J

W

K J

K J

K J
K J

K J J

K J J
K J J
K J J

K J J

K J

K J J

K J J

K J
EF K J J

K J J

K J

K J
K J

--

W
W
K

EF
K
K

--

Introduction J K J
EControl-SystemF

K K
J J JF

KE
K

KKK

K
W

KKKK

Transportation F
--

KEEnvironmentFEUrban PlanningFESystems
EComputersF

KERobotF

W(Common Control System's Components) K J

KWEInputF

KWEOutputF

EInputFWEErrorF

KKEOutputF

WEReferenceF
K

:(Illustrative Examples of Control Systems) K J

W

WE-F
E-F

EFK

--

E1J1F

K K

WE2-1F

KE2-1F

FK

KE

--

E2J1F

WE3-1F
EFEa3-1F

EF

K
K

EF

--

Pneumatic valve

Controller

Inflow

Outflow

(a)

Desired level

Controller

Pneumatic
valve

Water tank

Actual level

Float
(b)

E3J1F

Eb3-1F

--

WEFE4-1F

EF

Ea4-1F

EFEF

K Eb4-1FK

--

Brain

(a)

E8J1F

Input

Brain

Hand
Muscle

Hand

Output

EF

Eye
(b)

E4J1F

WE5-1F
ENumerical ControlFE5-1F

KENumbersF

KEF

KEReaderF

K

--

EF

Frequency-modulated pulse

Controller

Reader

Tachometer

D-A
conv

Pulse D-A
conv

Tape

Amp

Motor

Cutter

Feedback

E5J1F

EAnalog to Digital ConverterF

EDigital to Analog ConverterF

K
K

WE6-1F

K

- -

WE7-1F
K
E6-1F

Eblast furnaceF
F

KE

12
Iron ore 3
4
Coke
Limestone

Top gas

Blast
furnace

Hot air
Steam
Oxygen
Oil

Slag
Pig iron

Command

Computer

Command

Reference input

E6J1F

KE
K

K
- -

K
K

KK

WE8-1F

E7-1F

PulsesK
J U a

EFK

Ua

E7J1F

- -

WEFlow GraphFEBlock DiagramF K J

W

KK

K
Block Diagram
K J J
elements

KBlock diagramK

blocks

signaloutputsignalinput

Ktransfer function

E8-1FK

X (s)

G (s)

Y(s)

E8J1F

- -

J
W

Y(s) = G(s)X(s)
G(s) =

Y(s)
X(s)

Summing Element J

KE9-1FEF

- -

X1(s)

X2(s)

+ +
X3(s)

Y(s)

+
Xn(s)

E9J1F

W
Y(s) = X1 (s) + X 2 (s) X 3 (s) + ................ + X n (s)

Error Detector J

elementcomparing Ksignalfeedback

KE10-1F

- -

R(s)

E(s)

C(s)

E10J1F

E(s) = R(s) C(s)

(1 - 1)

Branch point J
C(s)

KE11-1F
K

- -

C(s)

C(s)

C(s)

E11J1F

Construction of Block Diagram K J J
K

K J

J
K

K J

J
K

J
K

Block Diagram Transformation K J J

Theorems

E1-3FK

- -

H,X,Y,ZPK
KS

Transformation

Equation

Combining Blocks
in Cascade

Y = (P1P2)X

Combining Blocks
In parallel; or
Eliminating a
Forward Loop

Y = P1 X P2 X

Removing a block
From a Forward
Path

Eliminating a
Feedback loop

Removing a Block
From a Feedback
Loop

Equivalent Block
Diagram

Block Diagram

P1

P2

P1

Y = P1(X

Y = P1(X

P2

P2Y) X

P2Y)

P1

P2

E J F

- -

P1 P2

X
Y = P1 X P2 X

P1 P2

P1 +

P2

P2

P1

1 P1 P2

X 1 +
P2

P1P2

Transformation

Equation

6a

Rearranging
Summing Points

Equivalent Block
Diagram

Block Diagram

Z=WXY

6b

Rearranging
Summing Points

Z=WXY

10

11

Moving a Summing
Point Beyond of a
Block

Moving a Takeoff
Point Ahead of a
Block

Moving a Takeoff
Point Beyond a
Block

Moving a Takeoff
Point Ahead of a
Summing point

Z = PX Y

Z = P(X Y)

Y = PX

Y = PX

P
P

P
1
P

Z=XY

Y
Y
Z

Moving a Takeoff
Point Beyond a
Summing point

1
P

12

Moving a Summing
Point Ahead of a
Block

Z=XY
Y

- -

X
Y
X

Signal Flow Graph K J J

Fundamental of Signal Flow Graph J

KE12-1FK

Input nodes
X4 (Source)

Mixed nodes

d

Input nodes
(Source)

X2

X3

X1

Output nodes
(Sink)
X3

E12J1F

K K
- -

Masons rule

Basics of Signal Flow Graph J

KE13-1F

- -

(a)

