Garo sygtems Tarcoduckions neering iS Concerned with understanding aad conblling the materials and forces of nature for the benedit of humankind . Coto sates Ranginnels ore concemed wit undershanding Hoe, cateattiny Segmedts af hai emiconmedh , offen called systems, te provide usehul economic poduchs for Secidhy.—the prsent challenge to contol engineats is the modeling cand coatead of modern, Complex, interrelted Syptens Suck as trobfic contre systems, chenieal processes, and cobckic syptews a well mony useful ond \abecesting taductiad automation syctewes - conkiall emaincating iateggdtas he aren Af chock Hoey and comennise ion heer Hharehere this not Shatbed Le ony enagineeting, Hsetgline bad equeliy, apgicable te chemical , wnechonical environmental civid) and elediiced) evgncering.. A coateall saatem it an Wdercommechion of components, fermi & System coniqurabion heb will praside a desived system esponse: Acomgonesk oc process be be cadiidled canbe vepreseated by Melos * “ugh whe pet ony eaatage Rees | ar vepetseule the Cause and ebted alabionship of He process, walich tathate eeprisents © grocessing of the iapdt signal Le Bionide an ocbedk siguall uarichle , often with gouer angiificadion. An Open Qoag coded a the dasiced response This a syglim witresd bullous. eutgek ofa oad ‘ess J Reng candied system uses a condicller and an acuatoroak Coubred system UkMices an additions? 2 measure af the achic! oudgit bo comgate the actuall eahgk with he desired oabgad vesponse Cingk Sgeal be Sor costatee La Rchuchor LH] nea re al ode “Set with on ccucile Sensory He measured edt is = good, agrtorinakion of the achaal odesk af He sytem. Closed Leog Conbioll hes many advevtages over agen Doag cate! Snchad ing Hae ability, fo vejed external disbuchances and ieapiove, waasuremedk weise athemusion « Extesaall dishaclanas and maapuromedd noise bn ead werd wust be addressed in practical ia anthems «ya Piherbenes F | Dae Mela wreasactanecd Meise, wap Cdevived ame) Sensor fe Fessbesk Sensor fe—____—_] Feedback Snape of A conbrall B simple Weck dingy is hewn below: oe Driver Juisuatond tactile |—_ SS pai oT Set Pdwad Sicha tired ered Siceckion of Arash baer eee 4 ¥ 4 y 4 4 iS Kime, he desired Guise (5 Compared with mansuremed ofthe achuel cowise order te genera a wemsure of the crore “This measurement is cbbeinad by visual ond wth Coody, mmovemed beedlback as Qeovided by the feed of tle cheering wheel by the bend (Sensor). ae cad iem Urok is ceeneared anh, cobain « conbeoR sigyad /osccgaaed wogable: SS the quantity ar Grdihon Meek is voried bythe Cenkraler Se ose abled the value Adee coubedled Variable .control measuring the Valse of the Contvelled Variable af + Whe syslimn and applying the canbioll signal te the sytem de corrector Dinh deviation of Hee wtasured value fron oe Planks s Roy vryical abjed bo be contrelled suck as wachanical sevica heating farnner chemicok veactor, of 8 spacecrath. Recess A coining, eyttabion wacked > @ sees eh ede! changes cod Sead boo Racbicwbar esa. ot comstshs hn seces af tated adions. Syplems 2 A sytem 18 2 Combination of Comgoneats Unak act Legether and perferan « cerfain task. Dishirbances A Aislirbance is a. Signe! ek tends +e abled the valle of the oukgt of the stem: Feedhack conbrols th eebers be an ogerobion Haat Sends to veduca He difference between the oukeck af o Septem and Same eherence tapi: Open Moog Conveed agen Ww one ia aldich Wt condo) action is depended of the ookgake. closed -Noug combed artems ts ont in which He codvol ackion § semeous degenderdt on tre