B23EEI401-CONTROL

ENGINEERING
CONTROL SYSTEM; TERMINOLOGY
AND BASIC STRUCTURE
System
Group of components are connected in a
sequence to perform a specific function,
the group thus formed is called a system.
Control system
In a system ,when the output quantity is controlled
by varying the input quantity, the system is called
control system

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 OPEN LOOP SYSTEM

Any physical system which does not automatically correct the variation in its
output is called an open loop system

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CLOSED LOOP SYSTEM

Control system in which the output has an effect upon the input quantity in order to
maintain the desired output value are called closed loop system

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CLOSED LOOP SYSTEM- CAR DRIVING

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DIFFERENCE BETWEEN OPEN LOOP
AND CLOSED LOOP CONTROL SYSTEM
OPEN LOOP CONTROL SYSTEM CLOSED-LOOP CONTROL SYSTEM

The controlled action is free from The output mainly depends on

the output the controlled act of the system.
Non feedback control system Feedback control system
The construction of this system is The construction of this system is
simple complex
The consistency is non-reliable The consistency is reliable

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SAMPLE CONTROL SYSTEM

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FEEDFORWARD CONTROL

Control element responds to change in command

or
measured disturbance in a pre-defined way

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 IMPLIMENTATION OF
FEEDFORWARD

Ideally consists of exact inverse model of the plant

Can compensate for known plant dynamics, delays (before you get errors)
No sensors needed
System response must be predictable

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LIMITATIONS OF
FEEDFORWARD

Effects of disturbance or command input must be predictable

May not generalize to other conditions
Will not be accurate if the system changes

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FEEDBACK CONTROL

Plant- System to be controlled

Reference -Desired value of output (also ‘set point’)
Controller -Computes compensatory command to the
plant based on error
Sensor- (implied)

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FEATURES OF FEEDBACK

Reactive / Error-driven
Automatically compensates for disturbances (controller acts on
error)
Automatically follows change in desired state (set point can change)
Can improve undesirable properties of system/plant
Can be very simple
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COMBINING FEEDBACK AND FEEDFORWARD

Feed forward component provides rapid response

Feedback component fills in the rest of the

response accurately, compensating for errors in the
model

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ELECTRICAL AND MECHANICAL
TRANSFER FUNCTION MODELS

The control systems can be represented with a set of mathematical equations

known as mathematical model.
These models are useful for analysis and design of control systems.

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ELECTRICAL AND MECHANICAL
TRANSFER FUNCTION MODELS
The following mathematical models are mostly used.
1. Differential equation model
2. Transfer function model
3. State space model

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DIFFERENTIAL EQUATION MODEL

RLC series electrical system

Mesh equation for this circuit is

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 Substitute, the current passing through capacitor

The above equation is a second order differential equation.

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TRANSFER FUNCTION MODEL

The Transfer function of a Linear Time Invariant (LTI) system is defined as the
ratio of Laplace transform of output and Laplace transform of input by
assuming all the initial conditions are zero.

transfer function model

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TRANSFER FUNCTION OF RLC
SERIES ELECTRICAL SYSTEM
TRANSFER FUNCTION MODEL OF
RLC SERIES CIRCUIT
RLC SERIES CIRCUIT

second order electrical system with a block

having the transfer function inside it. And this
block has an input Vi(s) & an output Vo(s).

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THE DIFFERENTIAL EQUATION
MODELING OF MECHANICAL
SYSTEMS.
There are two types of mechanical systems based on the type of
motion.
1. Translational mechanical systems
2.Rotational mechanical systems

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MODELING OF TRANSLATIONAL
MECHANICAL SYSTEMS
Translational mechanical systems move along a straight line
These systems mainly consist of three basic elements.
Mass,
Spring
Dashpot or damper.

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MASS

BLOCK DIAGRAM OF MASS

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MASS
Mass is the property of a body,
which stores kinetic energy.
If a force is applied on a body having mass M, then it is opposed by an
opposing force due to mass.
This opposing force is proportional to the acceleration of the body.
Assume elasticity and frictions are negligible.

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Where,
F is the applied force
Fm is the opposing force due to mass
M is mass
a is acceleration
x is displacement

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SPRING

BLOCK DIAGRAM OF SPRING

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Spring is an element,
which stores potential energy.
If a force is applied on spring K, then it is opposed by an opposing
force due to elasticity of spring.
This opposing force is proportional to the displacement of the spring.
Assume mass and friction are negligible.

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 Where,
F is the applied force
Fk is the opposing force due to
elasticity of spring
K is spring constant
x is displacement

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DASHPOT

BLOCK DIAGRAM OF FRICTION

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If a force is applied on dashpot B,
then it is opposed by an opposing force due to friction of the dashpot.
This opposing force is proportional to the velocity of the body.
Assume mass and elasticity are negligible.

