Table of Contents Chapter-1 Basics of Control System *(-1) to (1 - 24) 1.1 Background... 1.3 Classification of Control Systems 1.4 Open Loop System 1.4.1 Advantages ...... 1.4.3 Real Time Applications of an Open Loop System. 1.4.3.4 Sprinkler used to Water aLawn. . 1.4.3.2 Stepper Motor Positioning System... . 14.33 Automatic Toaster System. . : 14.34 Traffic Light Controller... ss. 4.4.35 Automatic Door Opening and Closing System 1.5 Closed Loop System 1.5.1 Advantages . . 1.5.2 Disadvantages. 1.5.3 Real Time Applications of Closed Loop System 1.5.3.1 Human Being. 1.5.3.2 Home Heating System on 1.5.3.3 Ship Stabilization System... 1.5.3.4 Manual Speed Control System... 1.5.3.5 D.C. Motor Speed Control... 1.5.3.6 Temperature Control System. 15.3.7 Missile Launching System... penne 15.38 Voltage Stabilizer... ss 1.6 Comparison of f Open Loop and Closed Loop Control System 1.8 Regulating Systems (Regulators) .....det 1.9 Feedback and Feed Forward System.. 1.9.1 Real Time Application of Feed Forward System . 1.10 Multivariable Control Systems .... Review Quest _ Chapter-2 Basics of Laplace Transform- ~ wo :_(2-1)to(2-20) Chapter - 3° Transfer Function and Impulse Response ' 2.1 Backgrount 2.2 Definition of Laplace Transform 2.3 Properties of Laplace Transform. 2.3.1 Linearity 2.3.2 Scaling Theorem... 2.3.3 Real Differentiation (Differentiation in Time Domain) . . 2.3.4 Real Integration 2.3.5 Differentiation by s. 2.3.6 Complex Translation 2.3.7 Real Translation (Shifting Theorem) 2.4 Inverse Laplace Transform 2.4.1 Simple and Real Roots .. . 2.4.2 Multiple Roots ....... 2.4.3 Complex Conjugate Roots. 2.5 Use of Laplace Transform in Control System .. 2.6 Special Case of Inverse Laplace Transform Examples with Solutions .. 2-17 (3+ 1) to (3-26) 3.1 Background... 3.2 Concept of Transfer Function .... 3.3.2 Advantages and Features of Transfer Function 3.3.3 Disadvantages. 3.3.4 Procedure to Determine the Transfer Functicn of a Control System. 3.4 Impulse Response and Transfer Function... 3.5 Some Important Terminologies Related to the T.F. ae yap ee3.5.1 Poles of a Transfer Function 3.5.2 Characteristic Equation of a Transfer Function ete he enn oe - 3.5.4 Pole-Zero Pio 3-12 3.6 Laplace Transform of Electrical Network .. Examples with Solutions...... -15 Review Questi 3-2 Chapter -4 Mathematical Modeling of Control Systems naarre (4-1) to (4-64) 4.1 What is Mathemati 4.2 Analysis of Mechanical Systems..... 24 Translat = 42 4.2.2 Mass (M) . 4.2.3 Linear Spring. 4.2.4 Friction 4.3 Rotational Motion. a 4.4 Equivalent Mechanical System (Node Basis)...... 4.7 Electrical Systems... 4.8 Analogous Systems 4.8.1 Mechanical System 4.8.2 Force Voltage Analogy (Loop Analysis) 4.8.3 Force Current Analogy (Node Analysis) 4.9 Steps to Solve Problems on Analogous System: 4.10 Servomotors..... 4.10.1 Requirements of Good Servomotor. 4.11 Types of Servomotors 4.12 D.C. Servomotor .. 4.12.1 Field Controlled D.C. Servomotor 4.12.1.1 Features of Field Controlled D.C. Servomotor . . DME OR PRS RRES BS UTR OE EO ie Cr pete et REELJ141 4122 Amature Conroe D0. Sevootr. WS katte 4124 Appleton ofS, ‘Servomotor... a bene Te oe ere Bw wee te oof :10 Basics of Frequency Domain Analysis .. Root Locus . - 9.1 Background... 9.2 Basic Concept of Root Locus 9.3 Angle and Magnitude Condition 9.3.1 Angle Condition 9.3.2 Use of Angle Condition . 9.3.3 Magnitude Condition . 9.3.4 Use of Magnitude Condition ... 9.4 Graphical Method of Determining 't ede oe kl Cone 9.7 Graphical Determination of 'K' for Specified Damping Ratio" 9.8 General Steps to Solve the Problem on Root Locus 9.9 Effect of Addition of Open Loop Poles and Zeros .... asf 9.9.1 Addition of Pole nn 9 2B 9.10 Advantages of Root Locus Method ... 9.11 Obtaining G(s)H(s) from Characteristic Equation 9.12 Cancellation of Poles of G(s) with Zeros of H(s) 9.12.1 Gain Margin. 9.13 Root Sensitivity 9.14 Root Contour 9.16 System with Positive Feedback (K is Positive ) Examples with Solutions .. Review Questions..... 9 - 100 (10 4) to (10-28) 10.1 Background... 10.2 Advantages of Frequency Domain Approach 10.3 Limitations of Frequency Response Method 10.4 Conceptual Approach to Frequency Response... 10.4.1 Steady State Response to Sinusoidal Input : (Frequency Response) . 10.5 Apparatus Required for Frequency Response..... F awatien 5 eivatean GAY nc co Bateman Pel eee Oks10.6 Relation between Transfer Function and Frequency Response. 