IIUC

CO-PO Presentation

EEE4701, Control system I

Mohammad Jalal Uddin

Assistant Professor, Department of EEE, IIUC
[email protected], 01911243431

Autumn 2021, Chittagong

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Lecture Outcomes

At the end of the lecture, you will learn

a. About course outcomes of EEE4701
b. Contents of the syllabus
c. Evaluation method of the course
d. Reference of the course

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Lecture Outcomes

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Lecture Outcomes

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Lecture Outcomes

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Course goals, course outcomes (COs)

CO1 Understand about basic control system engineering to model, analysis
and design of a system
CO2 Demonstrate basic proficiency in solving basic electrical and mechanical
control system modeling
CO3 Design of basic controller for application specific troubleshooting,
identifying problem and providing solution for the sustainable development
of the society.
PO1 PO2 PO3
CO1 √
CO2 √
CO3 √

PO1 Engineering Knowledge

PO2 Problem analysis
PO3 Design/development of solutions
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Course contents, Details

CO1 Linear System Models: Introduction to control systems, Design process of feedback control
CO2 system, Mathematical Models of Systems: transfer function and state-space models,
conversion between transfer function and state-space models, Linearization.
CO1 Block Diagrams and Signal Flow Graphs: Block diagrams of systems block diagram
CO2 reduction, signal flow graphs of systems, Mason's formula, Signal flow graphs of state
equations. Effect of adding poles and zeros
CO1 Stability: Bounded-input bounded-output (BIBO) stability, Routh-Hurwitz stability criterion,
CO2 Stability in State Space
CO2 Time Response: Pole-zero plots, first and second order transient responses, higher order
CO3 system approximation, Laplace transform and time domain solution of State equations.
CO3 Steady-state Error: Steady-state Error for feedback systems, System Type, Sensitivity, and
Steady-stat error for Systems in State Space.
CO3 Root Locus Analysis and Design: Definition of root locus, Properties of root locus,
sketching of root locus plots. Effect of open-loop zeros and poles. Root locus design
concepts the root locus method, rules for root locus plotting and construction of root locus, root
locus design.
CO3 Dynamic Compensation: Feedback compensation, lead-lag compensation.
CO3 Frequency Response Analysis and Design: Frequency response, polar plots, Bode plots
and Nyquist diagrams, stability criterion, gain and phase margins, compensator design in the
frequency domain, Digital Control System.
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Evaluation methods

• Attendance 10
• Class tests 10 CO1 CO2 and/or CO3
• Assignment/Quiz CO1 or CO2 or CO3
• Midterm examination 30 (21+9) CO1 and CO2
• Final Examination 50 (30+20) CO1 CO2 CO3
<60% 0
<65 4
<70 5
<75 6
<80 7
<85 8
<90 9
>90 10
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Welcome again

• Reference
• Control System Basic
• System Configurations
• Analysis and Design Objectives
• Design Process
• Test Inputs

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Welcome again

• Course Code: EEE4701 Course Title: Control System I

• Contact Hours: 3/Week

• Reference
– Norman S. Nise, Control System Engineering, 7th Ed., Wiley, 2015.
– Katsuhiko Ogata, Modern Control Engineering, 5th Ed., Prentice Hall,
2010.
– Stuart A. Boyer, SCADA: supervisory control and data acquisition,
International Society of Automation, 2009.

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Control System Concepts

• The rocket fire

• In splashing cooling water
• Robot
• Self guided vehicles
• Autonomous Vehicle

• Pancreas: control blood sugar

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Control System Definition

Don’t Forget!
Desired Output
Desired Performance

A control system consists of subsystems and processes (or

plants) assembled for the purpose of obtaining a desired output
with desired performance, given a specified input. Figure 1.1
shows a control system in its simplest form, where the input
represents a desired output.
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Control System Definition

System Performance!
Transient Response
Steady-State Error

Two major measures of performance are apparent: (1) the transient response and
(2) the steady-state error.
In our example, passenger comfort and passenger patience are dependent upon the
transient response. If this response is too fast, passenger comfort is sacrificed; if
too slow, passenger patience is sacrificed. The steady-state error is another
important performance specification since passenger safety and convenience
would be sacrificed if the elevator did not properly level.
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Control System Why

We build control systems for four primary reasons:

1. Power amplification
2. Remote control
3. Convenience of input form
4. Compensation for disturbances

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Control System History & Applications

