CONTROL SYSTEMS

GATE CLASSES

Dr. T.Devaraju
Professor of EEE
Sree Vidyanikethan Engineering College
 LESSON PLAN
• Introduction to Control systems
• Modeling of Physical systems
• Transfer function - Block diagram reduction Techniques
• Transfer function through Signal flow graph
• Time response of second order systems
• Steady state and Transient analysis
• Time-domain specifications and Static error coefficients.
• Routh-Hurwitz stability, Finding the range of K for stability
• Concepts of state, state variables and state model.
• Derivation of state model from transfer function
• State transition matrix, Properties, determination of STM
• Conversion from SS to TF
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
 DAY-2
• Transfer function through Signal flow graph
• Time response of First / second order systems

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
 Signal flow graphs

 Alternative method to block diagram representation,

developed by Samuel Jefferson Mason.
 A signal-flow graph consists of a network in which nodes are
connected by directed branches.
 It depicts the flow of signals from one point of a system to another
and gives the relationships among the signals.

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

 Introduction to Signal Flow Graphs

 Consider a simple equation below and draw its signal flow graph:
Y = ax
 The signal flow graph of the equation is shown below;

a
x y
 Every variable in a signal flow graph is designed by a Node.
 Every transmission function in a signal flow graph is designed by a
Branch.
 Branches are always unidirectional.
 The arrow in the branch denotes the direction of the signal flow.
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
 Terminology in SFG

 An input node or source contain only the outgoing branches

 An output node or sink contain only the incoming branches

 A path is a continuous, unidirectional succession of branches along
which no node is passed more than ones.
 A forward path is a path from the input node to the output node.

 A feedback path or feedbackloop is which originates and

terminates at the same node.

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

 Terminology in SFG

 A self-loop is a feedback loop consisting of a single branch. i.e.; A33

is a self loop.

 The gain of a branch is the transmission function of that branch.

 The path gain is the product of branch gains encountered in

traversing a path. i.e. the gain of forwards path.

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

 Mason’s Gainformula
 The block diagram reduction technique requires successive
application of fundamental relationships in order to arrive at the
system transfer function.
 On the other hand, Mason’s rule for reducing a signal-flow graph to
a single transfer function requires the application of one formula.
 The formula was derived by S. J. Mason when he related the signal-
flow graph to the simultaneous equations that can be written from
the graph.

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

 Mason’s Gain formula
 The transfer function, C(s)/R(s), of a
by a signal-flow graph is; n
 Pi  i
C ( s)
i 1

R (s ) 
 Where
• n= number of forward paths.
• Pi = the i th forward-path gain.
• ∆ = Determinant of the system
• ∆i = Determinant of the ith forwardpath
• ∆ is called the signal flow graph determinant or characteristic
function. Since ∆=0 is the system characteristic equation.
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
Mason’s Rule

n
 Pi  i
C ( s) i 1

R (s ) 

∆ = 1- (sum of all individual loop gains) + (sum of the products of

the gains of all possible two loops that do not touch each other) –
(sum of the products of the gains of all possible three loops that do
not touch each other) + … and so forth with sums of higher number
of non-touching loop gains

∆i = value of Δ for the part of the block diagram that does not touch
the i-th forward path (Δi = 1 if there are no non-touching loops to the
i-th path.)

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

 Signal flow graph

From the signal flow graph shown in the figure, the value of is

From the given signal flow graph

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

 Mason gain formula

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

 Mason gain formula

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

 Signal flow graph

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

 Signal flow graph

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

 Signal flow graph

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

 contd.,

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

Find the transfer function of the system
shown by a block diagram

Converting into SFG

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College
In the SFG shown in figure X2=TX1,where T= ___

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
 Signal flow graph

Number of forward paths

Individual loops:

Two non touching loop Δ

Δ=

Δ 1=
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
 2017
For the system in figure what is Y(s)/X(s)= ___

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

 Find the Transfer function of the SFG

Number of forward paths

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

 Find the Transfer function of the SFG

Two non touching loop gains

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College