10.7 Transfer Function and Frequency Response of a ies R-C Circuil 0-6 10.7.4 Generating Frequency Response Data. 10.8 Frequency Domain Method: 10.9 Co-relation between Time Domain and Frequency Domain for Second Order System... 10.9.1 Derivations of M, and «, 10.9.2 Comments on Co-relation between Time Domain and Frequency Domain 10.10 _B.W. (Bandwidth)... Examples with Solutions Review Question: Chapter-11 . Bode Plots “(14 4)to(1t +90) 1-1 1 11.1.1 Magnitude Plot. . 11.1.2 The Phase Angle Plot 11.2 Logarithmic Scales (Semilog Papers} 11.3 Standard Form of Open Loop T.F. G(ja)H(ja)... 11.4 Bode Plots of Standard Factors of G(jw)H(jo) 11.4.1 Factor 1 : System Gain 'K’.... 11.4.2 Factor 2 : Poles or Zeros at the Origin a}*? .... 41.4.3 Factor 3 : Simple Poles or Zeros (First Order Factors) . 11.4.4 Factor 4 : Quadratic Factors . . 11.5 Steps to Sketch the Bode Plot 11.6 Frequency Response Specifications..... 11.7 Calculation of G.M. and P.M. from Bode Plot 11-27 11.8 What should be Values of G.M. and P.M. of a Good System 7..... 11-29 11.9 How to Improve the G.M. and P.M. 7... 11-30 11.10 Determination of «,, and P.M. for Standard Second Order System... .11-30 11.11 Calculation of Transfer Function from Magnitude Plot. 11.12 Advantages of Bode Plots.. 11.13 Determination of Kp, K, and K, from Bode Plot... -11-35 .11-35 . 11-37 ca geben ASIST CRB od BBE Z Se Gay QE nee11.14 Bode Plot of Systems with Transportation Lag.... Examples with Solutions oe Review Questions i scssesnncnesssesnssnsscssecsssssnsersssersscee 11 = 88 Chapter - 12” Polar and Nyquist Plots 12.1 Background... 12.2 Polar Plot . 12.3 @,, and @,, in Polar Plot 12.4 Determination of G.M. and P.M. from Polar Plot. 12.4.1 Determining cw» ,. Mathematically 12-10 12.5 Nyquist Plot Analysis .... 12.6 Pole-Zero Configuration. 12.7 Encirclement.... 12.7.1 Counting Number of Encirclements . . 12.8 Analytic Function and Singularities 12.9 Mapping Theorem or Principle of Argument 12.10 Nyquist Stability Criterion... 12.11 Generalized Nyquist Path and its Mapping... 12.12 Steps to Solve Problems by Nyquist Criterion 12.13 Behaviour of Right Half Pole..... 12.14 Advantages of Nyquist Plot... 12.15 Log Magnitude - Phase Plots..... 12.15.1 Stability Analysis using Magnitude-Phase Pio! Examples with Solutions.... Review Questions .. 12-85 Chapter-13 Closed Loop Frequency Response ~ (13 - 1) to (13 - 20) 13.1 Closed Loop Frequency Response. 13.2 M Circles [Constant Magnitude Loci 13.3 N Circles [Constant Phase Loci]... 13.4 Use of M Circles.. 13.5 Use of N Circles... 13.6 Nichol's Chart.. we ORIN ee Gi ES13.7 Frequency Specifications from the Nichol's Chart .... we 13-12 Review Questions .. + 13-20 Chapter-14 Compensation of Control Systems” “* (14+ 1) to (44-48). 14.1 Background.. 14.2 Types of Compensation. 14.2.1 Series Compensation . . 14.2.2 Parallel Compensation . 14.2.3 Series-Parallel Compensation. 14.3 Compensating Networks. 14.4 Lead Compensator ... 14.4.1 Maximum Lead Angle, and 0. 14.4.2 Polar Plot of Lead Compensator. 14.4.3 Bode Plot of Lead Compensator. . . 14.44 Steps to Design Lead Compensator 14.4.5 Effects of Lead Compensation . . 14.4.6 Limitations of Lead Compensation . 14.5 Lag Compensator .. 14.5.1 Maximum Lag Angle and f3 . . 14.5.2 Polar Plot of Lag Compensator. 14.5.3 Bode Plot of Lag Compensator . . 14.5.4 Steps to Design Lag Compensator . 14.5.5 Effects and Limitations of Lag Compensator. 14.6 Lag-Lead Compensato: 14.6.1 Polar Plot of Lag-Lead Compensator . 14.6.2 Bode Plot of Lag-Lead Compensator . 14.6.3 Effects of Lag-Lead Compensator. . 14.7 Compensation using Root Locus . 14.8 Designing Lead Compensator using Root Locus. 14.9 Designing Lag Compensator using Root Locus.. 14.10 Designing Lag-Lead Compensator using Root Locus ... Review Questions 114-46 Chapter-15 _ State Variable Analysis - ee (15-1) to (15 - 62) 15.1 Background.. 15-1 15.1.1 Advantages of State Variable Analysis. 15.2 Concept of State ... 15-2 .15-2 Oe caghis b9 Sa Ba et15.2.1 Important Definitions. 15.3 State Model of Linear Systems 15.3.1 State Model of Single Input Single Output System. 15.4 State Variable Representation using Physical Variables 15.4.1 Advantages. 15.5 State Diagram Representation .... 15.5.1 State Diagram of Standard State Model . 15.6 Non Uniqueness of State Model 15.7 State Space Representation using Phase Variable: 15.7.1 State Model from Differential Equation. 15.7.2 State Model from Transfer Function. 15.8 State Space Representation using Canonical Variables 15.8.1 Jordan's Canonical Form 15.8.2 Advantages of Canonical Variables 15.8.3 Disadvantages of Canonical Variables. 