Control Systems

Lecture 1
 Course Outcomes

Outcomes: On completion of the course, the learner will be able to:

1. Represent the systems in Blocks and apply the reduction technique to simplify
the system.
2. Design a mathematical model of the system/process for standard input
responses.
3. Analyse error and differentiate various types of control systems.
4. Analyse for stability of the given system using different approaches.
5. Apply the basics of Ladder Programming for given control system.
 Syllabus
Control Systems (DJS22MEC603)
Unit Description Duration
1 Introduction: 06
Introduction to control systems, Classification of control system. Open loop and closed loop
systems. Mathematical modeling of control systems, the concept of the transfer function.
2 Control Systems 08
Block diagram algebra, Reduction of block diagram, Signal flow graphs, Gain formula for signal flow
graphs, State diagram from differential equations.
3 Time response of dynamic systems: 09
Time domain performance of control systems: Typical test signal, Unit step response and time
domain specifications of first order, second order system. Steady-state error, error constants.
4 Stability Analysis: 09
Control system design and analysis by Root Locus Method, Control system Design by Frequency
response method, stability margin, Nyquist diagram, Bode diagram.
P, I and D control actions, P, PI, PD and PID control systems, Transient response: Percentage
overshoot, Rise time, Delay time, Steady state error, PID tuning (manual), Zigler Method.
5 Discrete Control System PLC (Programming Logic Control) Theory: 07
Introduction to PLC, Architecture, Ladder Logic programming for different types of logic gates,
Latching, Timers, Counter, Practical Examples of Ladder Programming
Total 39
 Recommended Books
Text books:
 Franklin G. F., Powell J. D., Emami-Naeini A., Feedback Control of Dynamic Systems, Pearson, Upper Saddle
River, New Jersey, 5th edition, 2006.
 K. Ogata, Modern Control Engineering, Prentice Hall of India, 4th edition, 2002
 B. C. Kuo, Farid Gdna Golnaraghi, Automatic Control Systems, PHI, 7th edition, 2003.

Reference books:
 M. Gopal, Control Systems Principles and Design, TMH, New Delhi, 2nd edition,2002
 Norman S. Nise, Control Systems Engineering, John Wiley and Sons, Inc. 2000.
 Francis Raven, Automatic Control Engineering, 5th edition McGraw-Hill International Edition,
 G. C. Goodwin, S. F. Graebe, M.E. Salgado, Control System Design, Pearson education
 Gopal, Control Systems Principles and Design, TMH, New Delhi, 2nd edition, 2002.
 Stefani, Shahian, Savant, Hostetter, Design of Feedback Control Systems, Oxford University Press, 4th edition,
2007.
 Richard C. Dorf, Robert H. Bishop, Modern Control Systems, Addition-Wesley,1999.
 I. J. Nagrath and M. Gopal, Control System Engineering, 3rdEdition, New Age International (P) Ltd., Publishers -
2000.
 M. N. Bandopadhay, Control Engineering - Theory &Practice, PHI, 2003
 Why to study control systems?

 Automatic control is essential in any field of engineering and science.

 Automatic control is an important and integral part of space-vehicle systems,

robotic systems, modern manufacturing systems, and any industrial operations
involving control of temperature, pressure, humidity, flow, etc.

 It is desirable that most engineers and scientists are familiar with theory and
practice of automatic control.
Technology roadmap to the Internet of Things enhanced with artificial intelligence with
applications to control engineering
 Basic Definitions
System: An arrangement or combination of different physical components that are
connected or related together to form an entire unit to achieve a certain objective is called
a system. A kite is an example of a physical system, because it is made up of paper and
sticks. A classroom is an example of a physical system.

Control: The meaning of control is to regulate, direct or command a system so that a

desired objective is obtained.

Plant: It is defined as the portion of a system which is to be controlled or regulated. It is

also called a process.

Controller: It is the element of the system itself, or may be external to the system. It
controls the plant or the process.
 Basic Definitions

Input: The applied signal or excitation signal that is applied to a control system to get a
specified output is called input.

Output: The actual response that is obtained from a control system due to the application
of the input is termed as output.

Disturbances: The signal that has some adverse effect on the value of the output of a
system is called disturbance. If a disturbance is produced within the system, it is termed
as an internal disturbance; otherwise, it is known as an external disturbance.
 Control Systems
Control Systems: It is an combination of different physical elements linked in such a
manner so as to regulate, direct or command itself to obtain a certain objective.
A control system must have
(1) input,
(2) output,
(3) ways to achieve input and output objectives and
(4) control action.