1. Liquid level control

2. Steam pressure and temperature controls
3. Speed control
4. Stability, stabilization, and steering

Simple Complex Complicated

Linear Non-linear
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Control System System Configurations

Does Controller
have the information
about the present system output?
1. Open Loop System NO
2. Closed Loop System YES

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Control System System Configurations

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Control System System Configurations

Advantages/Disadvantages/Comparison
1. Compensating Disturbances
2. Accuracy
3. Sensitivity
4. Complexity
5. Expenses
6. Performance Controlled in convenient and flexible
way

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Analysis and Design Objectives

• Analysis is the process by which a system’s

performance is determined. For example, we
evaluate its transient response and steady-state error
to determine if they meet the desired specifications.
• Design is the process by which a system’s
performance is created or changed. For example, if a
system’s transient response and steady-state error
are analyzed and found not to meet the
specifications, then we change parameters or add
additional components to meet the specifications.

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Analysis and Design Objectives

• A control system is dynamic: It responds to an input by

undergoing a transient response before reaching a steady-state
response that generally resembles the input.
• We have already identified these two responses and cited a
position control system (an elevator) as an example.
• In this section, we discuss three major objectives of systems
analysis and design:
1. producing the desired transient response,
2. reducing steady-state error, and
3. achieving stability.
• We also address some other design concerns, such as cost and
the sensitivity of system performance to changes in parameters.

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Design Process
Segment 1
Segment 2
Segment 3

Segment 3-8

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Control system Standard/Test Inputs

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Software

• MATLAB

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Lecture 2 System Modelling

• Mathematical Model
• Transfer Function Model
• State Space Model
• Conversion Between Them

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Lecture 2 Mathematical Model

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Lecture 2 Mathematical Model

• Electrical Network
– Input-Output
– Ohm’s Law, KVL, KCL etc.
• Mechanical Network
– Input-Output
– Newton’s Law, D Alembert Principle etc.

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Outcome: Differential Equations

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Lecture 2 Mathematical Model

• Electrical Network

Outcome: Frequency Domain Function, G(s) or T(s) or H(s).

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Lecture 2 Transfer Function Model

• Electrical Network

Outcome: Frequency Domain Function, G(s) or T(s) or H(s).

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Lecture 2 Transfer Function Model

• Laplace Transform (self)

• Inverse Laplace Transform (self)

Outcome: Frequency Domain Function, G(s) or T(s) or H(s).

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Lecture 2 Transfer Function Model-General

Outcome: Frequency Domain Function, G(s) or T(s) or H(s).

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Lecture 2 Transfer Function Model

• Transfer Function

Outcome: Frequency Domain Function, G(s) or T(s) or H(s).

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Lecture 2 Transfer Function Model

• Electrical Network to Laplace network

Outcome: Frequency Domain Function, G(s) or T(s) or H(s).

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Lecture 2 Transfer Function Model

Outcome: Frequency Domain Function, G(s) or T(s) or H(s).

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Lecture 2 Transfer Function Model

Translational Mechanical System
Rotational Mechanical System

Outcome: Frequency Domain Function, G(s) or T(s) or H(s).

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Lecture 2 Transfer Function Model

Translational Mechanical System
Rotational Mechanical System

Outcome: Frequency Domain Function, G(s) or T(s) or H(s).

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Lecture 2 Transfer Function Model

Outcome: Frequency Domain Function, G(s) or T(s) or H(s).

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Lecture 2 Transfer Function Model

Outcome: Frequency Domain Function, G(s) or T(s) or H(s).

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Lecture 3: State Space Model

• An Extensive Example shows basic concept of state space

model.

Outcome: Time Domain state differential equations and output equation.

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Lecture 3: State Space Model

i1(t) x2(t)
i3(t)
v1(t) ic(t) i2(t) vL(t)
u(t) v3(t)
x1(t) v2(t)

Outcome: Time Domain state differential equations and output equation.

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Lecture 3: State Space Model

i1(t) x2(t)
i3(t)
v1(t) ic(t) i2(t) vL(t)
u(t) v3(t)
x1(t) v2(t)

Outcome: Time Domain state differential equations and output equation.