15.9 State Model by Cascade Programming .. 15.10 Derivation of Transfer Function from State Model 15.10.1 Characteristic Equation . 15.10.2 MIMO System. .. 15.11 Solution of State Equations. 15.11.41 Homogeneous Equation . 15.11.2 Nonhomogeneous Equation 15.12 Review of Classical Method of Solution 15.121 Zero Input Response............. 15.13 Solution of Nonhomogeneous Equation 15.14 Properties of State Transition Matrix..... 15.15 Solution of State Equation by Laplace Transform Method. 15.16 Computation of State Transition Ld 15.17 Laplace Transform Method . Examples with Solutions. Review Questions..... Let tip OE Mina See *Chapter -16 Control Components and Controllers“ ** (16 - 1) to ( 16 - 64) we 16-4 + 16-1 16-3 16.1 Introduction to Stepper Motors 16.2 Permanent Magnet Stepper Motor .... 16.3 Variable Reluctance Stepper Motor 16.3.1 Reduction Gear Stepper Motor ... 16-4 16.3.2 Multistack Stepper Motor 16-4 16.4 Important Definitions Related to Stepper Motor 16.5 Stepper Motor Characteristics 16.5.1 hi fic oe . 16-5 16.5.2 Dynamic Characteristics 16.6 Difference between Stepper Motor and D.C. Servomotor 16.7 Applications of Stepper Motor .. 16.8 Synchros ..... 16.8.1 Synchro Transmitter . 16.8.2 Synchro Control Transformer... . 16.8.3 Error Detector using Synchros . 16.9 Potentiometer . 16.9.1 Potentiometer as an Error Detector 16.9.2 Types of Potentiometers ...... 16.9.3 Characteristics of Precision Potentiometer . 16.9.4 Loading in Potentiometers 16.10 Rotating Amplifiers 16.10.1 Single Stage Amplifier . 16.10.2 Two State Rotating Amplifier (Amplidyne) . . .. . 16.10.3 Transfer Function 16.11 Magnetic Amplifier 16.12 Servoamplifiers 16.14 Properties of Controller... 16.14.41 Error. 16.14.2 Variable Range ... . 16.14.3 Controller Output Range 16.14.4 Control Lag16.16 Discontinuous Controller Modes 16.16.1 Two Position Mode (ON-OFF Controller) 16.16.2 Multiposition Mode. ae ene ue 65 16.18 Proportional Control Mod 16.18.1 Characteristic of Proportional Mode ISG. 2 Oise nen enna eee ere eee eee eeneeeee IG 16.18.3 Applications 16.19 Integral Control Mode 16.19.1 Step Response of integral Mode 16.19.2 Characteristics of Integral Mode 16.19.3 Applications .. 16-36 16.20 Derivative Control Mode 16 - 36 ee ute - 16.20.2 Applications 16.21 Composite Control Modes. 16.22 Proportional + Integral Mode (PI Control Mode) .... 16.22.1 Chi f 16.2.2 Applications... 16.23 Proportional + Derivative Mode ( 16.23.41 16.23.2 Applications... 16.24 Three Mode Controller (PID Control Mode) 16.25 Response of Controllers to Various Inputs 16.26 Effect of Composite Controllers on 2™ Order System. 16.27 PD Type of Controller 16.28 Pl Type of Controller. 16.29 PID Type of Controller .. 16.30 Rate Feedback Controller (Output Derivative Controller) ..... Examples with Solutions Review Questions...... Appendix -'A_ Matrix Algebra.” ~ Soe (A- 1) to (A-8) SWE DRA Pate kb eadba a RE gull AT RETR BP dew) reBasics of Control System 1.1 Background In recent years, concept of automatic control has achieved a very important position in advancement of modern science. Automatic control systems have played an important role in the advancement and improvement of engineering skills. Practically, every activity in our day to day life is influenced by some sort of control system. Concept of control systems also plays an important role in the working of space vehicles, satellites, guided missiles etc. Such control systems are now integral part of the modern industrialization, industrial processes and home appliances. Control systems are found in number of practical applications like computerised control systems, transportation * systems, power systems, temperature limiting systems, robotics etc. Hence for an engineer it is absolutely necessary to get familiar with the analysis and designing methods of such control systems. This chapter includes the concept of system and control system. Then it gives the classification of control systems. It includes the discussion of various types of control systems supported with number of real time applications. 