LINEAR CONTROL THEORY
2024
Lecture 1: Introduction and course outline
Dept. of Electrical & Electronics Engineering
MIT, Manipal-576104
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Introduction
• Control systems is an interdisciplinary subject
• Applications – robotics – space vehicle systems – aircraft &
autopilot – ships & submarines – high speed rail systems –
building automation systems…etc.
• What do we study in the course?
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Course Outcome
At the end of the course students will be able to:
Derive transfer function and state space models of physical systems
CLO1 by applying the knowledge of mathematics and engineering
principles.
Analyse the performance of linear time-invariant systems using
CLO2 principles of mathematics and modern tools.
Analyse the stability of linear systems using appropriate graphical
CLO3 techniques and modern tools.
Design controllers to achieve time domain and frequency domain
CLO4 specifications for control system applications.
Implement appropriate controllers for engineering and societal
CLO5 applications using modern tools.
Understand the importance of practicing engineering ethics in industrial
CLO6 automation and control.
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Different stages
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Performance of control system
• Stability – sensitivity – accuracy – transient response / frequency
response
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Review of LCT/MCT/course content
• Mathematical modelling & analysis
• Steady state error & transient response
• Frequency response
• Stability
• Design of controllers
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Modelling
• Modelling – computational & prototype
• Algebraic equation
• Differential equations / difference equations
• Transfer function
• State space models
• Black box models / intelligent systems
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What is a Control System?
➢ It is the combination of the devices and components
connected or related so as to command, direct or regulate
itself or another system.
➢ A Control System consists of subsystems and processes (or
plants) assembled to control the outputs of a process.
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Classification of control Systems
• Open loop & closed loop control systems
• Distributed – lumped
• Stochastic – deterministic
• Continuous time – discrete time
• Linear – non-linear
• Time variant – time invariant
• SISO - MIMO
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Classification of control Systems
• Distributed system – transmission line – transformer –
physically not separable – PDE required
• Lumped – physically separable – R, L, C – algebraic
equations / ODE used
• Stochastic – random behavior are described in probabilistic
form – involves random variables & parameters
• Deterministic – know the details completely – response is
predictable- if not involves random variables & parameters
• Continuous time – All system parameters are functions of
continuous time ‘t’ – equations are described for all time.
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Classification of control Systems
• Discrete time – involves one or more variables that are
known only at instants of time.
• Time invariant - parameters do not vary with time- response
is independent of time at which it is applied.
• Time variant- one or more parameters vary with time – In a
space vehicle system mass decreases with time depending
upon fuel consumption.
• Static- Current o/p depends only on current i/p
• Dynamic – current o/p depends on past inputs also.
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LTI System representations
Continuous-time LTI system
1. Nth order Ordinary Differential equation
2. Transfer function (Laplace transform)
3. State equation (1st order differential equations)
Discrete-time LTI system
1. Ordinary Difference equation
2. Transfer function (Z transform)
3. State equation (1st order difference equations)
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Open loop Systems
o It cannot compensate for disturbances
o no automatic correction
o Based on prior estimation / human
estimation
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Feedback system
Closed loop system
Feedback control is an operation which, in the
presence of disturbance, tends to reduce the
difference between output and reference or set
point.
o/p signal has direct effect upon the control
action
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Advantages of open loop systems
▪ Simple in construction and ease of maintenance
▪ Less expensive
▪ No stability problem
▪ Convenient when the o/p is hard to measure or
costly
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• Timely recalibration is required
Disadvantages • Affected by non linearity in the
system
• Disturbances and changes in
calibration cause errors and the
o/p may be different from the
desired o/p
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Advantages of closed loop system
• It can reduce the sensitivity of the system to
parameter variations.
• It can reduce the effect of noise and disturbance
on system response.
• It produce beneficial effects on bandwidth,
impedance, transient and frequency response.
• It is possible to take care of the non linearity to
some extent.
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DISADVANTAGES
• More complex and expensive
• Affects the gain of the system
• Possibility of instability.
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comparison
Classical Control System State Space Analysis
1.Complex frequency domain 1.Time domain approach
2.Initial conditions are neglected 2.Initial conditions are not
3.Applicable only time invariant neglected
systems 3.It is applicable to non linear and
4.More complex when applied to time varying systems.
MIMO systems 4.It is applicable to MIMO systems
5.Internal behavior of the system is 5.It gives the information regarding
not known internal state.
6.Transfer function approach is not 6.State space methods are
amenable to study on digital particularly suited for digital
computer computer computations.
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