Zeeshan Ahmad

Assistant Professor

Department of Electrical
Engineering
HITEC University
 Introduction to Control Systems, Basic Terminologies
 Types of Systems and Feedback
 Modeling of Electrical and Mechanical Systems using Free Body Diagrams
 Types of Inputs, Pole Zero Map, Transfer Functions
 Block Diagram Reduction and Transformations
 Signal Flow Graphs, Mason’s Gain Formula
 Transient Response Specifications of First Order Systems
 Transient Response Specifications of Second Order Systems

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 Steady State Error of Different Types of Systems
 Stability of systems using Routh-Hurwitz criteria
 Frequency Response, Amplitude ratio and Phase, Bode Plots
 Bode Plots Using Exact and Approximate Methods, Systems
Identifications
 Root Locus properties and Techniques
 Introduction to PID Controllers
 Design and implementation of PID

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 Design of Feedback Control Systems - By Stefani, Savant,Shahian &
Hostetter (4th Edition, 2002, Oxford University Press)
 Modern Control Systems, 8th Ed - Richard C. Dorf , Robest H. Bishop
(12th Edition, 2010 Pearson)
 Control Systems Engineering – Norman S. Nise (7th Edition, 2015,
Wiley International)
 Modern Control Engineering – Katsuhiko Ogata (5rd Edition, 2009,
Pearson)

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Theory (100%)
 6 Unannounced Quizzes 10%
 3 Assignments 10%
 Two Sessional Examinations 30% (15% each)
 Final Examination 50%

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 Control systems plays a vital role in our day-to-day life
 Provides a background of control principles in various engineering
applications.
 Basic mathematical tools such as Laplace transform, transfer
function, block diagram, signal flow graph, mathematical modeling
of dynamic systems, time response analysis, stability of linear
system, root locus and frequency domain analysis are utilized.

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 System: an arrangement or combination of different physical
components that are connected or related together to form an entire
unit to achieve/perform a certain objective
 Systems can be physical, economical, biological
 Control: to regulate, direct or command a system so that a certain
output is achieved.
 Control system: interconnection of components to provide a desired
function

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 Plant: a piece of equipment, set of machines functioning
together to perform a particular operation. Any physical object to
be controlled.
 E.g.: Mechanical devices, heating furnace, spacecrafts.
 Process: Progressively continuing operation which occurs in a
series of controlled actions systematically towards a particular
result. Any operation to be controlled.
 E.g.: Navigation on aircraft.
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 Inputs Outputs
Plant / Process
(Objective) (Results)

 Input: applied signal or excitation signal that is applied to a control

system
 Output: The actual response that is obtained from a control system
due to the application of the input
 Plant is fixed. Output produced is fixed.
 Block Diagram: Identifies the major components of the systems in the
form of blocks. Shows the direction of information and energy flow
from one component to another
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 Disturbance

Inputs Plant / Outputs

(Objective) Controller (Results)
Process

 Controller: a component of the system which generates a manipulated signal to the

input to produce a desired output.
 Disturbance: a signal that tends to affect the value of the output of a system.
 Internal Disturbance: vibration, sound
 External Disturbance: Wind, surroundings, noises.
 Actuators: Apply force or torque to the physical system
 Sensor: Measure system behavior.
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Cruise Control in Cars:
 Automobile is the Plant
 The actuator is the engine which generates propulsive forces that turn the
wheel
 The Sensor is the tachometer, which measures the vehicle speed

Other example:
 Climate control
 Traction control
 Industrial Automation (Assembly lines)
 Robotics
 Solar Trackers
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 Transient: instantaneous change of the input against the gradual
change of output. Physical system undergoes gradual change of
state.
 Steady State: Approximation to the command or desired
response. Occurs when system near the desired output.
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 We build control systems for four primary reason:
i. Power Amplification (Gain)
◦ Positioning of a large radar antenna by low-power rotation of a knob
ii. Remote Control
◦ Robotic arm used to pick up radioactive materials
iii. Convenience of Input Form
◦ Changing room temperature by thermostat position
iv. Compensation for Disturbances
◦ Controlling antenna position in the presence of large wind
disturbance torque
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Depending on the relation of the control action with the
output, any control system can be classified as:
 Open - loop system
 Closed - loop system

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 Output has no effect on the control action
 Output value is not measured, isolated from input
 Operates on the basis of time.
Examples: bread toaster, hand drier, traffic signals, man walking
with eyes closed

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Washing Machine:
 Soaking, washing and rinsing is time operated.
 Machine does not measure the output signal, cleanliness of
clothes.
 Output signal is not compared with the input
 Fixed operating conditions (time)
 Accuracy depends on calibration

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 Simple in construction and design
 Used where inputs are known, disturbance is minimum and
outputs are difficult to measure
 Economic as low in cost and low power consumptions
 Easy to maintain

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 Not accurate and reliable
 Accuracy depends on the accuracy of calibration
 Optimization is not possible
 External disturbances effect the system producing inaccurate
results
 Changes in parameters require constant recalibration

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 Controlling action is dependant on the output or changes in
input
 Output is fed back into the input
 Feedback signal produces error signal

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 Error Signal [e(t)]: Difference between the input and the feedback
signal. Fed into the controller to reduce the error and bring the
output of the system closer to the desired value.
 Input transducer sense the input physical quantity and converts it
into a form to be used by the controller [r(t)]
 Controlled Variable [c(t)]: quantity which is controlled
 Manipulated Variable [u(t)]: quantity which is varied
 Output transducer measure the output response and convert it
into a form used by the controller
 Output signal arrives back via a feedback path
 Summing junction: algebraically sums two or more signals
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 Response is more accurate due to correction of arising errors
 Insensitive to external disturbances
 Transient response and steady state response can easily be
controlled
 Reduced effects of non-linearity
 High bandwidth, higher operating frequency zones

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 Complicated in design
 Complex and costlier
 Oscillations generates within the system
 Can get unstable in certain conditions

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 Objective: To control direction and speed of car
 Outputs: Actual direction and speed of car
 Control inputs: Road markings and speed signs
 Disturbances: Road surface and grade, wind, obstacles
 Possible subsystems: The car alone, power steering system,
breaking system

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Functional block diagram:
Desired Actual
course course
of travel + Error Steering of travel
Driver Automobile
Mechanism
-

Measurement, visual and tactile

Time response:

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Positive feedback:
 When a system tends to
increase output
 Small disturbances increase
the magnitude of
perturbations (Changes in
normal State) Examples:
 Tends to cause system Amplifier oscillations in
instability electronics, microphone and
 Results in exponential speaker resonance.
growth, increasing
oscillations
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 Types of Feedback:
Negative Feedback:
 System tends to reduce output

 Results of a process causes the

operation to reduce change
 Makes system self regulating,
more stable
 Reduces the effects of fluctuations

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