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 Where,
Fb is the opposing force due to
friction of dashpot
B is the frictional coefficient
v is velocity
x is displacement

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MODELING OF ROTATIONAL
MECHANICAL SYSTEMS
Rotational mechanical systems move about a fixed axis.
These systems mainly consist of three basic elements. Those are
Moment of inertia,
Torsional spring
Dashpot.

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Moment of Inertia

BLOCK DIAGRAM OF MOMENT OF INERTIA

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If a torque is applied to a rotational mechanical system,
then it is opposed by opposing torques due to moment of inertia,
elasticity and friction of the system.
Since the applied torque and the opposing torques are in opposite
directions,
the algebraic sum of torques acting on the system is zero.

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 Where,
T is the applied torque
Tj is the opposing torque
due to moment of inertia
J is moment of inertia

α is angular acceleration

θ is angular displacement

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Torsional spring

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 Rotational mechanical system, torsional spring stores potential
energy.
If a torque is applied on torsional spring K, then it is opposed by an
opposing torque due to the elasticity of torsional spring.
This opposing torque is proportional to the angular displacement of
the torsional spring.
Assume that the moment of inertia and friction are negligible.

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 Where,
T is the applied torque
Tk is the opposing torque due to
elasticity of torsional spring
K is the torsional spring constant
θ is angular displacement

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Dashpot

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If a torque is applied on dashpot B, then it is opposed by an opposing
torque due to the rotational friction of the dashpot.
This opposing torque is proportional to the angular velocity of the
body.
Assume the moment of inertia and elasticity are negligible.

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PROBLEMS
1.Write the differential equations governing the mechanical system
shown in fig, and determine the transfer function (X(s)/F(s))

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2.Write the differential equations governing the mechanical system
shown in the fig, and determine the transfer function

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Substituting X1(S) from node 1

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DC AND AC SERVO
SYSTEMS
A DC servo system is constructed by using DC motor which has
armature and field winding coupled with gearbox, controller and
Potentiometer,

AC servo system is constructed using an Induction motor consisting of

rotor and stator with gear system and Encoders.

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What is servomotor
Servo is an electromagnetic device uses a negative feedback
mechanism to converts an electric signal into controlled motion.

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DC AND AC
SERVOSYSTEMS
TYPES
1.DC SERVO MOTORS
2.AC SERVO MOTORS

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DC SERVO MOTORS

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Servo motor is basically a closed loop feedback system.
A closed loop feedback system controls the output of the system by
varying input

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CONSTRUCTION OF DC
SERVOMOTOR
Stator Winding: This type of winding wound on the stationary part of
the motor. It is also known as field winding of the motor.
Rotor Winding: This type of winding wound on the rotating part of the
motor. It is also known as an armature winding of the motor.

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Bearing: These are of two types,i.e, font bearing and back bearing
which are used for the movement of the shaft.
Shaft: The armature winding is coupled on the iron rod is known as the
shaft of the motor.
Encoder: It has the approximate sensor which determines the rotational
speed of motor and revolution per minute of the motor.

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AC SERVOMOTOR

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CHARACTERISTICS
WITH ROTOR
RESISTNCE

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TORQUE-SPEED
CHARACTERISTICS

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APPLICATIONS
Robotics.
Installed in cameras to adjust the focus for obtaining better quality
images
Used to track the direction of the sun in solar panels
Textile industries in knitting the fabrics
Aircraft for balancing.

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SYNCHROS
The Synchro is a type of transducer
which transforms the angular position of the shaft into an electric
signal.
It is used as an error detector and as a rotary position sensor.

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SYNCHROS
The error occurs in the system because of the misalignment of the
shaft.
The transmitter and the control transformer are the two main parts of
the synchro.

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 SYNCHROS SYSTEM
TYPES

1.Control Type Synchro.

2.Torque Transmission Type Synchro.

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CONTROL TYPE
SYNCHRO
The control type Synchro is used for driving the large loads.

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TORQUE TRANSMISSION TYPE
SYNCHROS

This type of synchros has small output torque,

Used for running the very light load like a pointer.

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CONTROL TYPE SYNCHROS
SYSTEM
The controls synchros is used for error detection in positional control
systems. Their systems consist two units. They are
1.Synchro Transmitter
2.Synchro receiver

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Synchros Transmitter
Their construction is similar to the three phase alternator.
The stator of the synchros is made of steel for reducing the iron losses.
The stator is slotted for housing the three phase windings.
The axis of the stator winding is kept 120º apart from each other.