1.2 Definitions To understand the meaning of the word control system, first we will define the word system and then we will try to define the word control system. System : A system is a combination or an arrangement of different physical components which act together as an entire unit to achieve certain objective. Every physical object is actually a system. A classroom is a good example of physical system. A room along with the combination of benches, blackboard, fans, lighting arrangement etc. can be called a classroom which acts as an elementary system. Another example of a system is a lamp. A lamp made up of glass, filament is a physical system. Similarly a kite made up of paper and sticks is an example of a physical system. Similarly system can be of any type i.e. physical, ecological, biological etc. a-1)Contro! System Engineering 4-40 Basics of Control System In such system, output or part of the output is fedback to the input for comparison with the reference input applied to it. Closed loop system can be represented as shown in the Fig. 1.12. Gicte a ‘===> Forward path Process to be |_." Controlled controlled output element Feedback signal DW) Gams Feedback path Fig. 1.12 Representation of closed loop control system The various signals are, r(t) = Reference input _e(t) = Error signal c(t) = Controlled output m(t) = Manipulated signal b(t) = Feedback signal It is not possible in all the systems that available signal can be applied as input to the system. Depending upon nature of controller and plant it is required to reduce it or amplify it or to change its nature ic. making it discrete from continuous type of signal ete. This changed input as per requirement is called reference input which is to be generated by using reference transducer. The main excitation to the system is called its command input which is then applied to the reference transducer to generate reference input. Practically many electronic integrated circuits work on the d.c. voltage range of 5 to 10 V. The supply available is 230 V a.c. Hence the reference input voltage in the range of 5 to 10 V dic. is obtained from the command input 230 V ac. and proper rectifying unit. The part of output, which is to be decided by feedback element is fed back to the reference input. The signal which is output of feedback element is called ‘feedback signal’ b(t). It is then compared with the reference input giving error signal e(t) = r(t) + b(t) When feedback sign is positive, systems are called positive feedback systems and if it is negative systems are called negative feedback systems. This error signal is then modifiéd by controller and decides the proportional manipulated signal for the process to be controlled. This manipulation is such that error will approach zero. This signal then actuates the actual system and produces an output. As output is controlled one, hence called controlled output c(t).Control System Engineering 4-11 Basics of Control! System 4.5.1 Advantages The advantages of closed loop system are, 1) Accuracy of such system is always very high because controller modifies and manipulates the actuating signal such that error in the system will be zcro. 2) Such system senses environmental changes, as well as internal disturoances and accordingly modifies the error. 3) In such system, there is reduced effect of nonlinearities and distortions. 4) Bandwidth of such system ie. operating frequency zone forsuch system is very high. 1.5.2 Disadvantages The disadvantages of closed loop system are, 1) Such systems are complicated and time consuming from design point cf view and hence costlier. 2) Duc to feedback, system tries to correct the error from time to time. Tendency to overcorrect the error may cause oscillations without bound in the system. Hence system has to be designed taking into consideration problems of instability due to feedback. The stability problems are severe and must be taken care of while designing the system. 1.5.3 Real Time Applications of Closed Loop System 1 4 Human Being ‘The best example is human being. If a person wants to reach for a book on the table, closed loop system can be represented as in the Fig. 1.13. Position of the book is given as the reference. Feedback signal from eyes, compares the actual position of hands with reference position. Error signal is given to brain. Brain manipulates this error and gives signal to the hands. This process continucs till the position of the hands get achieved appropriately. Desired position of the hands Fig. 1.13 Human being 1.5.3.2 Home Heating System In this system, the heating system is operated by a valve. The actual temperature is sensed by a thermal sensor and compared with the desired temperature. The difference between the two, actuates the valve mechanism to change the temperature as per the requirement.Control System Engineering 1-12 Basics of Control System House temperature Fig. 1.14 Domestic