Contents ‘Chapter 1 introduction. 12 Goer Coe emt fee pee cele ponesai int: AoinenMSEREESE A iackeiaaemist UES Chapter 2 Tantus ° (w Control Systems Inet nn Ter SE Construction of inal Flow Graphs nan Mason Gln FIT neem Feedback Characteristics nrnnnnmn tion of Complex Mechanical Syste. 113 Chapter 7 ‘Time Domain Analysis. of Control Systems nsnenentntnt 142 Chapter 8 Stability Analysis of Linear 94 GainMargnand Pate Marg OM RE 00 Poker 23 95 GeesotAdingPlesand 28108) ee 98 Complementary Root Loc CR Inverse Roe 0 enn 28 Sen ASN on 22 Suen ASIN 2am 2S Chapter 10 Frequency Domain Analysis of Control System nonmnnmnnsnin 292 11 IOC een 2BChapter 11 Industrial Controllers 11.12 Proportona Dervathe 0} Contre = 385 ‘Advantages of Open Loop Control Systems (@) Simpleand economic (©) Nostabitty problem Disadvantages of Open Loop Control Systems (©) The eect of parameter variation and external nok Not: No poromance anys ianuitedor pen woop ental 6m.2 | etic Enginening © Control Systems TronsierFunction mADE 1.2. Close Loop Control Systems ‘of open loop system with an adtional feedback ding to his measurements fedback tothe input (@) Econaricinaion ‘Advantages of Close Loop Control Systems (@) Accurate and liable, (6) Reduced eect of parameter variation can be increased wih negative feedback * "= Feedback is pol used for improving stably 44 Anopen oop stabe system may also become unstable when negative applied. “= Except oscilaos, i postive feedback, we nave always unstable systems. === 1.3 Comparison Between Open Loop and Close Loop Control Systems Close Loop Bion 1. Dustoveeanerk ecleoicop Sem rere acura 2. Compleaed aa aieut [EBEIEI —itch iss Pca acon or acy wit Ut (Category ot wysiond and sooct te erect code D. A thermostatically controlled room heater st ‘contr system luding biological control system 3. Control system whose components are both man-made and naturalmADE EASY MADE EASY TansteFunction 5 where (0"), 20%, att= (0). (0) ifthe Laplace Transform of cle A= the Laplace Transform of A0)is As) anni =-2. Fl) (0, Initial Value Theorem: (0 = im sae) fim, sFis) ranstorm and as roathaving real Table 1 Tolpis onstomPots Basic Laplace Transform Theorems ‘Basicthooromsofaplacetransfom ae given below ; transform of sinat + ie re 0) rot ae co Sang esone sin (at +a) = sinat cosa + cosat sina ocesa ssina Asin oi +) = Boast age = [s°F[s)~ 50") sO") - (0%) OT Pe? e (3) where 40"), (0), (0°) ae te values of to, SE, SE MADE ERSu a) Genre MADE ERsu _womumateeapibictnson a Fe6 | Hectical Engineering « Control Systems MADE EASY MADE EASY Tansterruncion | 7 +2 FO * BaP Taking nveree Laplace tansfoemon bath siges 242 5427 +E ct, which ofthe folowing expressions are correct? Given f(t) = Fea) = 1. dita) Ut~a)}= Rees 2. Atha} e1Re)= 6! 3. A(t a)Ko) = a8 As)} © Fo = Eas) Using partial tracon expansion, z Foe 1-844 the correct answer using the code given below th oe sel ++ Thotorm (+ 45 +5) canbe expressed a (5+ 2) + (11 1 ae? =) a -2 A. sina, tu(t 9 = sera lesa “akeng inverse Laplace anstorm on bath sides 1 ee 2 {ace Jere Olsens oa Fh ono: aaa aa ow 6 41. tana © sinay(t-t) ut) 8. in (oer tan 22) * OR OO age ear a 7 1) = (12% cost 26 sin D. sinaytutt) 4 ~gpphag nats an 2) a fm SS = “+ Thedenominator (+ 66°+ 12s + 8) can be exposed as(6+ 2? co ae no Seo a3 Aaa 32 Fe= The colfcients re deterinad as A Find te inverse Laplace Wanaform ofthe folowing functions Sac eters 8 42049 * Roe 1-2. Fee) (i) Fle) = 222 BH weep asad Frere tas8 Tekinginvts Laplace iransiom on ban sides anos oft 2. 