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BCT Lectures

This document provides an overview of basic control theory concepts and terminology: 1) It defines key terms like system, input, process, output, response variable, manipulated variable, disturbance, controller, and open loop and closed loop configurations. 2) It explains that the goal of a controller is to make the response variable follow commands despite disturbances. 3) It outlines the typical steps in modeling and analyzing control systems, including defining requirements, drawing block diagrams, developing mathematical models, analyzing transient and steady state response, and designing for objectives like stability.

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Mansi Nanavati
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84 views23 pages

BCT Lectures

This document provides an overview of basic control theory concepts and terminology: 1) It defines key terms like system, input, process, output, response variable, manipulated variable, disturbance, controller, and open loop and closed loop configurations. 2) It explains that the goal of a controller is to make the response variable follow commands despite disturbances. 3) It outlines the typical steps in modeling and analyzing control systems, including defining requirements, drawing block diagrams, developing mathematical models, analyzing transient and steady state response, and designing for objectives like stability.

Uploaded by

Mansi Nanavati
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Basic Control Theory

Lecture-1
Control System Terminology
• System – A collection of components that perform an intended objective

Input Process/Plant/Syst
Process/Plant/Syst Output
Excitation em
em Response

• Systems may have several sub systems


• Classification
o Linear and Non Linear
o Static and Dynamic
o Time Variant and Time Invariant
o Casual and Non Casual
Control System Terminology
• System to be controlled – Process, Plant, System
Disturbance
Manipulated Process/Plant/Syst
Process/Plant/Syst Response
Variable em
em Variable

• Response Variable (RV) – Output of the process (Output)


• Response Variable – Attribute of the process to be controlled
• Manipulated Variable (MV) – Variable to which the process is going to react
(Control Input)
• Reaction of the process to the MV results in RV following the command
• MV is under the control of a controller
• Disturbance – Unwanted; Independent of system but modifies system’s reponse
Control System Terminology
• Function of Controller – Make Response Variable follow the system commands
• Force the controlled variable follow the command immaterial of the disturbances

Disturbance
Command Manipulated Controlled
Controller Process/Plant
Process/Plant
Variable Variable
Topology 1 – Open Loop Configuration
• Controlled Variable follows the command Signal
• Controller is oblivious to the disturbance
• No Corrective action for unwanted disturbance
Disturbance
Command Manipulated Controlled
Controller Process/Plant
Process/Plant
Variable Variable

Disturbance1 Disturbance2
+ +
Command +
I/P
Controller
Process/P +
Process/P
transducer lant
lant CV
MV
Topology 2 – Closed Loop Configuration

Disturbance1 Disturbance2
+ +
Cmd +
I/P
+ Controller Process/P +
Process/P
transducer - lant
lant CV
MV

Output
transducer
Closed Loop Systems/Feedback Systems
• Controlled Variable follows the command Signal
• Corrective action for unwanted disturbance
• Actuating Signal/Error
• Robustness
• Key Challenges
o Transient Response
o Steady State Error
o Stability

• The approaches
o Experimental
o Model based
o Knowledge based
Example: Toilet Closet
• Simplest example of
Feedback Systems
• Control Variable : Water
level in the tank
• Preset height – H is the
command signal
• Disturbance – Outflow
• Manipulated variable –
Water inlet
Topology 2 – Closed Loop Configuration
Outflow
+
Preset Float + Storage+ Water +
+ Water
- Linkage Valve tank
tank
Height
MV

CV
Output
transducer

• Command Signal is fixed- Set – point


• Regulatory systems
Topology 2 – Closed Loop Configuration
Disturbances: Traffic, speed breakers
Route
Actuator
+ (Hand)
-
Control
logic
(Human Vehicle
Vehicle
Brain) Speed
+ Actuator
- (Foot)

Output
transducer

Output
transducer
Understanding the design process through an example

A Controlled Radio telescope


Antenna

• Step 1: Define Requirements – Objective in terms of physical system


o Remote Controlled Radio telescope Antenna
o Location (to be mounted on top of the roof) with restrictions of physical dimensions, weight
etc.
o Steady State error – Difference between between desired and actual response
o Input to output transient response – how fast?
Understanding the design process through an example
• Step 2: Draw a functional block diagram
o Identify the individual sub systems
o Identify the interconnections
o Define qualitatively the function of each of these system
Understanding the design process through an example
• Step 3: Create a schematic
o Consists of the real components chosen for building the system
o Choose simple components that can be modeled easily
o Right Approximations are the key
Understanding the design process through an example
• Step 4: Develop a mathematical model (Block Diagram)
o Differential Equations
o Transfer functions
o State Space Variables

• Step 5: Reduce the block diagram

Angular Mathematical
Mathematical Angular
Input Model
Model Output

• Step 6: Analyze and design


o Test Signals
Analysis and Design
• Analysis: Process by which system performance is determined
• Design: Process by which system is created or manipulated based on the
criteria
• Control Systems – Dynamic – Transient + Steady State
• Main Objectives of System Analysis and Design
o Producing desired transient response
o Reducing steady state error
o Achieving stability
• Transient response
• Steady state response
• Natural response
• Forced response
Model Based Approach
• An elemental mathematical representation of system
• Model helps in analysis of the system
• Captures dynamics of the system
o Evolution of system variables

• Physical System – Process/Plant


• Physical Laws – Mathematical Models
• System Identification
o Differential equation based
o Frequency based – Nyquist Criterion, Bode plots, Root locus plots – Classical Control
theory
o State Space Methods – Modern Control theory
Steps in Analytical Modeling
Identify
Identify the
the Identify
Identify the
the Propose
Propose aa
behavior
behavior to
to be
be limits
limits structure
structure
modelled
modelled

Mathematically
Mathematically
Identify
Identify the
the Apply
Apply relevant
relevant
describe
describe the
the
variables
variables physical
physical laws
laws
relations
relations

Analyse
Analyse and
and Propose
Propose aa
Initial
Initial Models
Models Validate
Validate structure
structure
Test Signals - Response
Control theory – Transfer functions

The Three models


The Three Objectives
 Differential equation based
 Transient Response
 Transfer function based
 Steady State Response
 State Space based
 Stability

 Transfer function – Unique relationship between Input and Output in


Laplace domain
 Allows separation of input, system and output into three distinct parts
unlike differential equation
Electrical Systems

 Electrical Networks  Identify Basic elements


 Translational mechanical  Basic Elements are simplistic
systems mathematical representation of
 Rotational mechanical systems physical phenomenon
 Electromechanical systems  Identify dependent and independent
variables
 Apply physical laws to get a linear
differential equation
 Convert the equation into Laplace
domain
 Find the ratio of Output to input or
Response to excitation
Electrical Systems

 Voltage Sourced Systems


 Current Sourced Systems

Voltage Sourced Systems Current Sourced Systems


Basic System Elements
Resistor (R) Resistor (R)
Inductor (L) Inductor (L)
Capacitance (C) Capacitance (C)
Basic System Variables
Voltage Current
Charge Flux
Electrical Systems

Basic Linear Relationships


V = RI
Φ = LI
Q = CV
Electrical Systems

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