CONTROL SYSTEMS

Lecture-1 UNIT-I to vi

INTRODUCTION

Dr.Y.CHALAPATHI RAO
ASSOCIATE PROFESSOR
Dept of ECE, VNR VJIET
Content to be covered today
 Teaching philosophy
 Course contents
 Syllabus
 Course outcomes
 History of Control Systems
 Introduction to Control Systems
TEACHING PHILOSOPHY
“I do not teach my Students. I provide
conditions in which they can learn”
-Albert Einstein

“I have no special talent. I am only

passionately curious”
-Albert Einstein
COURSE CONTENTS
Unit-1: Introduction to control problem

Unit-2: Time Response Analysis

Unit-3: Stability and Root Locus

Unit-4: Frequency-response analysis

Unit-5: Introduction to Controller Design

Unit-6: State space Analysis

SYLLABUS OF
CONTROL SYSTEMS
UNIT-I :Introduction to control problem
Open-Loop and Closed-loop systems
Benefits of Feedback.
Mathematical models of physical systems.
Transfer function models of linear time-
invariant systems –RLC Circuits
DC and AC servo motors.
Block diagram algebra and Signal Flow
Graphs.
 UNIT-II :Time Response Analysis
Standard test signals.
Time response of first and second order
systems for standard test inputs.
Application of initial and final value
theorems.
Design specifications for second-order
systems based on the time-response.
 UNIT-III : Stability and Root Locus
Concept of Stability
Routh-Hurwitz Criterion
Relative Stability analysis
Root-Locus technique
Construction of Root-loci
 UNIT-IV:Frequency-response analysis
Relationship between time and frequency response.

Bode plots- transfer function from bode plot-phase

and gain margins- stability analysis.
Polar and Nyquist plots,

Nyquist stability criterion.

Relative stability using Nyquist criterion – gain and

phase margins.
UNIT-V :Introduction to Controller Design
Stability

Steady-state accuracy, transient accuracy,

disturbance rejection, insensitivity, and robustness
of control systems.
Root-loci method of feedback controller design

Application of Proportional, Integral and Derivative

Controllers.
Design specifications in frequency-domain.

Frequency-domain methods of design- Lead and Lag

compensators.
 UNIT-VI: State space Analysis
Concepts of state variables.
State space model - RLC circuits and DC
motors.
State Transition Matrix and its properties-
Transformations: State space to Transfer
function and vice versa.
Eigenvalues and Stability Analysis.
Concept of controllability and observability.
 Text Books
I.J.Nagrath and M.Gopal,“Control Systems
Engineering”, New Age International, 6th Edition,
2017.
K. Ogata, “Modern Control Engineering”, Prentice
Hall, 5th Edition, 2015.
 Reference Books
Richard C. Dorf and Robert H. Bishop “Modern
Control Systems”, Pearson, 12th Edition, 2013.
Farid Golnaraghi, B. C. Kuo, “Automatic Control
System”, Prentice Hall, 10th Edition, 2018.
M. Gopal, “Control Systems: Principles and
Design”, McGraw Hill Education, 4th Edition,
2012.
 COURSE OUTCOMES
After completion of the course, the students
understand the following:

Analyze the system’s steady state and transient

performance
Evaluate the effects of feedback on system
performance
Obtain the transfer function/ state space models
Design suitable controller and compensator for
the improvement of system performance
 History1900’s
of Control System
300 BC 2000’s

Early 20th Century Contempora

•Simple, •Extensive use ry
primitive of sensors •Widespread
applications

• Water clock (300 BC)

• Automatic Ship Steering •
• Steam pressure & Navigation
(1922) • Entertainment
temperature control
• PID Controller (1920s)
systems (1680s) • Smart Homes
• Feedback Control System •
• Speed control (1745) Military
• Technique (1930s) • Space Application
Stability Theories
• Root locus, Bode, Nyquist •
• Routh-­‐Hurwitz Chemical Process
(1948)
(1877)
• Lyapunov (1892)
 Cond…
 One of the earliest control systems known is the water clock invented by
Ktesibios (300 BC)-­‐ Liquid level control.

 In 1681, Denis Papin introduced the steam pressure control systems,

where he invented the safety valve (very similar to the present pressure
cooker).