Cause and effect relationship between the input and

the output of a plant
 Classification of Control Systems
1. Natural Control Systems
2. Man-made Control Systems
3. Combinational Control Systems
4. Time-Varying and Time-Invariant Control Systems
5. Linear and Non-linear Systems
6. Continuous-Time and Discrete-Time Control Systems
7. Deterministic- and Stochastic-Control Systems
8. Lumped- and Distributed-Parameter Control Systems
9. Single-Input-Single-Output and Multiple-Input-Multiple-Output Systems
10. Open-loop and Closed-loop Systems
 Classification of Control Systems

Natural Control Systems: The systems inside a human being or a biological system are known as natural
control systems.
Man-made Control Systems: The various control systems that are designed and developed by man are
known as man-made control systems. An automobile system is an example of man-made control systems.
Combinational Control Systems: The combination of a natural control system and a man-made control
system is an example of combinational control systems. Driver driving a car is an example of combinational
control systems.
Time-Varying and Time-Invariant Control Systems: If the parameters of a control system vary with
time, the control system is termed as time-varying control system. If the parameters of a control system are
not varying with time, it is termed as time-invariant control system. A space vehicle leaving earth is an
example of time-varying system. The elements of an electrical network such as resistance, inductance and
capacitance are not time varying; this is an example of the time-invariant system.
Linear and Non-linear Systems: A control system is known as linear if it satisfies the additive property as
well as the homogeneous property.
 Classification of Control Systems

Continuous-Time and Discrete-Time Control Systems: If all the system variables of a control system are
functions of time, it is termed as a continuous-time control system. If one or more system variables of a
control system are known at a certain discrete time, it is termed as a discrete-time control system.
Deterministic- and Stochastic-Control Systems: If the response to input, and to external disturbances, of a
control system is predictable and repetitive, the control system is known as a deterministic system. Any
control system is called stochastic if such a response is unpredictable.
Lumped- and Distributed-Parameter Control Systems: If a control system can be represented by ordinary
differential equations, such a control system is called lumped-parameter control system. In the case of
electrical networks, parameters such as resistance, inductance, etc. are lumped-parameter systems.
If a control system can be described by partial differential equations, such a control system is known as
distributed-parameter control system.
Single-Input-Single-Output and Multiple-Input-Multiple-Output Systems: If a control system has one
input and one output, it is termed as single-input-single output (SISO) system. If a control system has multiple
input and multiple output, it is known as multiple-input-multiple output (MIMO) system.
Open-loop and Closed-loop Systems: This is another classification of control systems.
 Open Loop Systems
A system in which control action does not depend on output is known as open-loop system.

Examples of open-loop systems are automatic washing machines, bread toaster, electric hand drier,
automatic milk server, automatic coffee server, electric lift, traffic signals, sprinkler, etc.
 Advantages and disadvantages of open-loop system
Advantages: These systems are-
 Simple in construction and design.
 Economical.
 Easy from maintenance point of view.
 Not much troubled with problems of stability.
 Convenient to use when output is difficult to measure.

Disadvantages
 These systems are not accurate and reliable because their accuracy is dependent on
the accuracy of calibration.
 In these systems, inaccurate results are obtained with parameter variations, i.e.,
internal disturbances.
 Recalibration of the controller is required from time to time for maintaining quality
and accuracy.
 Closed Loop Systems
If controlling actions of a system are somehow dependent on output or changes in output,
system is called closed-loop system.

r(t) is the reference input, e(t) is the error signal, u(t) is the actuating signal, and c(t) is
the controlled output.
 Closed-loop control system- Examples

Closed-loop control system of an automatic electric iron Control system for moving on a desired road

Temperature control system

Advantages and disadvantages of closed-loop system

Advantages
 In these systems accuracy is very high due to correction of any arising error.
 Since these systems sense environmental changes as well as internal disturbances,
the errors are modified.
 There is reduced effect of non-linearity in these systems.
 These systems have high bandwidth, i.e., high operating frequency zone.
 There are facilities of automation in these systems.