heating system 15.33 Ship Stabilization System In this system a roll sensor is used as a feedback element. The desired roll position is Ship stabilisation system Sea water level Roll position Fig. 1.15 Ship stabilization system selected as @, while actual roll position is 0. which is compared with 0, to generate controlling signal. This activates fin actuator in proper way to stabilize the ship. Desired roll ‘Actual controtied rolt —* @ Fig. 1.16 1.5.3.4 Manual Speed Control System A locomotive operator driving a train is a good example of a manual speed control system. The objective is to maintain the speed equal to the speed limits set. The entire system is shown in the block diagram in the Fig. 1.17.Contro! System Engineering 1-13 Basics of Control System Speed Vehicle limit mechanism Actual Speed Eyes Fig. 1.17 1535 D.C. Motor Speed Control Comparator Tachometer / eis Potentiometer Field current Tachometer constant Fig. 1.18 Speed control system The D.C. shunt motor is used where field current is kept constant and armature voltage is changed to obtain the desired speed. The feedback is taken by speed tachometer. This generates voltage proportional to speed which is compared with voltage required to the desired speed. This difference is used to change the input to controller which cumulatively changes the speed of the motor as required. Fig. 1.19 Speed control systemControl System Engineering 1-14 Basics of Control System 1.5.3.6 Temperature Control System The aim is to maintain hot water temperature constant. Water is coming with constant flow rate. Steam is coming from a valve. Pressure thermometer ‘P’ is used as a feedback element which sends a signal for comparison with the set point. This error actuates the valve which controls the rate of flow of steam, eventually controlling the temperature of the water. Set point r Water inlet ‘Output valve ——> Hot water Actual temperature thermometer Fig. 1.21 1.5.3.7 Missile Launching System This is sophisticated example of military applications of feedback control. The enemy plane is sighted by a radar which continuously tracks the path of the aeroplane. The launch computer calculates the firing angle interms of launch command, which when amplified drives the launcher. The launcher angular position is the feedback to the launch computer and the missile is triggered when error between the command signal arid missile firing angle becomes zero. The system is shown in the Fig. 1.22. 1.5.38 Voltage Stabilizer Supply voltage required for various single phase appliances must be constant and high fluctuations are generally not permitted. Voltage stabilizer is a device which accepts variable voltage and outputs a fixed voltage.Control! System Engineering 1-15 Basics of Control System Fig. 1.22 Missile taunching system Principle of such stabilizer is based on controlling number of secondary turns as per requirement to increase or decrease the output yoltage. The actual output voltage 1s sensed by a transformer and potential divider arrangement. The reference voltage is selected proportional to the desired output level. The actual output is compared with this to generate error which in tum is inputted to the controller. The controller takes the proper decision to increase or decrease the number of turns so as to adjust the output voltage. ‘The scheme is shown in the Fig. 1.23. ° To load constant voltage Fig, 1.23 Voltage stabilizerControl System Engineering 4-16 Basics of Control System The other examples of closed loop system are machine tool position control, positioning of radio and optical telescopes, auto pilots for aircrafts, inertial guidance system, automatic electric iron, railway reservation status display, sunseeker solar system, water level controllers, temperature control system. So in closed loop feedback control systems cause and effect relationship between input and output exists. 1.6 Comparison of Open Loop and Closed Loop Control System Open Loop . Closed Loop Any change i output has no effect on the| Changes in output, affects the input which is input Le. feedback does not exists. possible by use of feedback. 7 Output measurement is not required for! Output measurement is necessary. | operation of system. 3._| Feedback element is absent. Feedback element is present. 4. | Error detector is absent. - Error detector is necessary. 5. | itis inaccurate and unreliable. Highly accurate and reliable. | 6. | Highly sensitive to the disturbances. Less sensitive to the disturbances, | 7. _|_ Highly sensitive to the environmental changes.