X2

X1
b

(b)

X2

X1

ab

X1

X3

a
(c)

a+b
=

X2

X1

X1

X2

b
a

X1

(d)

X4
b

X2

X2

X1

X3

ab

X3

X1

X4
bc

X2

(e)

ac

X1

ab
1-bc
=

X1

X3

bc

E13J1F

WE13-1F

X 2 = aX1 Ea-F X 2 J

KEb-F

Ec-F

Ed-F J

WEe-F J
- -

x 3 = bx 2 , x 2 = ax 1 + cx 3

x 3 = abx 1 + bcx 3

x 3 = [ ab /(1 bc ] x1

KE14-1F
R(s)

G(s)

C(s)

G(s)

R(s)

E(s)

R(s)

G(s)

R(s)

C(s)

G(s)

1
E(s)

R(s)

C(s)
-H(s)

H(s)
N(s)
N(s)
R(s)

E(s)
G1(s)

G2(s)

C(s)
R(s)

G1(s)
E(s)

G2(s)

C(s)

-H(s)
H(s)

KE14J1F

Mason's Rule For Signal Flow Graphs K J J

EF

K
P =

1
Pk k
k

W
(2 - 1)

- -

Pk = path gain of kth forward path

= determinant of graph

= JEFHEF
JEFHKKKKKK
1 La + Lb Lc Ld Le L f + ..........
a

b ,c

d ,e , f

La Z
a

Lb Lc Z
b ,c

Ld Le L f Z
d ,e , f

k k

WE9-1F
K
K C ( s)
R( s)

H2

R(s)

G1

C(s)

G2

G3

- -

H1

-H2

R(s)

G1

G2

G3

C(s)

C(s)

H1

-1

W
P1 = G 1G 2 G 3
L1 = G 1G 2 H 1

L 2 = G 2 G 3 H 2
L 3 = G 1G 2 G 3

= 1 (L1 + L 2 + L 3 )

= 1 - G 1G 2 H 1 + G 2 G 3 H 2 + G 1G 2 G 3

1 P1
W
1 =1

W C ( s)
R( s)

- -

P
C (s)
=P= 1 1

R( s)
=

G 1G 2 G 3
1 - G 1G 2 H 1 + G 2 G 3 H 2 + G 1G 2 G 3

WE10-1F
K

G7

G6

R(s)

G1

G2

G3

G4

G5
C(s)

-H1
-H2

W
W
P1 = G 1G 2 G 3 G 4 G 5

P2 = G 1G 6 G 4 G 5
P3 = G 1G 2 G 7

- -

W
L 1 = G 4 H 1

L 2 = G 2 G 7 H 2
L 3 = G 6 G 4 G 5 H 2
L 4 = G 2 G 3 G 4 G 5 H 2

W L 2 L1

= 1 (L1 + L 2 + L 3 + L 4 ) + L1 L 2
W P1 1

Classification of Control Systems K J

open loop

Kclosed loop control system

Open Loop Control Systems K J J

- -

Actuating signal

Input signal
(command)

System
components

Output signal
(controlled variable)

E15J1F

KE15-1F

Closed-loop Control
K J J
K

- -

Actuating signal

Controller

Input signal
(command)

k
M

forward-path
System
components

feedback-path
System
components

Output signal
(controlled variable)

E16-1)

block diagramE16-1F

controller K
E
plant

EFK

operational amplifier
K

KplantEF
K

- -

K J

J

K
K

K
K

K J
Block Diagram of a Closed-loop Control System
E17-1F

E
F C(s)
W

- -

Branch point

Summing point

R(s)

E(s)
+

G(s)

C(s)

Output

C(s)

E17J1F

E F

H(s)
C(s) KE18-1F

W B(s)

B(s) = H(s)C(s)

- -

(3 - 1)

R(s)

E(s)

C(s)

G(s)

B(s)
H(s)

E18J1F

WE18-1F

Direct or forward transfer function J

G(s) =

C(s)
E(s)

(4 - 1)

feedback transfer function J

H(s) =

B(s)
C(s)

(5 - 1)

open-loop transfer function J

G(s)H(s) = B(s)

(6 - 1)

E(s)

closed-loop transfer function J

E5-1F H(s) = 1 E18-1F

- -

J
WE6-1F

C(s) = G(s)E(s)
E(s) = R(s) B(s)

(7 - 1)

WE7-1FE2-1F

E(s) = R(s) H(s)C(s)

C(s) = G(s)E(s)
C(s) = G(s)[R(s) - H(s)C(s)

C(s) = G(s)R(s) - G(s)H(s)C(s)

C(s) + G(s)H(s)C(s) = G(s)R(s)

[1 + G(s)H(s)]C(s) = G(s)R(s)

W
C(s) =
R(s)

G(s)
1 + G(s)H(s)

(8 - 1)

W
C ( s) =

G(s)
R(s)
1 + G(s)H(s)

(9 - 1)

