lumped-parameter control systems.

• Whereas the distributed parameter control systems are described by

partial differential equations.
 Types of Control System
Continuous Data vs. Discrete Data
System
• In continuous data control system all system variables are function of a
continuous time t.
x(t
)

• A discrete time control system involves one or more variables that are
known only at discrete time intervals.

X[n
]

n
 Types of Control System
Deterministic vs. Stochastic Control System
• A control System is deterministic if the response to input is predictable
and repeatable.
x(t y(t
) )

t t

• If not, the control system is a stochastic control system.

z(t
)

t
 Types of Control System
Adaptive Control System

• The dynamic characteristics of most control systems are not constant for
several reasons.

• The effect of small changes on the system parameters is attenuated in a

feedback control system.

• An adaptive control system is required when the changes in the system

parameters are significant.
 Types of Control System
Learning Control System

• A control system that can learn from the environment it is operating is

called a learning control system.
Examples of Modern Control Systems

(a) Automobile steering

control system.
(b) The driver uses the
difference between the
actual and the desired
direction of travel
to generate a controlled
adjustment of the
steering wheel.
(c) Typical direction-
of-travel response.
 Advantages and Disadvantages of
open loop system
Advantages Disadvantages
• The open loop systems are • The open loop systems are
simple and economical. inaccurate and unreliable.
• They are easier to • The changes in the output
construct. due to external
• The open loop systems are disturbances are not
stable. corrected automatically.
 Advantages and Disadvantages of
close loop system
Advantages Disadvantages
• Closed loop systems are • They are complex and
accurate. expensive.
• They are accurate even in • The feedback in closed loop
the presence of system may leave to
nonlinearity. oscillatory response.
• They are more stable. • More care is needed to
• They are less affected by design a closed loop system.
noise. • The overall gain of the
system is reduced due to
feedback.
 Types of Control Systems
🞆 Open loop control systems
🞆 Closed loop control system
🞆 Open loop control systems

PROCE
SS OUTPUT

INPUT
 OPEN LOOP CONTROL SYSTEM
🞆 In open loop control system we have a process
which we have to control and some input to
change the process and out put. We have an
example of a tank level control

Hi level
Start/ switch
stop

lo level
switch
Open loop control
🞆 In open loop control system when we start
the pump it will continue fill the fluid in the
tank but at a time tank will overflow still
pump will not stop. In open loop control we
have no feedback that what is going on in
process.
🞆 We have to manually control the pump by
putting a man at near the tank .He will see
that if the high level switch glow then he will
stop the pump and if lo level will glow then
he will start the pump.
Advantages of Open Loop System

🞆 The open loop systems are simple and

economical.
🞆 They are easier to construct.

🞆 The open loop systems are stable.

Disadvantages of Open Loop
System

🞆 The open loop systems are inaccurate

and unreliable.
🞆 The changes in the output due to external

disturbances are not corrected

automatically.
Closed loop control
🞆 Closed loop control system have information
about the change in process with respect to
change in input. Now consider the previous
example in open loop control system.

Start/
Hi level
stop
switch
lo level
switch
Cont
rol
syste
m
Close loop control system block
diagram

Block diagram

Contr
Process OUTP
INP oller
UT UT

FEEDB
ACK
Closed loop control
🞆 In open loop control system when we start
the pump we have no status of the tank
level but in closed loop control we have
status of tank level and if tank level goes
below, low level switch act and the pump
will start by controller.
🞆 In second case if the tank level goes high

then the high level switch act and

controller stop the pump.
Advantages of Closed Loop System
🞆 Closed loop systems are accurate.
🞆 They are accurate even in the presence of

nonlinearity.
🞆 They are more stable.

🞆 They are less affected by noise.

Disadvantages of Closed Loop System

🞆 They are complex and expensive.

🞆 The feedback in closed loop system may

leave to oscillatory response.

🞆 More care is needed to design a closed

loop system.
🞆 The overall gain of the system is reduced

due to feedback.
Case Study Control Systems
🞆 Distinct examples of control systems are
as follows:
🞆 Liquid level control system

🞆 Room temperature control system

🞆 Traffic control system

🞆 Home heating systems

references
🞆 www.google.com
🞆 www.wikipedia.com
🞆 www.studymafia.org
🞆 www.pptplanet.com