| Less sensitive to the environmental changes. 8. | Bandwidth is small Bandwidth is targe. 9. | Simple to construct and cheap. Complicated to design and hence costly. 10. | Generally are stable in nature. Stability is the major consideration while designing 11. | Highly affected by nonlineorities. Reduced effect of nonlinearities. 1.7 Servomechanisms Definition : It is a feedback control system in which the controlled variable or the output is a mechanical position or its time derivatives such as velocity or acceleration. A simple example of servomechanism is a position control system. Consider a load which requires a constant position in its application. The position is sensed and converted to voltage using feedback potentiometer. It is compared with input potentiometer voltage to generate error signal. This is amplified and given to the controller. The controller in turn controls the voltage given to motor, due to which it changes its position.: Control System Engineering — 1-47 ! Basics of Control System The scheme is shown in the Fig. 1.24. Field current constant Gears f) tees _) ‘Actual position Input — —— Feedback potentiometer potentiometer Fig. 1.24 Position control system Few other examples of servomechanisms are, 1) Power steering apparatus for an automobile. 2) Machine tool position control. 3) Missile launchers. 4) Roll stabilization of ships. 1.8 Regulating Systems (Regulators) Definition : It is a feedback control system in which for a preset value of the reference input, the output is kept constant at its desired value. In such systems reference input remains constant for long periods. Most of the times the reference input or the desired output is either constant or slowly varying with time. In a regulator, the desired value of the controlled outputs is more or less fixed. Similarly the reference input is also fixed and called set point. Thus the regulator maintains a constant output for a fixed reference input. The problems due to disturbances are mainly rectified by the regulator. A simple example of such regulator system is servostabilizer. We have - seen earlier that in voltage stabilizer position of tap on secondary is adjusted by using relay controls. But instead of fixed tap, the entire secondary can be smoothly tapped usingControl System Engineering 1-18 Basics of Control System a servomotor drive. The servomotor drives the shaft and controls the position of tap on secondary as per the controller signal. Due to the fluctuations in the main input if the load voltage changes, such effects are rectified by the regulator to keep load voltage constant. The actual scheme is shown in the Fig. 1.25, while its block diagram representation is shown in the Fig. 1.26. Main FeedbackControl! System Engineering 4-19!.1j1, + 11 Basics of Control System Few other examples of regulating system are, 1) Temperature regulators. 2) Frequency controllers. 3) Speed governors. 1.9 Feedback and Feed Forward System In the control systems considered uptill now, it is considered that the disturbance has affected the output adversely. Such- an output is measured and compared with the reference input to generate an error. This error is fed to the controller which is successively operating the system to correct the output. Thus such systems in which the effect of the disturbance must show up in the error before the controller can take proper corrective action are called feedback systems. If the disturbance is measurable, then the signal can be added to the controller input to modify the actuating signal. Thus, a corrective action is initiated without waiting for the effect of the disturbance to show up in the output ie. cumulatively in the error. Thus the undesirable effects of measurable disturbances by approximately compensating for them before they affect the output. This is much more advantageous as in normal feedback system the corrective action starts only after the output has been affected. - Key Point: Such systems in which such corrective action is taken before disturbances affect the output are called feed forward system. A block diagram with feed forward concept is shown in the Fig. 1.27. Output The two difficulties associated with feed forward system are, i) In some systems, the disturbance may not be measurable. ii) The feed forward compensation is an open loop technique and if actuator transfer function is not known accurately, then such compensation cannot be achieved.Control