Disadvantages
 These systems are complicated in design and, hence, costlier.
 These systems may be unstable.
 Standard Test Signals
Step function Ramp function Parabolic function

The value of the function is

zero for t < 0, and its value is The value of ramp function is The value of a parabolic function
A for t > 0. zero for t < 0, and after t > 0, it is zero for t < 0, and it is equal to
linearly increases with time. At2/2 for t > 0.
If A = 1, the function r(t) =
u(t) = 1, and it is known as
unit step function.
Laplace Transform Table
 Laplace Transform of standard time functions
Function f(t) Laplace Transform F(s) Waveforms

Unit step u(t) 1

𝑠

A u(t) 𝐴
𝑠
Delayed unit step = u (t-T) 𝑒 −𝑇𝑠
𝑠
A u (t-T) 𝐴𝑒 −𝑇𝑠
𝑠
Unit ramp r(t) = t u(t) 1
𝑠2
A t u(t) 𝐴
𝑠2
 Laplace Transform of standard time functions
Function f(t) Laplace Transform F(s) Waveforms

Delayed unit ramp= r (t-T)= (t-T) u(t-T) 𝑒 −𝑇𝑠

𝑠2
A (t-T) u(t-T) 𝐴𝑒 −𝑇𝑠
𝑠2
Unit impulse = δ(t) 1

Delayed unit impulse = δ(t-T) 𝑒 −𝑇𝑠

Impulse of strength K, i.e. Kδ(t) 1

𝑠2
 Transfer Function
It is defined as the ratio of the Laplace transform of output response to the Laplace
transform of input (excitation) assuming all the initial conditions to be zero.

System in time domain System in Laplace domain

Note: Transfer function characterizes the input-output relationship of the system

 Problem 1.1
Determine the transfer function of Fig. shown below. Vi(t) is the input to the system and
Vo(t) is the output of the system.
 Problem 1.1 (RC circuit)
Determine the transfer function of Fig. shown below. Vi(t) is the input to the system and
Vo(t) is the output of the system.
Problem 1.2(RC circuit)
Problem 1.3(RL circuit)
Problem 1.4(RL circuit)
Problem 1.5 (RLC circuit)
Poles and Zeros of Transfer Function
Zeros of a transfer function: are defined as the values of
‘s’ for which the magnitude of the transfer function
becomes zero.
 If the zeros of a transfer function are not repeated, they
are known as simple zeros.
 If the zeros of a transfer function are repeated, they are
termed as multiple zeros.

Poles of a transfer function: are defined as the values of

‘s’ for which the magnitude of the transfer function
becomes infinity.
 If the poles of a transfer function are not repeated, they
are known as simple poles.
 If the poles of a transfer function are repeated, they are
termed as multiples poles.
 Transfer Function
Find the transfer function of the system given by
𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡) 𝑑𝑥(𝑡)
+7 + 12𝑦 𝑡 = + 2𝑥 𝑡 , 𝑤ℎ𝑒𝑟𝑒 𝑥 𝑡 𝑖𝑠 𝑡ℎ𝑒 𝑖𝑛𝑝𝑢𝑡 𝑎𝑛𝑑 𝑦 𝑡 𝑖𝑠 𝑡ℎ𝑒 𝑜𝑢𝑡𝑝𝑢𝑡.
𝑑𝑡 2 𝑑𝑡 𝑑𝑡
 Impulse Response and Transfer function
We know that,

 The response C(s) can be found in terms of transfer function.

 G(s) and R(s) are Laplace transforms of g(t) and r(t) respectively.
 The response of any input r(t), can be found out.
 Above equation represents a general equation and it is valid for any input.
Let us take the impulse input

 For an impulse input to system, impulse response C(s) is equal to the transfer function G(s) of
the system.
 For a linear time-invariant system, the transfer function of this system is the Laplace
transform of the impulse response, assuming all the initial conditions to be zero.
 Properties of Transfer Function

 The ratio of the Laplace transform of output to input with all initial conditions to be zero is
known as transfer function of a system.
 The transfer function of a system is the Laplace transform of its impulse response under
assumption of zero initial conditions.
 Replacing ‘s’ variable with linear operation D = d/dt in transfer function of a system, the
differential equation of the system can be obtained.
 The transfer function of a system does not depend on the inputs to the system.
 The system poles and zeros can be determined from its transfer function.
 Stability can be found from characteristic equation.
 Transfer function cannot be defined for non-linear systems. It can be defined for linear
systems only.
 Advantages and Disadvantages of Transfer Function
Advantages
 Transfer function is a mathematical model and it gives the gain of the system.
 Since Laplace transform is used, the terms are simple algebraic expressions and differential
terms are not present.
 If transfer function of a system is known, the response of the system to any input can be
determined very easily.
 Poles and zeros of a system can be determined from the knowledge of the transfer function of
the system. Both poles and zeros have a vital role in the system's response.
 Transfer function helps in the study of stability analysis of the system.