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Lecture 3: State Space Model

Example: RLC circuit demonstrates SS model

x1: capacitor voltage = 10 (assume)

x2: inductor current = 1 (assume)
u(t): input = 20 (assume)

Is it possible to express all possible output by

Means of x1, x2 and u(t)?
i1(t) x2(t)
i3(t)
u(t) is known in general but u(t) v1(t) ic(t) i2(t) vL(t)
how can you determine u(t)
x1 and x2? x1(t) v2(t) v3(t)

Outcome: Time Domain state differential equations and output equation.

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Lecture 3: State Space Model

Example: RLC circuit demonstrates SS model

u(t) is known in general but

how can you determine x1 and x2?

Outcome: Time Domain state differential equations and output equation.

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Lecture 3: State Space Model

Outcome: Time Domain state differential equations and output equation.

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Lecture 3: State Space Model

Outcome: Time Domain state differential equations and output equation.

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Lecture 3: State Space Model

Outcome: Time Domain state differential equations and output equation.

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Lecture 3: State Space Model

Outcome: Time Domain state differential equations and output equation.

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Lecture 3: State Space Model

State vector/variables
State differential equation
Derivative of states
Linear combination
Outcome: Time Domain state differential equations and output equation.
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Lecture 3: State Space Model

Linear combination
Linear independence
System variable
State variable
State vector
State space
State Equation
Output Equation
Outcome: Time Domain state differential equations and output equation.
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Lecture 3

• Comparison between frequency domain modelling and time

domain modelling (Section: 3.1)

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Lecture 3: Model Conversion

• Phase variables method

Outcome: Time Domain state differential equations and output equation.

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Lecture 3: Model Conversion

• Phase variables method

Outcome: Time Domain state differential equations and output equation.

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Lecture 3: Model Conversion

Outcome: Frequency Domain Function T(s)

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Lecture 3: Model Conversion

• Phase variables method

Outcome: T(s) or A, B, C, D
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Lecture 4: Reduction Techniques

• Block Diagram Reduction>> T(s)

• Signal Flow Graph
• Conversion of Block Diagram to Signal Flow Graph
• Signal Flow Graph of State Space Model
• Reduction of Signal Flow Graph>>Mason’s Rule>>T(s)

Outcome: T(s)
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Lecture 4: Block Reduction

Outcome: T(s)
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Lecture 4: Block Reduction

• Cascade Form

Outcome: T(s)
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Lecture 4: Block Reduction

• Parallel Form

Outcome: T(s)
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Lecture 4: Block Reduction

• Feedback Form

Outcome: T(s)
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Lecture 4: Block Reduction

Outcome: T(s)
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Lecture 4: Block Reduction

Outcome: T(s)
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Lecture 4: Block Reduction

Outcome: T(s)
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Lecture 4: Block Reduction

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Lecture 4: Block Reduction

• A signal flow graph consists only of branches, which represent

systems, and nodes, which represent signals.

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Lecture 4: Block Reduction

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Lecture 4: Block Reduction

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Lecture 4: Block Reduction

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Lecture 4: Block Reduction

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Lecture 4: Block Reduction

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Lecture 4: Block Reduction

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Lecture 4: Block Reduction

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Lecture 4: Block Reduction

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Lecture 4: Block Reduction

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Lecture 4: Block Reduction

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Lecture 4: Block Reduction

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Lecture 4: Block Reduction

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Lecture 5: Stability

Stable
Unstable
Marginally Stable

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Lecture 5: Stability

Stable
Unstable

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Lecture 5: Stability

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Lecture 5: Stability

Poles
Zeros
Complex Plane

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Lecture 5: Stability

Routh-Hurwitz criterion declares that

the number of roots of the polynomial that are in the right half-plane is equal to the number
of sign changes in the first column of the Routh Table.

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Lecture 5: Stability

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Lecture 5: Stability

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Lecture 5: Stability

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Lecture 5: Stability

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Lecture 5: Stability
Even Polynomial
Odd Polynomial

Characteristics of Even polynomial

From mathematics

* Polynomial that has only even power of s.

* Even polynomial only have roots that are
symmetrical about the origin.
1. Symmetrical and real
2s2+4=0 s2-4=0
2. Symmetrical and imaginary s2+2=0 s2=4
3. Symmetrical and quadrantal s2=-2 s=+-2
s=+-jsqrt(2)

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Lecture 5: Stability

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Lecture 5: Stability

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Lecture 5: Stability

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Lecture 5: Stability

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