System Engineering 1-2 Basics of Control System Control system : To control means to regulate, to direct or to command. Hence a control system is an arrangement of different physical elements connected in such a manner so as to regulate, direct or command itself or some other system. For example, if in a classroom, professor is delivering his lecture, the combination becomes a control system as; he tries to regulate, direct or command the students in order to achieve the objective which is to impart good knowledge to the students. Similarly if lamp is switched ON or OFF using a switch, the entire system can be called a control system. The concept of physical system and a control system is shown in the Fig. 1.1 and Fig. 1.2. Lamp Ce Lamp Supply Fig. 4.1 Physical system Fig. 1.2 Control system When a child plays with the kite, he tries to control it with the help of string and entire system can be considered as a control system. In short, a control system is in the broadest sense, an interconnection of the physical components to provide a desired function, involving some kind of controlling action in it. Plant : The portion of a system which is to be controlled or regulated is called the plant or the Process. Controller : The element of the system itself or external to the system which controls the plant or the process is called controller. For each system, there must be an excitation and system accepts it as an input. And .for analyzing the behaviour of system for such input, it is necessary to define the output of a system. Input : It is an applied signal or an excitation signal applied to a control system from an external energy source in order to produce a specified output. Output : It is the particular signal of interest or the actual response obtained from a control system when input is applied to it. Disturbances : Disturbance is a signal which tends to adversely affect the value of the output of a system. If such a disturbance is generated within the system itself, it is called an internal disturbance. The disturbance generated outside the system acting as an extra input to the system in addition to its normal input, affecting the output adversely is called an external disturbance. Control systems may have more than one input or output. From the information regarding the system, it is possible to well define all the inputs and outputs of the systems.Control System Engi ering 1-20 Basics of Control System 1.9.1 Real Time Application of Feed Forward System In a particular process control industry, it is necessary to maintain the temperature of a molten metal constant before giving it to the next process. For this a general temperature control feedback system is used as shown in the Fig. 1.28. ‘Temperature ee sensor Feedback ia Constant temperature Outlet required Heat exchanger Fig. 1.28 Feedback system for temperature control Practically if the rate of flow of metal from tank to heat exchanger gets disturbed, due to change in level then the temperature gets affected. But it takes a long time to see its effect at the output to take the corrective action. Key Point: In feedback system, the corrective action can not be taken unless and untill output gets disturbed. Due to the time lag, it is not possible to keep the output temperature constant within limits. In such a case, feed forward system is used. The inlet flow rate is measured with the flowmeter. Immediately when there is a change in rate of flow, it is indicated to the controller through flowmeter before it is going to disturb the output. The controller takes the corrective action in advance by adjusting the steam flow. Thus the output temperature gets maintained constant within the limits. Key Point: The feed forward compensation, compensates the effect of disturbance before it actually disturbs the output. The system is shown in the Fig. 1.29 (a) while its block diagram representation is shown in the Fig. 1.29 (). The feed forward minimizes the transient error due to measurable disturbances. While feedback compensates for unmeasurable disturbances and other effects. Thus it is advisable to incorporate both feedback and feed forward schemes in a system.Control System Engineering 1-21, Basics of Control System Vane [Controer] Feedback Storage signal (J Remperature sensor Feed forward signal a Constant Inlet ==et =, temperature Flow meter (2) Feed forward system Disturbance {change in flow rate) <== Feed forward Controller aa vere | exchanger ‘Temperature sensor <== Feedback