 In 17th century, hatching eggs using mechanical temperature control

 In 1745, speed of windmills are controlled

 Pitching blades further back so less area available
 As wind decreases, more blade area available
 In 1868, James Maxwell published the stability criterion for a 3 rd order
system based on the coefficients of differential equations

 In 1877, Routh Hurwitz criterion to determine the stability of a system is

proposed
 Cond…
• 18th Century James Watt’s centrifugal governor for the speed control of a
steam engine.
• 1920s Minorsky worked on automatic controllers for steering ships.
• 1930s Nyquist developed a method for analyzing the stability of controlled
systems
• 1940s Frequency response methods made it possible to design linear closed
loop control systems
• 1950s Root-locus method due to Evans was fully developed
• 1960s State space methods, optimal control, adaptive control and
• 1980s Learning controls are begun to investigated and developed.
• Present and on-going research fields. Recent application of modern control
theory includes such non-engineering systems such as biological,
biomedical, economic and socio-economic systems
 Introduction to Control Systems
 Control system play a vital role in our day-to-day life. Because of that the
development of control system was changed from time to time. This arise the
different theory of control system.
 Control system theories commonly used today are:
 classical control theory (also called conventional control theory)
 modern control theory, and
 robust control theory.
 But in our case we presents comprehensive treatments of the analysis and design
of control systems based on the classical control theory and modern control theory.
 Automatic control is essential in any field of engineering and science. Because of
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.
 Comparison of classical and modern control system

 Classical control theory, which deals only with single-input,

single-output systems, becomes powerless for multiple-
input, multiple-output systems.
 Modern control theory is based on time-domain analysis of
differential equation systems.
It made the design of control systems simpler because
the theory is based on a model of an actual control
system.
Easy to analysis complex system
 System

Inpu SYSTEM Outpu

t t

 The stimulus or excitation applied to a system from an external

source in order to produce the output is called input
 The actual response obtained from a system is called output.
 A system is an arrangement, or a combination of different
physical components connected or related in such a manner so as
to form an entire unit to attain a certain objective.
 Control System

Inpu Control System Outpu

t t

 Control: It means to regulate, direct or command a system so

that the desired objective is attained

System + Control = Control System

 It is an arrangement of different physical elements connected

in such a manner so as to regulate, direct or command itself to
achieve a certain objective.
 Difference between System and Control
System

Inpu Prope Inpu Control Desire

t System r t System d
Outpu Outpu
t t

(May or may
not
be desired)
 Cond…
An example :
Fan

230V/ Fan Air

Inpu 50Hz Flow Outpu
(System)
t AC t
Supply
 Cond…
 A Fan without blades cannot be a “SYSTEM”
Because it cannot provide a desired/proper
output
i.e. airflow

Input Output
230V/ No
50Hz Airflow
AC (No Proper/
Supply Desired Output)
Cond…
 A Fan with blades but without regulator can be a
“SYSTEM” Because it can provide a proper output
i.e. airflow
 But it cannot be a “Control System” Because it
cannot provide desired output i.e. controlled airflow
Input Output
230V/ Airflo
50Hz w
AC (Proper
Supply Output)
 Cond…
 A Fan with blades and with regulator can be a
“CONTROL SYSTEM” Because it can provide a
Desired output.
i.e. Control
InpuControlled airflow Outpu
t t
Elemen
t Controlled
230V/
50Hz Airflow
AC (Desired
Supply Output)
 Definition of basic terminology
 Systems is a combination of components that act together
and perform a certain objective. E.g. class room
 Control means measuring the value of the controlled
variable of the system and applying the control signal to
the system to correct or limit deviation of the measured
value from a desired value.
 Plants any physical object to be controlled (such as a
mechanical device, a heating furnace, a chemical reactor,
or a spacecraft) a plant. Also called a process
 Processes any operation to be controlled a process.
Examples are chemical, economic, and biological,
industrial processes
 Cond…
 controlled variable(output) is the quantity or condition that is
measured and controlled.
 Control signal or manipulated variable is the quantity or condition
that is varied by the controller so as to affect the value of the
controlled variable.
 Disturbances A disturbance is a signal that tends to adversely affect
the value of the output of a system.
 If a disturbance is generated within the system, it is called
internal,
 while an external disturbance is generated outside the system
(an input)
 Feedback Control an operation that, in the presence of
disturbances, tends to reduce the difference between the output of
a system and some reference input and does so on the basis of this
difference
Thank
you