Control Systems (CS)

Lecture-1

Satyavir singh
Terminology of Control System

Academic System
 Economic System of Country

Speed Control of Electric Motor

Lift Generation in the Aircraft

Aircraft Control Problem
Classification of Control Problems
 What is an Open Loop Control System?

Example. Electronic Fan Switch

Reference input: Switch on the fan (that is, press the switch and 230 V is applied). So,
the reference input is the 230 V signal.
Controller: The electronic voltage controller (that is, turn the knob to the desired position).
The effect is to reduce/change the voltage to the appropriate value. We may
have approximately 230 V (= full speed) and 115 V (half-speed), and so on. Once the speed is
set there is nothing else that needs to be done. But suppose you have three fans. Even if
you give their knobs the same amount of turn, the speeds are likely to be slightly different.
This may happen due to inaccuracy in the settings, inconsistency in ball bearings
performance, imperfect setting of the fan blades causing different amount of drag on the
blades, or maybe due to non-standard performance of the electronic components.
So, essentially an open loop system is one where there is no way to correct the error
between the desired output and the actual output.
 What is a closed loop control system?

Consider the same electronic fan control switch. Assume that you are looking at the
fan blades to make sure that the speed is right. If it isn’t, then you turn the knob
continuously till the desired speed is achieved. The block diagram in Figure 8.7 is not
an exact representation of this, but it conveys the idea in a broad sense.
Closed loop systems have different characteristics when compared to open-loop systems.
1. They are more accurate.
2. They are less sensitive to disturbances.
3. They are less sensitive to system characteristics/parameter variations.
4. However, they have a tendency to oscillate.
 What are the objectives of controller design?

The main objective is to meet system specifications in the presence of large input
disturbances and plant variations. Generally controller design goals are characterized
by,

1. Speed
2. Accuracy
3. Stability
 General input-output relationships

An input-output model of a system

A model is a mathematical relationship between the input and the output of a system.
It is an approximation of the physical system.
A model may be described by differential equations (continuous-time systems) or
difference equations (discrete-time systems), or a combination of both (hybrid systems).
Block Diagram Representation of
Control Systems
 Introduction
• A Block Diagram is a shorthand pictorial representation of
the cause-and-effect relationship of a system.

• The interior of the rectangle representing the block usually

contains a description of or the name of the element, gain,
or the symbol for the mathematical operation to be
performed on the input to yield the output.

• The arrows represent the direction of information or signal

flow.
 Introduction
• The operations of addition and subtraction have a special
representation.
• The block becomes a small circle, called a summing point, with
the appropriate plus or minus sign associated with the arrows
entering the circle.
• The output is the algebraic sum of the inputs.
• Any number of inputs may enter a summing point.
• Some books put a cross in the circle.
 Introduction
• In order to have the same signal or variable be an input
to more than one block or summing point, a takeoff (or
pickoff) point is used.

• This permits the signal to proceed unaltered along

several different paths to several destinations.
 Example-1
•
Example-1
 Example-2
• Draw the Block Diagrams of the following equations.
Canonical Form of A Feedback Control System
 Characteristic Equation
•The control ratio is the closed loop transfer function of the system.

•The denominator of closed loop transfer function determines the

characteristic equation of the system.

•Which is usually determined as:

 Example-3
1. Open loop transfer function
2. Feed Forward Transfer function

3. control ratio

4. feedback ratio

5. error ratio

6. closed loop transfer function

7. characteristic equation

8. Open loop poles and zeros if 9. closed loop poles and zeros if K=10.
Reduction techniques

1. Combining blocks in cascade

2. Combining blocks in parallel

3. Eliminating a feedback loop
Example-4: Reduce the Block Diagram to Canonical Form.
Example-4: Continue.
 Example-5
• For the system represented by the following block diagram
determine:
1. Open loop transfer function
2. Feed Forward Transfer function
3. control ratio
4. feedback ratio
5. error ratio
6. closed loop transfer function
7. characteristic equation
8. closed loop poles and zeros if K=10.
 Example-5
– First we will reduce the given block diagram to canonical form
Example-5
 Example-5 (see example-3)
1. Open loop transfer function
2. Feed Forward Transfer function

3. control ratio

4. feedback ratio

5. error ratio

6. closed loop transfer function

7. characteristic equation

8. closed loop poles and zeros if K=10.

 Example-6
• For the system represented by the following block diagram
determine:
1. Open loop transfer function
2. Feed Forward Transfer function
3. control ratio
4. feedback ratio
5. error ratio
6. closed loop transfer function
7. characteristic equation
8. closed loop poles and zeros if K=100.
Reduction techniques

4. Moving a summing point behind a block

5. Moving a summing point ahead a block

 6. Moving a pickoff point behind a block

7. Moving a pickoff point ahead of a block

8. Swap with two neighboring summing points
 Example-7
• Reduce the following block diagram to canonical form.

_
+_ + +
+
 Example-7

_
+_ + +
+
 Example-7

_
+_ + +
+
 Example-7

_
+_ + +
+
 Example-7

_
+_ +
 Example-7

_
+_ +
 Example-7

+_
 Example 8
Find the transfer function of the following block diagram

R (s )
 Solution:

1. Moving pickoff point A ahead of block

2. Eliminate loop I & simplify

3. Moving pickoff point B behind block
4. Eliminate loop III
Example 9
Find the transfer function of the following block diagrams
Solution:

1. Moving pickoff point A behind block

2. Eliminate loop I and Simplify

feedback Not feedback

3. Eliminate loop II & IIII
Example-10: Reduce the Block Diagram.
Example-10: Continue.
 Example-11: Simplify the block diagram then obtain the
close-loop transfer function C(S)/R(S). (from Ogata: Page-47)
Example-11: Continue.
Superposition of Multiple Inputs
Example-12: Multiple Input System. Determine the output C
due to inputs R and U using the Superposition Method.
Example-12: Continue.
Example-12: Continue.
Example-13: Multiple-Input System. Determine the output C
due to inputs R, U1 and U2 using the Superposition Method.
Example-13: Continue.
Example-13: Continue.
Example-14: Multi-Input Multi-Output System. Determine C1
and C2 due to R1 and R2.
Example-14: Continue.
 Example-14: Continue.

When R1 = 0,

When R2 = 0,
Block Diagram of Armature Controlled D.C Motor

Ra La
c
ia
Va eb T J
ω
t
s t an
n
co
V =f
Block Diagram of Armature Controlled D.C Motor
Block Diagram of Armature Controlled D.C Motor
Block Diagram of Armature Controlled D.C Motor