Reference input Constant temperature (b) Block diagram Fig. 1.29 Practical example of feed forward system 1.10 Multivariable Control Systems The control system in which there is only one output of the interest is called single variable system. But in many practical applications more than one variables are involved. A control system with multiple inputs and multiple outputs in called a multivariable system. The block diagram representation of a multivariable control system is shown in the Fig. 1.30, The part of the system which is required to be controlled is called plant. The controller provides proper controlling action depending on the reference inputs. There are n reference inputs ty, 12, cee Tas There are n output variables ci(t), c2(t),.. n(t). The values of these variables represent the performance of the plant. The control signals produced by the controller are applied to the plant. With the help of feedback elements the closed loop control of the plant is also possible. Due to the feedback, the controller takes into account the actual output values to decide the control signals.Control System Engineering (12th. Basics of Control System — Controller i (Analog or digital) Fig. 1.30 Block diagram of multivariable control system In case of multivariable systems, sometimes it is observed that a single input considerably affects more than one outputs. The system is said to be having strong interactions or coupling. This coupling is nothing but the disturbances for the separate systems. The interactions inherently present between inputs and outputs can be cancelled by designing a decoupling controller. Thus the resulting multivariable system is considered to have proper number of single input single output systems and the controller is designed for each system. The another way is to design a controller which will take care of all the inherent interactions present in the multivariable system. In multivariable linear control system, each input is independently considered. Only one input and one output is considered and the total effect on any output because of all the inputs acting simultaneously is determined by addition of the outputs due to each input acting alone. Thus law of superposition is used to analyse multivariable linear control systems. In many practical control systems, control is achieved by more than one input and the system may have many outputs. In chemical processes simultaneous control of pressure, temperature and concentration is required by commanding various inputs. Air crafts and space crafts are other examples where movement is controlled by various inputs. Power generators, atomic reactors and jet engines are some of other examples of multivariable systems. Consider the block diagram of multivariable autopilot system shown in the Fig. 1.31. The system shown in the Fig. 1.31 keeps a track of rocket vehicle in response to reference inputs given to it. The pcsition, velocity and acceleration of the vehicle are fed to the digital controller using motion sensors. The controller takes appropriate decision and sends a controlling signal which will drive the actuator, which will move the engine. Thus there are three output variables which are to be observed and controlled and there are corresponding reference inputs hence the system is multivariable system.Control! System Engineering 1-23 Basics of Control System Controt Angular signal position Reference inputs Digit | digital controller ansieg Actuator converter Fig. 1.31 Multivariable autopilot system Review Questions |. Define the followmg terms (i) Systems (ii) Control system (ii) Input (io) Output (o) Disturbance. .. Explain how the control systems are classified 3. Define linear and nonlinear control systems. 1. What is time variant system? Give suitable example. How it is different than time invariant system? Define open loop and closed loop system by giving suitable examples. 3. Differentiate between open loop and closed loop systems giving suitable examples. . With reference to feedback control system define the following terms 1) Command input (ii) Reference mput (iii) Forward path (io) Feedback path . Explain the following terms giving suitable example i) Servomechanism (ii) Regulator . Distinguish between feedback control system and feed forward control system. ). Differentiate between : 1. Linear and Nonlinear systems 2. Continuous and Discrete data systems . Explain what is closed loop control system. .. Write a note on multivariable control systems. Qo00