((Lec. No.

08))
Chapter 4
Automatic Control Engineering
By
Assist. Prof. Dr. Karim H. Ali
2019-2020
21 May 2020
 ((Lec. No. 08))
Chapter 4
STEADY-STATE OPERATION
Steady-State Equation (Graphically)
Equilibrium
Types of Controllers
Example 3: Steady-state Operation
A typical family of steady-state operating curves for a proportional temperature
control system shown in Figure,
a) Determine the equation for steady-state operation about point 𝐴.
b) If this were an open-loop rather than a closed-loop system, what would be the
steady-state equation of operation? 𝑻 = 𝟐𝟎𝒐 𝑭 𝒂
Solution: 𝟐𝟓𝟎
F
a) Since, 𝑇𝑜 = 𝑇𝑜 𝑇𝑖𝑛 , 𝑇𝑎 , linearization gives, 𝟐𝟎𝟎
𝟏𝟐𝟎 𝑻𝒂 = 𝟕𝟎𝒐 𝑭
I B
𝜕𝑇𝑜 𝜕𝑇𝑜 𝟏𝟎𝟎 𝟏𝟓𝟎 D
𝑡𝑜 = 𝑡𝑖𝑛 + 𝑡𝑎 𝑻𝒂 = 𝟏𝟐𝟎𝒐 𝑭
𝜕𝑇𝑖𝑛 𝜕𝑇𝑎

Q, Btu/h
𝑇𝑎 𝑇𝑖𝑛 𝟖𝟎 𝟏𝟎𝟎 H A
G
𝜕𝑇𝑜 ∆𝑇𝑜 𝑇𝑜 𝐵 − 𝑇𝑜 𝐶 250 − 150 C E
= = = =1 𝟔𝟎 J
𝜕𝑇𝑖𝑛 𝑇𝑎
∆𝑇𝑖𝑛 𝑇𝑎=70
𝑇𝑖𝑛𝐵 − 𝑇𝑖𝑛𝐶 250 − 150
𝟒𝟎
𝜕𝑇𝑜 ∆𝑇𝑜 𝑇𝑜 𝐷 − 𝑇𝑜 𝐸 180 − 220
= = = = 0.4 𝟐𝟎
𝜕𝑇𝑎 𝑇𝑖𝑛
∆𝑇𝑎 𝑇𝑖𝑛=200
𝑇𝑎𝐷 − 𝑇𝑎𝐸 20 − 120
𝑻𝒐
Equation of the steady-state operation, 𝟎0 𝟓𝟎 𝟏𝟎𝟎 𝟏𝟓𝟎 𝟐𝟎𝟎 𝟐𝟓𝟎 𝟑𝟎𝟎

𝑡𝑜 = 𝑡𝑖𝑛 + 0.4𝑡𝑎 𝑇𝑜 − 𝑇𝑜𝑖 = 𝑇𝑖𝑛 − 𝑇𝑖𝑛𝑖 + 0.4(𝑇𝑎 −𝑇𝑎𝑖 ) ∆𝑇𝑜 = ∆𝑇𝑖𝑛 + 0.4∆𝑇𝑎
Example 3: Steady-state Operation
A typical family of steady-state operating curves for a proportional temperature
control system shown in Figure,
a) Determine the equation for steady-state operation about point 𝐴.
b) If this were an open-loop rather than a closed-loop system, what would be the
steady-state equation of operation?
250
Solution: 𝑡𝑜 = 𝑡𝑖𝑛 + 0.4𝑡𝑎 𝑻𝒂 = 𝟐𝟎𝒐 𝑭
b) For open-loop control system, controller lines 200 F
should be horizontal because 𝐾𝐻 = 0, 𝟏𝟐𝟎 150 I 𝑻𝒂 = 𝟕𝟎𝒐 𝑭
B
𝜕𝑀 D
= −𝐾𝐺1 𝐾𝐻 = 0 𝟏𝟎𝟎 250
𝜕𝐶 100 A 𝑻𝒂 = 𝟏𝟐𝟎𝒐 𝑭
𝑉