oukguh. andoide she aabidth oh 2 Sutin ty a frequmney cesgonte wreasuce of how ulel He system vesgonds te Cor £ilkers)) Noriahions (or frequencies in the tag Signal. Steble syn: The defiwhion ofa shible syitinn Gon be Neosed upon the vesgenie of the syftin te ounded 4 aad is Snags chose wagetindts are fess than some Pik valbue for all Aone «KR continuous or discret Rime spitim U suite be 7 steble 4 every bouted ingQak produces a bounded oukesk Mager odvactages =H OpenHoog Couto systems T Siegle Gonstiuction aud eave ah walwvenanct = less exgensive than cased Toop ayshem. =e shulbility problems. = Convenient then eubgat is lei be wassure « Majer disadianbages of open -Qoop ayers = Biskwrbancas cause eccors aud ov gd van dither rom Ye deswed- = secalibcabion is wecessarsy Boon Sane te Mine « Advasages of closed-loop cura systems, = RELY te weniaite he Heck oR extemal Sithorlanet g weise: aha se of feedbade makes the vation wegonse inseutitive ke external cisharbance - = Cam use inacurake compontats be cbhain the accurate cutrall oh ow given pRawk- Disadvarhages of closed Reed Sastem a = Stbily 1S = weer eFeb en ~ wort expensive tran open Reog siptem. “The LAPLACE TRANSFORM The Yaplace Jransfarm metred Substitutes elabivelly east Solved algebric equabions for Hae more dfficult differentia equokions The Miema-cesgonse Sellubion is cetainad wave Aeteutng epenbions Ne cbbain Hye Qinearized Silerential equahions . Bo chtain the Vopllace Veansfermaion st tre AMereniol —Ba Salve the cesuthing algebsic question for the Mawstecon of Hr variable ofc aherest. Ts Laghace Manstormation bor o. vabonekion oh Mime £00, tb: & \fy= Fos fFaré™ at The inverse Laplace tanshorm is wrilhen of: Lyris fers ale et ae Oris reok positive ajo ot examples Find Fes) be Pes & 7 ne resto jn nt ea oe shi Je |e fee 4S ST Some properties of Laplace Teansteron tal and ay Conshants , Laker ea kale aha) +a. od 2. Transfer af adervative df/dé . 2) HEye seo feo where Boor the inthe wane of Say 8. tor sategea Shovar * ay Fs) LYS Perary= aaa Ws we inbiall vole Peo) a Pusclin Bea, foo) = &e fays Lo sresy eee This celation is cabled the initial value theorem é5~ the Final value $coo) of the famchin Pet , Feoo) = Lo fays i sFoy which + cabled find value theorene eter teeta sealing fanchion, £t/a) Z| fcdr]|=o Fees Fiber Prequancs Seallinn, duncan Fos/ard, a F¢ say safcaty B- Time olelay Pancha, POET) LY faye eS Fesy G- fora Iumctin E* Peer, Pa je" feo] = FCS+OY , Gomplen translabion Yo- if fPerehicsy and PArcye cs) then: oe [Ren Frcs} s [Referer £ 2fROFbtirndr Which i comueSadion intents‘ble At Laplace Tansfoum Fis i a : cet i 2 ‘Unit ep 100) t ; : 7 : + ee aeet 4. ‘ 6 oe +q a bran) u 5 2 as as Be wea = era * eraer fe rc mteon “ Grey i Wea » ae =e a Fone mits 2 eHieavizt wecen | aegis ER MB 8) a re MEE eter oven) eT = * oe ” ther = po » tom » (caren) va a“Tie A Properties of Laplace Teasforms 1 aslo) = APs) : Sa AT ; ef] == ns i ero] = era - ton =n) mls ero vat) = £100 5 af [roa] 2 fra, 1 | el fofroar] 22 Sta fo fren, 1: [ina] 2 > [rower «frac 8 eral hea oy Sra= olsen ewe 2 ain) =~ a eno) « enol rw) wa hadnd ® ira] [re mire iQ] -ore 7 of fv - uo] = rin ® sion) = Fie) ee14) = ag Foalvave deen Tes) = gf = fay) Patetucion neta 10) epee Hieigd ocren s0t0)~ ta [Su-9] Stan =e)example: Find Pf (ret. tty sa Loe e* ae sy examoles Pind Boe ay su 343 soll zr &-4k) 22a): LGR) s2e ge" oo Cramples Fad f[ae a] + — =t sof +3 ‘ Z2[ sce ]esc hye ot crumbs Fad £ Lf e747] so) LS eur Jer toy examples Pind the initial value of Payee” sol Fesys Lfw-:25 ot = aes oP BSE