8) 4 gs 2 +s The term (=? + 45+ 6) can be expressed as (e+ 2? + ()4) o EAR) = OB et8 Electrical Engineering « Control Systems ee | (@) @ pulso of widtn T (6) aunt step delayed by T ——_() ramp delayed by T Solution « | toot? fee : Ae= EE | an 1 galt =ten(3) ; N= a9-ut-1) i 40-7) CHaPTEeR Transfer Function 2.1. Transfer Function and Impulse Response Function In contro theory, ranster functions ae commonly used to characterise the input output relationships of component systems that can be described by linear, tme-ovarant ferential equations. ‘Transfer Function , clferental equation systems dined asthe rato ofthe (the Lapiace transform othe input (oriving function) under A Giferential equation is near ifthe coeficients are constants or functions only ofthe independent variable. Dy invariant (orlinearconstant-cooiien}) systems, Systame that are represented by aferertia ‘equations whose costients are function of ime are called linear ime varying systems, An example of time vvayng contol tt Saucon ‘tea tatonexpanaenot Rei | | Fel= A ‘The coefficients A,,8,.C, Dare given by. | ano 4 fab a. ou ; D= (6+2)F(S),..g=1 ane ma r= -etaegts = At) = et u(t) + ett) +e ult) as =MADE EASY 1 ngineeing © Control Systems 10 | While deriving the transfer function of ainearelemont only inal conditions are assumed to be zero, loading (or inp car't be assumed o be 2600 TTihe intial condiions fora system are inherently zero, what does physically mean? (a) To ey ate ot reson ‘Toe system is working but does not store energy. {6} Tra eyamia cantor o energy lsored in any ots pat (6) Tho system is working with zero reference input. Solution) ‘Aayatem with 200 intial condition is sald tobe at rest since there ino stored energy. [REEEZES rst re tre propertes of inser ystems rat valid for rorinaaroystms? Explain eacn ory? 3 systems satnfy properties of superposition and homogeneity. Any system that does not satisfy these properis is nonineat Property of superposition: When the output corresponding to Yr, 8 Yay, and the output corresponding to Vey 18 Vay then the ousput corresponding 10 AV, + DV Is BVa, + Doug Property of homogeneity: I sates that fora given input xin the domain of he function fan for ‘any real number k 1h) = ke) + Linear systems have one equilibrium point at the origin. Nonsinear systems may have many eaulitxium points. 2.2 Standard Test Signals 1. Step Signal where, Laplacetransform, Us) = Als MADE EASY _tentertunetion | 3 2 Ramp Signal _ [At to w= fD eo Laplace tanstom, As) = As? 13. Parabolic Signal Ei © wos fre t>0 0 \t<0 Laplacetranstor, fs) = Als? ‘imple Signal 7 Laplace transform, “Transfer function, Lat 3 Ga Parabolic Resporee) = Rap AND + det amp Fesponce) = Step ep let Step Response) = Inpue Respanee. ime-invarant system has te inp and unitsmpulse function 9, Onee system's known, the output othe system (9, with ay input 4), can be found uncon chase hiro op, arsine reser Thetundarhnetonnicaterss ‘eae .ercinl 2 MAGE EASEMADE EASY jcal Engineering © Control Systems 12 | 8 2.3. Poles and Zeros. ‘Tho twanster function a Function tem can be expressed as les and Simple Zeros fr-ocnciing plesorzeres are caledsimple pols simple zeros. From the ansfefuncton expression, thon the vabue of ransfer function is found o be infinity for s = , Hence, its concluded reoxists @ pole othe ans function at infty (=) end the matpicty (order) of such apole 1 re then the value of ansfer function is foun tobe z0r0 fr 5 = =. Hence, ‘ists 260 of the transfer function tify (=) and the mulipicty (order) of such a zero being (m-) “Therelore, fo aatonal tart functcn the total number ofzerosis equal othe otal umber of poles. ‘The ransoruncton ofa systems completly spectied in terms ofits pole, zeros and the gain acter. Consider the folowing transfer uncton: O0)* Geass aNHT-S) Forth above tranfrfunction he pies eat 543 2,3. [Asthe number of "08 shouldbe equal torumibe of poles, the remaining two 2er0s are locatod at $= = ‘The pole-zar0 plots plated as shown MADE EASY TransterFunction | 43 Poles and zero are those complexritical frequencies which make the transfer