Q, Btu/ h
H
𝟖𝟎 200 G
𝜕𝑇𝑜 ∆𝑇𝑜 𝑇𝑜 − 𝑇𝑜 𝐶 250 − 150
= = 𝐵 = =1 150 C
𝜕𝑇𝑖𝑛 𝑇𝑎
∆𝑇𝑖𝑛 𝑇𝑎=70
𝑇𝑖𝑛𝐵 − 𝑇𝑖𝑛𝐶 250 − 150 𝟔𝟎 J E

𝜕𝑇𝑜 ∆𝑇𝑜 𝑇𝑜 − 𝑇𝑜 𝐻 270 − 130 𝟒𝟎 100

= = 𝐺 = = 1.4
𝜕𝑇𝑎 𝑇𝑖𝑛
∆𝑇𝑎 𝑇𝑖𝑛=200
𝑇𝑎𝐺 − 𝑇𝑎𝐻 120 − 20 𝟐𝟎
𝑡𝑜 = 𝑡𝑖𝑛 + 1.4𝑡𝑎 𝑻𝒐
𝟎 𝟓𝟎 𝟏𝟎𝟎 𝟏𝟓𝟎 𝟐𝟎𝟎 𝟐𝟓𝟎 𝟑𝟎𝟎
𝑇𝑜 − 𝑇𝑜𝑖 = 𝑇𝑖𝑛 − 𝑇𝑖𝑛𝑖 + 1.4(𝑇𝑎 −𝑇𝑎𝑖 ) ∆𝑇𝑜 = ∆𝑇𝑖𝑛 + 1.4∆𝑇𝑎
Equilibrium:
𝑴
Equilibrium point is the intersection of line of command 𝑽 𝑼
signal 𝑽 for controller and load line 𝑼 for the system to be 𝑴𝑪
𝑪
𝑨
controlled as shown in Figure. 𝑴𝟏
In which, manipulated variable being supplied by controller 𝑴𝑩 𝑩
is the same that required to maintain system output at
reference point.
At equilibrium point 𝑨 the amount of manipulated variable
𝑪
𝑪𝟏 𝑪𝟐
𝑴𝟏 supplied by controller is same as that required to
maintain the system output at 𝑪𝟏 .
When output is changed to 𝑪𝟐 which is higher than 𝑪𝟏 then
point 𝑪 which is the new operating point decreases until
equilibrium is attained at point 𝑨 because
𝑴𝑩 ≪ 𝑴𝒄
Response for changing command signal and load (Graphically):
Response of any control system for changing in command signal and load could be
investigated graphically using steady-state operating curves.
Response for changing command signal and load (Graphically):
𝑴 𝑽𝟐
1- Finite slope of controller lines:
 When 𝑉 is changed from 𝑉1 to 𝑉2 𝑉2 ≫ 𝑉1 with load 𝑈 𝑴𝟑 𝑽𝟏 𝑩 𝑼
𝑪
is constant, a new operating point for controller is at B 𝑴 𝟐 𝑨
while system to be controlled remains at A. Since 𝑴 𝟏
𝑀𝐵 ≫ 𝑀1 , output 𝐶 increases (dynamically) and new
equilibrium point of operation is existed at point 𝐶,
𝑐 𝜕𝐶 ∆𝐶 𝐴𝐾𝐺1 𝐾𝐺2 1 𝑪
= = = =1 𝐴= + 𝐾𝐻 𝑪𝟏 𝑪𝟐
𝑣 𝑢=0 𝜕𝑉 ∆𝑉 𝑈 1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻 𝐾𝐺1 𝐾𝐺2
𝑈
 When 𝑈 is changed from 𝑈1 to 𝑈2 𝑈2 ≫ 𝑈1 with
constant 𝑉, a new point of operation for system to be
controlled at 𝐵 while the controller remains at 𝐴. Since,
𝑀1 ≪ 𝑀𝐵 , output 𝐶 decreases (dynamically) and new
equilibrium point of operation is existed at C.