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The AC voltage is applied to the rotor of the transmitter and it is
expressed as

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The coils of the stator windings are connected in star.
The rotor of the synchros is a dumb bell in shape, and a concentric coil
is wound on it.
The AC voltage is applied to the rotor with the help of slip rings.

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MULTIVARIABLE CONTROL
SYSTEM
Multivariable control system in which the variable interacts strongly.
This kind of system must have more than one input and more than
one output.
A disturbance in any input causes a change of response from at least
one output.

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MULTIVARIABLE CONTROL
SYSTEM

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MULTIVARIABLE CONTROL
SYSTEM
This kind of system have as many inputs and outputs as needed to
control the process.
A system with an equal number of inputs and outputs is said to
be square.

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APPLICATIONS
A heated liquid tank where both the level and the temperature shall
be controlled.
A distillation column where the top and bottom concentration shall be
controlled.
A robot manipulator where the positions of the manipulators
(arms)shall be controlled.
A chemical reactor where the concentration and the temperature shall
be controlled.

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SIGNAL FLOW GRAPH MODELS

Signal flow graph is used to represent the control system graphically

Signal flow graph is a diagram which represents a set of simultaneous
equations

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SIGNAL FLOW
GRAPH MODELS
Signal flow graph of control system is further simplification of block
diagram of control system

Blocks of transfer function, summing symbols and take off points are
eliminated by branches and nodes.

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Terms used in Signal Flow
Graph

Node
Input node or source
Output node or sink
Mixed node
Branch
Transmittance
Forward path
Feedback loop

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Self-loop
Path gain
Loop gain
Non-touching loops:

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BLOCK DIAGRAM AND
SIGNAL FLOW GRAPH

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Properties of signal flow
graph
The signal from a node to other flows through the branch in the
direction of arrowhead.
The graphical method is valid only for linear time-invariant systems.
The signal flowing through a branch is multiplied by the gain or
transmittance of that branch. This product is equivalent to the node
where that branch is terminating.

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SFG from system equations

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SFG from Block Diagram

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Mason’s Gain
Formula
Suppose there are ‘N’ forward paths in a signal flow graph. The gain
between the input and the output nodes of a signal flow graph is
nothing but the transfer function of the system.
It can be calculated by using Mason’s gain formula.

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Mason’s Gain
Formula

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Mason’s Gain Formula

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Block Diagram Reduction
Techniques
 Block diagram
A Block diagram is basically modelling of any simple or complex system.
It Consists of multiple Blocks connected together to represent a system to
explain how it is functioning

Transfer Function: Ratio between transformation of output to the transformation of

input when all the initial conditions are zero.

R (s ) C (s )
Simple system: G (s ) G(s)=C(s)/R(s)

Complex System:
G4
R (s ) Y (s )
G1 G2 G3

H2
H1
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NEED FOR BLOCK DIAGRAM
REDUCTION
• It is normally required to reduce multiple
blocks into single block or for convenient
understanding it may sometimes required to
rearrange the blocks from its original order.

• For the calculation of Transfer function its

required to be reduced.

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Block Diagram Reduction techniques
1. Combining blocks which are in cascade or in parallel

G1 G2 G1G2

G1
G1  G2
G2

2. Moving a summing point behind a block

G G
G
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3. Moving a summing point ahead of a block

G G
1
G

4. Moving a pickoff point behind a block

G G
1
G

5. Moving a pickoff point ahead of a block

G G
G
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6. Eliminating a feedback loop

G
G
1 GH
H

G
G
1 G

H 1

7. Swapping with two adjacent summing points

A B B A

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1−Check for the blocks connected in series
and simplify. RULE NO-1
2−Check for the blocks connected in parallel
and simplify. RULE NO-1
3−Check for the blocks connected in feedback
loop and simplify. RULE NO-6
4− If there is difficulty with take-off point while
simplifying, shift it towards right. RULE NO-4,5
5−If there is difficulty with summing point
while simplifying, shift it towards left. RULE NO-2,3
6-Repeat the above steps till you get the
simplified form, i.e., single block.
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 Example 1
Find the transfer function of the following block diagrams

(a)

G4
R (s ) Y (s )
G1 G2 G3

H2

H1

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 I
G4
R (s ) B A
Y (s )
G1 G2 G3
H2
H1 G2

Solution:

1. Apply the rule that Moving pickoff/takeoff point ahead of block

2. Eliminate loop I & simplify as G2

B
G4  G2G3

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 G4
R (s ) Y (s )
GG4 
A G2 G3
B
G1 2 G 3

H2
H1G2

3. Moving pickoff point B behind block G4  G2G3

II
R (s ) B C
Y (s )
G1 G4  G2G3
H2
H1G2 1 /(G4  G2G3 )

