AV 224 Control SyStemS

Dr. Rajesh Joseph Abraham

Associate Professor
Department of Avionics
Indian Institute of Space Science and Technology
Thiruvananthapuram 695547, India
Email: [email protected]
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 Course Syllabus

Control Systems: Introduction to Control Theory - Control System

Components, Modeling of Physical Systems - Transfer Function, Block
Diagram, Signal-Flow Graph.

Time Domain and Frequency Domain Response - Relationship between

the Time and Frequency Domain Responses. Stability - Concept of Pole
and Zero - Routh-Hurwitz Criteria, Nyquist Criteria, Root Locus, and
Bode Plot; P-I, P-D, P-I-D Controller Design, Tuning of Controllers; Lead
and Lag Compensators.

State Variable Representation and Solution of State Equations of LTI

Control Systems.

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Primary Course Text Books

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 Evaluation

2 Monthly Tests / Assignments: 20%

Midterm exam: 30%

Endterm exam: 40%

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 Course outcomes

CO1: Develop Mathematical Model for Physical Systems

CO2: Analyse system stability and Dynamic behavior

CO3: Design and tune Controllers

CO4: Simulate and validate Controllers

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 Time Table

1 2 3 4 5
Period 11:50-
09:00- 09:55- 11:00- 12:50- 13:45- 14:45-17:15
Time 12:50
09:50 10:45 11:50 13:40 14:35

CONTROL
Mon A F D V
SYSTEMS

L CONTROL
Tue B A F H W
U SYSTEMS
Wed C B A N F H X(SEMINAR)
CONTROL C
Thu D C A H Y
SYSTEMS H
CONTROL CONTROL
Fri D C Z
SYSTEMS SYSTEMS

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• Process / Plant: whose output is to be controlled
• Actuator: whose output causes the process output to change
• Controller: computes the desired control signal
• Input filter: converts the reference signal to electrical form for
manipulation by the controller
• Systems designed to hold an output fixed against unknown
disturbances are called regulators
• Systems designed to track a varying reference signal are called
tracking / servo systems

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• According to the information used in computing the control
action,
• Open loop control: If the controller does not use a
measure of the controlled system output in computing the
control action/error/actuating signal
• Closed loop / Automatic / Feedback control: If the
controlled output signal is measured and feedback for
control action/error/actuating signal

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 Feedback control: component block diagram of a room
temperature control system

• House whose output is the room temperature - Process

• Gas furnace whose output causes the process output to
change - Actuator
• Thermostat – Sensor, Input filter and controller
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Control System Requirements
• Stability: System must be stable at all times. This is an absolute
requirement
• Tracking: The system output must track the command reference
signal as closely as possible
• Disturbance rejection: The system output must be as insensitive as
possible to disturbance inputs
• Robustness: The aforementioned goals must be met even if the
model used in the design is not completely accurate or if the
dynamics of the physical system change over time.

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Component block diagram of an elementary feedback
control

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Closed Loop / Automatic / Feedback Control Systems

Block Diagram of a Closed Loop System

• Measures the output response, feeds that measurement back

through a feedback path and compares it with the
input/reference signal and generates an error/actuating signal
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Closed Loop / Automatic / Feedback Control Systems

Block Diagram of a Closed Loop System

• Measures the output response, feeds that measurement back

through a feedback path and compares it with the
input/reference signal and generates an error/actuating signal
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• If the error is zero, the controller does not drive the plant since the
plant’s response is already the desired response
• If the error is positive, the controller drives the plant to make a
correction
• Greater accuracy (advantage)
• Less sensitive to noise, disturbances and changes in the environment
(advantage)
• Complex and expensive (disadvantage)
• In other words, closed loop systems measure the system output and
correct it if required based on the control action/error signal

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Open Loop Control Systems

Block Diagram of an Open Loop System

• The controller is simply commanded by the reference/command
input only
• The error/actuating signal/control action is independent of the
measured output
• Hence cannot compensate for the disturbances and is
inaccurate(disadvantage)
• Simple and inexpensive (advantage) 15
• Limited use in applications
• Anything that operates on the basis of a timer - Example:
Bread toaster – the controlled variable (output) of a toaster is
the colour of the toast. The toast will be darker the longer it
is subjected to heat. The toaster by itself doesnot measure
the colour of the toast nor does it correct for, if the toast
comes in different thicknesses
• A closed loop toaster oven is more complex and expensive
since it has to measure both colour (through light reflectivity)
and humidity inside the toaster oven.
• In short, systems that do not measure the output and correct
are called open loop systems

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Ailerons control roll about the longitudinal axis. The ailerons are
attached to the outboard trailing edge of each wing and move in
the opposite direction from each other.

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Rudders control yaw

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Elevators control pitch

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Draw a functional block diagram for a closed loop system that stabilizes the roll as follows:
The system measures the actual roll angle with gyro and compares the actual roll angle
with the desired roll angle. The ailerons respond to the roll angle error by undergoing an
angular deflection. The aircraft responds to this angular deflection, producing a roll angle
rate

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A temperature control system operates by sensing the difference between the thermostat
setting and the actual temperature and then opening a fuel valve at an amount
proportional to this difference. Draw a functional closed loop block diagram

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In a nuclear power generating plant, heat from a reactor isused to generate steam for
turbines. The rate of the fission reaction determines the amount of heat generated and
this rate is controlled by the rods inserted into the radioactive core. The rods regulate the
flow of neutrons. If the rods are lowered into the core, the rate of fission will diminish; if
the rods are raised the fission rate will increase. By automatically controlling the position
of rods, the amount of heat generated by the reactor can be regulated. Draw a functional
block diagram for the nuclear reactor control system shown below

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During medical operation, an anesthesiologist controls the depth of unconsciousness by
controlling the concentration of isoflurane in a vaporized mixture with oxygen and nitrous
oxide. The depth of anesthesia is measured by the patient’s blood pressure. The
anesthesiologist also regulates ventilation, fluid balance and the administration of other
drugs. Draw a functional block diagram to automate the depth of anesthesia by
automating the control of isoflurane concentration

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The vertical position of the grinding wheel is controlled by a closed loop system. The input
to the system is the desired depth of grind and the output is the actual depth of grind. The
difference between the desired depth and actual depth drives the motor resulting in a
force applied to the work. This force results in a feed velocity for the grinding wheel. Draw
a closed-loop functional block diagram for the grinding process.

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The human eye has a biological control system that varies the pupil diameter to maintain
constant light intensity to the retina. As the light intensity increases, the optical nerve
sends a signal to the brain which commands internal eye muscles to decrease the pupil’s
eye diameter. When the light intensity decreases, the pupil diameter increases. Draw a
functional block diagram of the light-pupil system.

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Some high speed rail systems are powered by electricity supplied to a pantograph on the
train’s roof from a catenary overhead. The force applied by the pantograph to the catenary
is regulated to avoid loss of contact due to excessive transient motion. A proposed method
to regulate the force uses a closed loop feedback system whereby a force is applied to the
bottom of the pantograph resulting in an output force applied to the catenary at the top.
The contact between the head of the pantograph and the catenary is represented by a
spring. The output force is proportional to the displacement of this spring which is the
difference between the catenary and pantograph head vertical positions. Draw a
functional block diagram

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Draw a functional block diagram for an elevator position control system

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