Disadvantages
 Transfer function can be defined for linear systems only.
 Initial conditions lose their importance since transfer function does not take into account the
initial condition.
 No inferences can be drawn about the physical structure of a system from its transfer function.
Transfer Function of A Closed Loop System
Transfer Function of A Closed Loop System
 Transfer Function Applications

Closed Loop Transfer Function Open Loop Transfer Function

Used to analyze the stability of the Use to
system by Routh-Hurwitz Criteria. Analyze Steady State Errors.
Draw the Root Locus.
Draw the Bode plot.
Draw the Nyquist plot
 Types of Systems
Type 0 system:
The system whose OLTF has no pole at origin is called a type 0 system.

𝑠+1
𝐺 𝑠 𝐻 𝑠 =
(𝑠 + 2)(𝑠 + 3)

Type 1 system:
The system whose OLTF has one pole at origin is called a type 1 system.
𝑠+1
𝐺 𝑠 𝐻 𝑠 =
𝑠(𝑠 + 2)(𝑠 + 3)

Type 2 system:
The system whose OLTF has two poles at origin is called a type 2 system.
𝑠+1
𝐺 𝑠 𝐻 𝑠 =
𝑠 2 (𝑠 + 2)(𝑠 + 3)
 Order of System
It is the highest power of ‘s’ in the transfer function. It is also equal to the number
of effective energy storing elements.
Determine the type and order of the following systems
1
𝐺 𝑠 𝐻 𝑠 =
(𝑠 + 2)

1
𝐺 𝑠 𝐻 𝑠 = 2
(𝑠 + 𝑠 + 2)

1
𝐺 𝑠 𝐻 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 3)

𝑠+1
𝐺 𝑠 𝐻 𝑠 =
𝑠 2 (𝑠 + 3)

𝑠
𝐺 𝑠 𝐻 𝑠 =
𝑠(𝑠 2 + 4)
 Initial and Final Value Theorem
Initial Value: Value of a function at t= 0+ .
Final Value: Value of a function at t= ∞. It is also called as a steady state value.

Example: 𝑓 𝑡 = 𝑒 −2𝑡 𝑢(𝑡)

+
𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑎𝑙𝑢𝑒 = 𝑓 0+ = 𝑒 −2∗0 𝑢 0+ = 1

𝑓𝑖𝑛𝑎𝑙 𝑣𝑎𝑙𝑢𝑒 = 𝑓 ∞ = 𝑒 −2∗∞ 𝑢 ∞ = 0

 Initial Value Theorem
𝑓 𝑡 = 𝐹(𝑠)

lim+ 𝑓 𝑡 = 𝑓 0+ = lim 𝑠𝐹(𝑠)

𝑡→0 𝑠→∞

Example: 1
𝐹(𝑠) =
𝑠+2

 Applicable only when f(t) = 0, t<0.

 f(t) must not contain any impulse or discontinuities at t= 0+
 Final Value Theorem
𝑓 𝑡 = 𝐹(𝑠)

lim 𝑓 𝑡 = 𝑓 ∞ = lim 𝑠𝐹(𝑠)

𝑡→∞ 𝑠→0

Example: 1
𝐹(𝑠) =
𝑠+2

 All the poles of F(s) must lie in LHP.

 F(s) must not have more than 1 pole at the origin.
 Time Constant of a Control System
Time constant of a system decides how fast or slow is the response of your system.

Time constant of a system is defined as the time required by the system to achieve
63.2% of the initial value.
 Time Constant of a Control System
It is characteristic of a first order system.
1
It is defined as: 𝜏 = −
𝑅𝑒𝑎𝑙 𝑝𝑎𝑟𝑡 𝑜𝑓 𝑝𝑜𝑙𝑒 𝑙𝑜𝑐𝑎𝑡𝑖𝑜𝑛

Example: 25(𝑠 + 1)
𝐺(𝑠) =
𝑠+5

Standard form of transfer function of first order control system is

𝐾
𝐺(𝑠) =
𝑠. 𝜏 + 1

K= D.C gain of the system and 𝜏 is the time constant.