K J
Closed-loop Control System Subjected to a disturbance

D(s)

R(s)E19-1F
WD(s)

- -

ZR(s) J

KR(s)

D(s)
R(s)=0 J

KD(s)

Disturbance
N(s)

R(s)

G1(s)

C(s)
G2(s)

H(s)

19 1

C D (s ) KR(s) C R (s)

E11-1FE10-1F K D(sF
W

C n (s)
G2 (s)
=
N ( s ) 1 + G1 ( s ) G 2 ( s ) H ( s )

(10 - 1)

C R (s)
G1 ( s )G 2 ( s )
=
R( s) 1 + G1 ( s )G 2 ( s ) H ( s)

(11 - 1)

- -

R(s)

W D(s)

C (s) = C R (s) + C N (s)

G 2 (s)
[G1 ( s ) R ( s ) + N ( s )]
1 + G1 ( s )G 2 ( s ) H ( s )

(12 - 1)

K J
Reduction of Complicated Block
Diagrams

K E3-1F

E18-1F
KE3-1F

- -

:E11-1F
K

G3

R
G1

G2

G4

H1

H2

G1

G4

G1G4

G3

G2

G2+G3

- -

G1G 4
1 G1G 4 H 1

G1G4

H1

G1G 4
1 G1G 4 H 1

G2+G3

R
=

G1G 4 (G 2 + G3 )
1 G1G 4 H 1

H2

H2

- -

WE12-1F

CR

G2

G1

C
G3

:
G1G2

G3
()

- -

G1G 2
1 G1G 2 H

J
G3

()

G1G 2 G3
1 G1G 2 H

( )

G1G 2 G3
1 G1G 2 H + G1G 2 G3

()

WEFEF

G 1G 2 G 3
C(s) = 1 G 1G 2 H
GG G
R(s)
1+ 1 2 3
1 G 1G 2 H

WE1 G 1G 2 H F

C (s) =
R( s)

G1G2 G3
1 + G1G2 H + G1G2 G3

- -

WE13-1F
KK


WE14-1F
K

Qi(s)

1
3

1
R1

1
C1 s

4
1
C2 s

Qo(s)

1
R2

R2

Qi(s)
1
R1

1
C1 s

1
R2

1
C2 s

Qo(s)

R 2 C1 s

Qi(s)

1
C1 s
2

1
R1
-
-

1
C2 s

1
R2

Qo(s)

Qi(s)

1
R1C1 s + 1

Qo(s)

1
R2 C 2 s 1

R 2 C1 s

Qi(s)

1
R1C1 R2 C 2 s + ( R1C1 + R 2C 2 + R 2C1) s + 1

Qo(s)

WE15-1F
K

D(s)
i

G1

G2

(a)

:
i
G1G2

o`

(b)

- -

D(s)

o``

G2

G1

(c)

WE16-1F

K C
R

H2
(a)

R
G1

G2

H1

G3

- -

H2
G1

(b)

G1

G2

G3

H1

(c)

(e)

G1G 2
1 G1G 2 H 1

(d)

H2
G1

G3

G1G 2 G3
1 G1G 2 H 1 + G 2 G3 H 2

G1G 2 G3
1 G1G 2 H 1 + G 2 G3 H 2 + G1G 2 G3

- -

J
K J

(a)

R(s)

10

C(s)
K0

1
s +1

K1
( s + 2)

K2
s+3

(b)

R(s)

G2(s)

G1(s)

H1

H2

- -

C(s)

H2

(c)
a

R(s)

G1

C(s)

G3

G2

H1

J
K

H3
R(s)
G1

G2

G3

C(s

G4

H1
H2
G5

K C ( s) J
R( s)

H4

H5
R
G1

G2

G3

G4

H3

H2
H1

- -

K C(s) J
R3(s

R2(s
R1(s

G1

G3

G2

C(s

G4

H2

R4(s)

H2

G1

G2

G3

H1

a
G4

- -

Y(s)

Y(s)
,
N(s) R =0

R(s)

N =0

E(s)
R(s)

E(s)
N(s)

,
N =0

R =0

N(s)

G1(s)
E(s)
R(s)

G3(s)

G2(s)

Y(s)

H1(s)

Y5 ,
Y1

YG
4
,4
Y1

G2

G1

Y1

Y2

-H1

Y5
Y2

Y2
,
Y1

Y3

G3
Y4

Y5

Y5

-H2

(a)
-H4
G4

Y1

G2

G1

(b)

Y2

-H1

Y3

Y4
-H3

- -

G3
-H2

Y5

Y5

G4

Y1

G2

G1

(c)

Y2

Y4
-H3

Y3

-H1

G3

Y5

Y5

-H2
G4

(d)
Y1

Y2

G1

G2

-H1

Y3 -H
2

G3
Y4

Y5

Y5

-H3
-H3

G4
G1

(e)
Y1

Y2

G2
Y3 -H
1
-H3

- -

G5
G3
Y4 -H2

Y5

Y5