𝑐 𝜕𝐶 ∆𝐶 𝐵𝐾𝐺2
= = = = finite value
𝑢 𝑣=0 𝜕𝑈 ∆𝑈 𝑉 1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻
𝑉
Response for changing command signal and load (Graphically):
2. Infinite slope (vertically) of controller lines:
 When 𝑉 is changed from 𝑉1 to 𝑉2 𝑉2 ≫ 𝑉1 with load 𝑈 is
constant, a new operating point for controller and system to be
controlled is at 𝐵 (new equilibrium point). Manipulated variable
supplied is equal to the quantity required without dynamically
movement,
𝑐 𝜕𝐶 ∆𝐶 𝐴𝐾𝐺1 𝐾𝐺2 𝐴
= = = = =1 𝐴 = 𝐾𝐻
𝑣 𝑢=0 𝜕𝑉 ∆𝑉 𝑈 1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻 𝐾𝐻
𝑈
 When 𝑈 is changed from 𝑈1 to 𝑈2 𝑈2 ≫ 𝑈1 with constant 𝑉, a
new point of operation for system to be controlled and the
controller is at 𝐵 (new equilibrium point). Manipulated variable
supplied is equal to the quantity required without dynamically
movement,
𝑐 𝜕𝐶 ∆𝐶 𝐵𝐾𝐺2
= = = =0
𝑢 𝑣=0 𝜕𝑈 ∆𝑈 𝑉 1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻
𝑉
Response for changing command signal and load (Graphically):
3. Zero slope (horizontally) of controller lines:
 When 𝑉 is changed from 𝑉1 to 𝑉2 𝑉2 ≫ 𝑉1 with load 𝑈 is
constant, a new operating point for controller is at 𝐵 while
system to be controlled remains at 𝐴.
Since, 𝑀𝐵 ≫ 𝑀1 , output 𝐶 increases (dynamically) and new
equilibrium point of operation is existed at point 𝐶,
𝑐 𝜕𝐶 ∆𝐶 𝐴𝐾𝐺1 𝐾𝐺2 1
= = = = 𝐴𝐾𝐺1 𝐾𝐺2 = 1 𝐴=
𝑣 𝑢=0 𝜕𝑉 ∆𝑉 𝑈 1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻 𝐾𝐺1 𝐾𝐺2
𝑈

 When 𝑈 is changed from 𝑈1 to 𝑈2 𝑈2 ≫ 𝑈1 with constant 𝑉,

a new point of operation for system to be controlled is at 𝐵
while the controller remains at 𝐴.
Since, 𝑀𝐵 ≫ 𝑀1 , output 𝐶 decreases (dynamically) and new
equilibrium point of operation is existed at C.
𝑐 𝜕𝐶 ∆𝐶 𝐵𝐾𝐺2
= = = = 𝐵𝐾𝐺2 = 𝑚𝑎𝑥. 𝑣𝑎𝑙𝑢𝑒
𝑢 𝑣=0 𝜕𝑈 ∆𝑈 𝑉 1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻
𝑉
Types of Control Systems:
Slope of controller lines −𝐾𝐺1 𝐾𝐻 , varies from zero for an open loop control system
𝐾𝐻 = 0 to infinity for an integral control system 𝐾𝐺1 = ∞ . A proportional control
system has finite slope.
1. Proportional Control Systems (P Controller)
In proportional control systems the coefficient of external disturbance (load)
𝑢 term is finite with finite slope of controller lines as shown in Figure. Speed
control of gas turbine for jet plane shown in Figure is proportional control
system.
Types of Control Systems: 1. Proportional Control Systems (P Controller)

Mathematical equation for steady-state operation is

obtained by letting 𝐷 = 0:
𝐶2 𝐾𝑠 𝐾1 𝐶6 𝐶8 𝐶6
𝑛𝑜 = 𝑛 − 𝑡
1 + 𝐾1 𝐶6 𝐶4 𝑖𝑛 1 + 𝐾1 𝐶6 𝐶4 𝐿
Also steady-state overall block
diagram representation is
𝐶2 𝐾𝑠 𝐾1 𝐶6
𝑛𝑜 = 𝑛𝑖𝑛 obtained,
𝐾1 𝐶6 𝐶4 + (1 + 𝜏1 𝐷) 1 + 𝜏2 𝐷
𝐶8 𝐶6 (1 + 𝜏1 𝐷)
− 𝑡
𝐾1 𝐶6 𝐶4 + (1 + 𝜏1 𝐷) 1 + 𝜏2 𝐷 𝐿
Types of Control Systems: 1. Proportional Control Systems (P Controller)
Since 𝐾𝐺1 = 𝐾1 and 𝐾𝐻 = 𝐶4 , then
slope of the controller lines is
finite and it is proportional control
system.