function infinity oF functon is improper n> m. Inthe vansfr function exacession of a control system, the highest power f sin tne numerator is generally ‘ether equal too less than that of he denominator [BEEEEERII 4 transfor function has two zeros at infinity. Then the relation between the gree (M) of the transfer function is 2.4 Properties of Transfer Function “The properties of the rane function are surmarzed as ols: icons dained oly fora near tee snvaniant stem tis nt det nad for nonsinear 7. The stably of a tene-invarant linear system can be determined from its characteristic Characteristic equation: Te charactristc equation of alnear syst s defined as the equation ‘obtained by setting the darominator polynemial of the close loop transter function t zero,MADE EASY = The minimum phase function as unique relationship betweenits phase and magritude curves, ‘Typical phase angle charactrisios are shown below jexarelts stabilization = twilbe seen that argerthe phase lags presentina system, the mare compl problems. Therefore in contol systems, elaments wih non minimum phase transfer function are | ‘voided as far as posst > Accommon example of ‘ransler function, Glia) = eT 1Z-0Trad = 12-87 30Tdegtee imum phase system is “transportation lag’ wich has the Gao WADE EF MADE EASY Transferfurction | 15 2.5 Methods of Analysis Matnods of analysis ofa eystor: (@) Transfer functn approach (©) State variable approach Many a times in interviows the ‘comparison of these two approaches has been asked, ‘which we will understand during the state variable anelysis Refer “introduction of chapter 12), Advantages of Transfer Function Approach le matheratical algebraic equation ‘and 2608 ofthe system directly 1 system can be determined easily 4. The ouput ofthe system for any input can be determined easy. Disadvantages of Transfer Function Approach ‘of mutiple input multiple output systems is curbersome lability and observabilly can notbe determined basi conirotloop configurations (2) Closedioop contro system: inthis confguraton the changes inte oulputare measured through feedback and compared wit input to achive the contol objective, ae ae fw aay a ay “Fan a wea E{s) = Als) -B(s) Gey 7 OC) Hee) 'H{s)] = Gis) As) at 1+G(6) Hie) no) [—~aq-|_a0, a0 Aay Powe Hows oresptatetnton(O ths ShsMADE EASY TransferFunetion | 47 control Systems 16. | Bec Engreing (2) Open oop convl som: iis conga eedack connected a rea : JonfOL.te} =) Fae Open oop trans Shortcut Method 1. Tend close loop transfer function from open loop tranter function tt ourk = eee al There are wo alternative forms of expressing a vanstrtuneton Then, OLIR = Berna (Frequency Constant Form 2. Totind open loop transfer function from close oop transfer funtion es Ths Fis) a cute = Mam Num Then, oure = Zeros: 8, 89-8 A POS: 85 85-0. 2.6 DCGain (i) Time Constant Form Leta transfer function naving’p’ numberof poles al origin be represented as Toy Ty Ty Trt te constants 44 loop transfer function (275 vay I 4 [EEEEIEER 1 the opon icop transfer function of negative feedback contol system is 4 5 ©) 5 4 18 G(s - thon rac jotobo.at (-2+/-8) ptt ersced ep poeeat(--)'8) a (o) 2 4 ‘Solutions(a) ‘Open oop transfer function, tg)» —* oe A ony) (erin MABE ER———————— MADE ERSY MADE ERSY _ Trnsterfuncion | 19 | Thus tanferfuetonis | 88 D8) wis gen haat =. vio +3) the denominator shouldbe 2. Cia)” Gx : (or Pe K=0 co SEED Be] ox <0 z 1,8 1.8) 4k <0 | Gee -« «| nocedrtorbeinng theater Fonction af Conta = t/a /V8-948K =0 “Te lolowng stops ve aprocedue fo deterring the renser uncon ofa convo sytem a Ket EEEREEEIN waist untson response ofa conn son whasieerision : has a zoro at 1, a pole at -2, and a gain factor of 2? | rangform ofthe output andthe Laplace transform ofthe input “Te Laplace arsorm ofthe outs oven by We) = 8) XS) | FEEEIEIN