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 4. Eliminate loop III

R (s ) Y (s )
G1 GG4 4GG2G2G3 3
C C

1  H 2 (GH4 2 G2G3 )
G2 H1
G4  G2G3
Using rule 6

R (s ) G1 (G4  G2G3 ) Y (s )
1  G1G 2 H1  H 2 (G4  G2G3 )

Y (s) G1 (G4  G2G3 )

T (s)  
R ( s ) 1  G1G 2 H1  H 2 (G4  G2G3 )  G1 (G4  G2G3 )
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 (b) Find the transfer function of the following block diagram

R (s ) Y (s )
G1 G2

H1 H2

H3

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Solution:

1. Eliminate loop I

R (s ) A
G2 I
B
Y (s )
G1 G2
H1
1  GH2 H
2
2

H3
G2
2. Moving pickoff point A behind block
1  G2 H 2
R (s ) A G2 B
Y (s )
G1
1  G2 H 2

1  G2 H 2 II
H1 1  G2 H 2
G2 H 3  H1 ( )
G2

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H3
.
Not a feedback loop
117
 3. Eliminate loop II

R (s ) G1G2 Y (s )
1  G2 H 2

H1 (1  G2 H 2 )
H3 
G2
Using rule 6

Y (s) G1G2
T (s)  
R( s) 1  G2 H 2  G1G2 H 3  G1 H1  G1G2 H1 H 2

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 (c) Find the transfer function of the following block diagrams

H4
R (s ) Y (s )
G1 G2 G3 G4

H3

H2

H1

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Solution:

1. Moving pickoff point A behind block G4

I
H4
R (s ) Y (s )
A B
G1 G2 G3 G4
H3 1
H3 G4 G4
H2 1
H2
G4 G4
H1

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Solution:

1. Moving pickoff point A behind block G4

I
H4
R (s ) Y (s )
A B
G1 G2 G3 G4
H3 1
H3 G4 G4
H2 1
H2
G4 G4
H1

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Solution:

1. Moving pickoff point A behind block G4

I
H4
R (s ) Y (s )
B
G1 G2 G3G4
H3 1
H3 G4 G4
H2 1
H2
G4 G4
H1

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Solution:

1. Moving pickoff point A behind block G4

I

R (s ) Y (s )
G3G4 B
G1 G2 2
1  G3G4 H 4
H3 1
H3 G4 G4
H2 1
H2
G4 G4
H1

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 2. Eliminate loop I and Simplify

R (s ) II Y (s )
G2G3G4 B
G1
1  G3G4 H 4
H3
G4
H2
G4 III
H1

II feedback III Not feedback

G2G3G4 H 2  G4 H1
1  G3G4 H 4  G2G3 H 3 G4
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 3. Eliminate loop II & III

R (s ) G1G2G3G4 Y (s )
1  G3G4 H 4  G2G3 H 3

H 2  G4 H1
G4
Using rule 6

Y (s) G1G2G3G4
T (s)  
R( s) 1  G2G3 H 3  G3G4 H 4  G1G2G3 H 2  G1G2G3G4 H1

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 (d)
Find the transfer function of the following block diagram

H2

R (s ) A Y (s )
G1 G2 G3 B

H1

G4

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Solution:

1. Moving pickoff point A behind block G3

I
H2

R (s ) A B Y (s )
G1 G2 G3
1
H1 G3
1
H1 G3
G4

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 2. Eliminate loop I & Simplify

H2

B
G2 G3 B G2G3

1 H1
 H2
H1 G3 G3
II
R (s ) G2G3 Y (s )
G1
1  G2 H1  G2G3 H 2

H1
G3

G4
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3. Eliminate loop II

R (s ) G1G2G3 Y (s )
1  G2 H1  G2G3 H 2  G1G2 H1

G4

Y (s) G1G2G3
T (s)  G4 
R( s) 1  G2 H1  G2G3 H 2  G1G2 H1

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Find the transfer function of the following block
diagram

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Step 1 − Use Rule 1 for blocks G1and G2. Use Rule 2 for
blocks G3 and G4. The modified block diagram is shown in the
following figure.

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Step 2 − Use Rule 3 for blocks G1G2 and H1. Use Rule
4 for shifting take-off point after the block G5.
The modified block diagram is shown in the following
figure.

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Step 3 − Use Rule 1 for blocks (G3+G4) and G5.
The modified block diagram is shown in the
following figure.

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Step 4 − Use Rule 3 for
blocks (G3+G4)G5 and H3.
The modified block diagram is shown in the
following figure.

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Step 5 − Use Rule 1 for blocks
connected in series. The modified block
diagram is shown in the following figure.

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Step 6 − Use Rule 3 for blocks connected
in feedback loop. The modified block
diagram is shown in the following figure.
This is the simplified block diagram.

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 Thank you

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