Since 𝐾𝐺2 = 𝐶6 ,

1 1
𝐴= + 𝐾𝐻 = + 𝐶4 = 𝐶2 𝐾𝑠
𝐾𝐺1 𝐾𝐺2 𝐾1 𝐶6
1 1
𝐶2 = + 𝐶4
𝐾𝑠 𝐾1 𝐶6

The term 𝐶2 = 𝜕𝑍 𝜕𝑁𝑖𝑛 𝑖 is the scale

factor for the speed setting dial,
𝐶2 𝐾𝑠 𝐾1 𝐶6 𝐶8 𝐶6
𝑛𝑜 = 𝑛𝑖𝑛 − 𝑡
1 + 𝐾1 𝐶6 𝐶4 1 + 𝐾1 𝐶6 𝐶4 𝐿
Types of Control Systems: 1. Proportional Control Systems (P Controller)
Example 5:
A typical family of steady-state operating curves for a proportional speed control system of a
diesel or turbine shown in Figure. Determine:
a) Steady-state equation of operation in the vicinity of point 𝐴.
b) If this were an open-loop rather than a closed-loop system, what would be the steady-
state equation of operation about point 𝐴.
Solution:
a) Since, 𝑁𝑜 = 𝑁𝑜 𝑁𝑖𝑛 , 𝑇
𝜕𝑁𝑜 𝜕𝑁𝑜
𝑛𝑜 = 𝑛𝑖𝑛 + t
𝜕𝑁𝑖𝑛 𝑇
𝜕𝑇 𝑁𝑖𝑛

𝜕𝑁𝑜 ∆𝑁𝑜 𝑁𝑜𝐵 − 𝑁𝑜𝐶 5000 − 3000

= = = =1
𝜕𝑁𝑖𝑛 𝑇2 =200
∆𝑁𝑖𝑛 𝑇2 =200
𝑁𝑖𝑛𝐵 − 𝑁𝑖𝑛𝐶 5000 − 3000
𝜕𝑁𝑜 ∆𝑁𝑜 𝑁𝑜𝐷 − 𝑁𝑜𝐸 3400 − 4500
= = =
𝜕𝑇 𝑁𝑖𝑛=4000
∆𝑇 𝑁𝑖𝑛=4000 𝑇𝐷 − 𝑇𝐸 300 − 100
−1100
= = −5.5
200
𝑛𝑜 = 𝑛𝑖𝑛 − 5.5𝑡 𝑁𝑜 − 𝑁𝑜𝑖 = 𝑁𝑖𝑛 − 𝑁𝑖𝑛𝑖 + 1.4(𝑇 −𝑇𝑖 ) ∆𝑁𝑜 = ∆𝑁𝑖𝑛 + 1.4∆𝑇
Types of Control Systems: 1. Proportional Control Systems (P Controller)
Example 5:
A typical family of steady-state operating curves for a proportional speed control system of a
diesel or turbine shown in Figure. Determine:
a) Steady-state equation of operation in the vicinity of point 𝐴.
b) If this were an open-loop rather than a closed-loop system, what would be the steady-
state equation of operation about point 𝐴.
Solution:
b) Controller lines of open-loop control system are
horizontal because 𝐾𝐻 = 0,
𝜕𝑁𝑜 ∆𝑁𝑜 𝑁𝑜𝐵 − 𝑁𝑜𝐶 5000 − 3000
= = = =1
𝜕𝑁𝑖𝑛 𝑇 =200 ∆𝑁𝑖𝑛 𝑇 =200 𝑁𝑖𝑛𝐵 − 𝑁𝑖𝑛𝐶 5000 − 3000
2 2