erin vanctortuncton oa sytem whose inputand oat arated | . Ase) =! ‘by the following differential equation? as) = 2 Us)=— a fi | FY 9% say are no - 241, 1 ae at at Se+2) 8" 542 Evaluating the inverse Laplace raneform ofthe paral racton expansion of Ys) we have, At) = 1 + 62: SE e.anae varsomel is etn, grrng me ce ie contin btn [BEEIEE Fo en, ro contawaton ro akan vrtor incon ener miata palte 5 = 1 is found to be 3.2. Determine the transfer function and gain factor K. | rT Ye) eat Us) © 5743842 | Teton trios stone ony Shs Solution: The transer function has thee poles an one 260, therefor, the transfer function consists of ane term thee terms inthe denominator ‘The 2erois located at s = -3 is ee) “mminaenenpbetnson3 ~ ADE20 | HectWealEngneeing + Control Systems MADE EASY MADE EASY Transterfuneton | 21. 2 Ys) = 27 Xs) + 5X9) | BEER) A control eyaiom whose stop responseie-0.5(1 + #)is cascaded to another ‘control Block whose impulse response is &. What isthe transfer function ofthe cascaded combination? Solution) ‘Stop response, Hote, (0) #0 at ¢= 0; Hens lmputso resp anne Hence, impulse response, 9 -26 Jul) -051+0*}60) | - xo Using al vale theorem, | Now Pa Response t=» = fy Anotner ips response, of Tanstrtunctoncheascaded combination, o24 | + aor ca iain excitation ls governed by the following __ eee sto BERIEEEN cena cop vari incon of ani eeback concrete feet ed cis) ,__ 20? Fz 18s 1 eatos tsetieae AG), Hera Tho nana tine aR PUbTeL as oe Determine tho reaponae of tho system wien the exciton applied to the input terminalis (a) 2eana 58 (0) As and 58 Solution) Natal me constants ofthe response denen oly on pols of he ayeton. - ots) | 79 Fi) SEE tg ECC © Freeeite” taF +9501” GH IGseD ‘This inthe form e22. | Electrical Engineering _* Control Systems MADE EASY Taking inverse Laplace ranstorm, io = (6-Se%+ 108-96) 40 ‘A system withthe transfer function 5 extent sta ()=2:0(21~8). Tan. ston ptr 2 OF @% TR = [© (Forsinusoidal signals s= jo) jorp “ = 90" tant F | ae | 90"-tar! 2 a oo | tart ay | . | 2 Gato = Ve 2 oe ‘A system when excited by unit stp of input gives following response: ott) = 1-26" + do ‘Obtain transter function ofthe system. Solution: Given that, ‘Step response of) = 1-2et+ 4a We can wit, _ Bi 425+3 sot 7009 erme+8) Fetes time invariant system to an impulse 80, under 180 of this system for @unit step input (tis24 5 HUD) = 7 pqr The stp response ofthe systems (0) 5(1 2) uo (©) g(t-e*)ue) 27 Interacting & Non-Interacting Systems Consider, Tansefuncion | 25MADE EASY 26. | eetical Engineering» Control Systems Consider, LOESt} Ing-domain ‘Using KVL in 1 ALis)+ I Using KVL in toop-2 0] = (8) Al He) = ~ Ute] = Ex) 2y olin 11) Yom he above equations, vale function canbe obtained as isms \eSsae Ee)” SRO VaROF ” FF rasest were, ‘c= AC = tine constant Hore, the taster uncon ofeach of he nddual AC ecu Is (gc Bu it geen hat overall eet transfer function othe wo RC ores connected in cascades is ot equalto he producto two 1 butinstead tis Sey the amount ofleading Hance, can be concluded that when two time constant elements are cascaded interacvely the overall transiec function of such errangementis nthe producto two Individual tanslerfunetions, deo loading tec. "Now conser, nd Ue Teed t nt pi eceauesitia wye)__4 Ye" FOr TransferFunction | 27 for two diferent inputs are tabled as | ‘Then tho values of © and H ae, respectively 3 (©) Send2 (@) tanda | Wreninputis () Ouput = 24 Ost + Eee! a0) Output Fe'+ Ge* Using equaton() when inputs u(9, outoutis Heid, ¥erae+o) “es “Taking iver Laplace tensor cs Wren input = 24 Dots Ee So, =i and b=3 Using final valve theorem = im 2+De* +E" Hee? and Ho=é = ing equaton () wher 2 fst) _ Using equaton() when inputs 40, OAPs (5-2}(5+2) 648) Only two tems are present inthe response Hence srons+2 = on2 Hes ( He=6)