𝜕𝑁𝑜 ∆𝑁𝑜 𝑁𝑜𝐹 − 𝑁𝑜𝐺 5800 − 2700

= = =
𝜕𝑇 𝑁𝑖𝑛=4000
∆𝑇 𝑁𝑖𝑛=4000 𝑇𝐹 − 𝑇𝐺 100 − 300
3100
= = −15.5
−200
𝑛𝑜 = 𝑛𝑖𝑛 − 15.5𝑡 𝑁𝑜 − 𝑁𝑜𝑖 = 𝑁𝑖𝑛 − 𝑁𝑖𝑛𝑖 − 15.5(𝑇 −𝑇𝑖 ) ∆𝑁𝑜 = ∆𝑁𝑖𝑛 − 15.5∆𝑇
Types of Control Systems: 2. Integral Control Systems:
Integral control system has an integrating component yields 1 𝐷 term therefore their controller lines
of steady-state operating curves have an infinite slope (vertically). Proportional controller could be
inverted to an integral controller by eliminating the walking beam linkage and using hydraulic integrator
as shown in Figure.
𝑄 = 𝑄 𝑋, 𝑃 , Linearization, 𝑞 = 𝐶1 𝑥 − 𝐶2 𝑝
𝐶2 𝑀 𝐶2 𝑀
Then, 𝑞 = 𝐶1 𝑥 − 𝐷2 𝑦 𝐴𝐷𝑦 = 𝐶1 𝑥 − 𝐷2 𝑦
𝐴 𝐴
(𝐶1 /𝐴)
Let 𝜏 = 𝐶𝑀 𝐴2 𝑦= 𝑥
𝐷(1+𝜏𝐷)
(𝐶1 /𝐴)
For negligible load, 𝜏 = 0 𝑦= 𝑥
𝐷

Overall block diagram representation for speed control

system is:
Types of Control Systems:
2. Integral Control Systems:
Overall block diagram representation for speed control
system is:

Using the rule of combining blocks in cascade and let

𝐶5 𝐶1 𝐴
𝐾1 =
𝐾𝑆 −𝐶𝑟 𝐶3

Steady-state block diagram representation

could be obtained by letting = 0 ,

Mathematical differential equation of operation,

𝐶2 𝐾𝑠 𝐾1 𝐶6 𝐶8 𝐶6 𝐷
𝑛𝑜 = 𝑛𝑖𝑛 − 𝑡
𝐾1 𝐶6 𝐶4 + 𝐷 1 + 𝜏2 𝐷 𝐾1 𝐶6 𝐶4 + 𝐷 1 + 𝜏2 𝐷 𝐿
Types of Control Systems:
2. Integral Control Systems:
Steady-state block diagram representation could be obtained by letting D = 0 ,

𝐴𝐾𝐺1 𝐾𝐺2 𝐵𝐾𝐺2 𝐶2 𝐾𝑠

𝑛𝑜 = 𝑛𝑖𝑛 + 𝑡𝐿 𝑛 = 𝑛
1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻 1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻 𝑜
𝐶4 𝑖𝑛
Since 𝐾𝐺1 = ∞ and 𝐾𝐻 = 𝐶4 , then slope of controller lines is infinite (vertical
lines) and this speed control system is considered as an integral control system.
From the integral element 𝐾1 𝐷 , the steady-state operation constant is:
𝐾1 𝐾1
𝐾𝐺1 = 𝐷 𝐷=0
= ∞, since, 𝑞= 𝐷 𝐷=0
𝑒

𝑞 = 𝐾𝐺1 𝑒 or, 𝑞 = ∞∗𝑒 𝑒=0

So, no steady state error in integral control system, then
𝐶2 𝐾𝑠 𝑛𝑖𝑛 − 𝐶4 𝑛𝑜 = 𝑒 = 0 𝐶2 𝐾𝑠
𝑛𝑜 = 𝑛
𝐶4 𝑖𝑛
Types of Control Systems:
2. Integral Control Systems:
Steady-state block diagram representation could be obtained by letting D = 0 ,

𝐴𝐾𝐺1 𝐾𝐺2 𝐵𝐾𝐺2 𝐶2 𝐾𝑠

𝑛𝑜 = 𝑛 + 𝑡 𝑛𝑜 = 𝑛
1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻 𝑖𝑛 1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻 𝐿 𝐶4 𝑖𝑛
Speed (output variable) is independent of change in load
torque (external disturbance variable) for an integral
control system as shown in Figure. It is an easy matter to
adjust the scale factor 𝐶2 for the input speed dial so that
𝐶2 𝐾𝑠
the coefficient of the desired input is unity = 1,
𝐶4
𝑛𝑜 = 𝑛𝑖𝑛