igs examples of £602 HS , Find the Pinal vals of His fanchion, Fesy= Loe det~Z ee S40” Sen) aed U8) Se Sham gam =) examples Find ZLecosty sk Faye stecramer Fad 2 [é* cose] att Sez S+2 sal Ee cost] = = zl 1 CSHee | SHHSHT example: Fen: oa 5 Bed Phen XS seh Ficsds Se Pete d sa ae $.CE-)2 E Firs Se ft cost sh =t7) we erie case ~Ll eee | seer ar in Sn + | Censt e sint 2°) “Transfer Function Tae Wansfer pomction of = Dintor Lima -inveriauk Atferential equation systiar is efined as the abio of the Laplace transform of the output response fanchion) to the Laplace trans foro of the input Coliving fanchion) uncer assumnphion that afl inthial Condibions ave Zero - Gov teehe ioe eed Cf Law oO” 4a ZED | rcee taal conditions Yosy Res) —> Gisd=erample 1 Comider Hee below electrical manure, Pind he tvauster 1 e a % 7 @ taking Leploce foe Laadtrs me NE FER Net LST © assuming Care tnvhial God hions now, ec We oe es\y aM Ee Eee sub in © aes FRe Ze lsz és me Transfer famchine Voz LSZC eee Vi * Beypewte Sy] MW SS &84+a5 examples Frad the tamsfer duncan shew, sol Cg) BEER ED Sane Lee 2 Zs) ew de x a Epes) = Tes Re and & = Vicsy= Ted. es Zesy =— == a2 Trmster fumchion= hee ZesyR+ EAs) es t ‘ Res+t Tse where T2RCit tad “the Aawster damcbinn exaungl Cig abou; > ec Ess Us C44 LVR de _, Tess ess, é Tate inthial conditions me Mees) = Tess /es Ess E+ Tesr’ = steo[R+ 2] - Ree ee sv, Zes>-& toe a Taunster Puan chins = 2a 2 Be) fale Ql Rae Fsa7 © whe T=RCE examples For the circuit shown befous Pind He Velhoge Manste Ru ceed Samelion, Epos) sTesr[R®] + oe zr GresreTesleeie hy » C= LER) LHRH L f Leer de > Fotsr= ZesrWe tres) Tol ee & elec cee | Tess[erk+ ey] ~ Res[ere y+! example t Find the transfer Porcion fer the belouy circuit,sel C= 6H R 4 E.Csda TesrR ---@O 2 SCHEER COE COR Oct) ad Ce eZ, E592 Zesye ft BE. + =Tcs). acset > Rg T —» Epes) = Tes). “+ Terk -— © RoS+t we Fensfer fonchion = = sa desy [et F | RCeaSH . cess ehamagle: iad the Tomasber fonclion ft we Lelous ecrenchy Tolaod operational Amplfier inj Bas the following choraderishics : 1 Puke cnpud impedance 2 infin gain [a> etBe Zero outpt impetance fa snfinelt. Barndaridh lets take the Loliing circuit for example, inpud impedance Othe cop amp fs vey high Aerefore 20 Si I Eeesy~ Fes) E1(s)- E065) Eucsy Zac Zesy E isvirhually Zero, because £20 6 ‘foul gain fh op «mp > Teva Ges) 5 Fett) ZG) E26) Susy 2 Za oa Ba where Za is the immpeclance Connected between the outpal and input G the op amp. j and Zi 1s the impedance connected to Hue api G the Op amp- Re Foe Zaza sand Zisk, as shown has Gots. Re oy ic and Yh Cireail is cabled an © tegieythie” Laverting Amplifier Example: Find the Transfer Pamchion for the belon! eicesit, eeexom@er Find Cock) bor the ciceat choum below, es “The civeuit is am intege enamngle: Find G4) Per the below Circuit andl mention how if Proceses He input Sinal ki eS [Pr Bere £2 Gs) 1 Eos) = RS . a on — Eb) = oye & cy. — fe cdr atts L Bey ~ Se ale “the Circuit processes Ha input Sigeal by Proportional plus, ‘ategral . Examples Derive the ouput signal wrk resped tothe ‘apidt Sin nal foe the circuit shown, . Bacsyz-Res Es) rc 2- RE t28 The Cirent ts a obfferentatoreramgles Find the cub Usllage uit vuspect tetime ancl coment 12 on how it processes the input signed fe the below circuit. Ra eae jad Po sed Rite = St hese Eucsyz ~ £% es) #268 es) R ec few ec 4 ae The circuit processes Ht inp signal by proportional and decvetive actions. example: Find ©, C4) for the befew circuit then Comment - g Re Co i. ech - to feerian ec, Jae = Rice 2 * ate we cthe cireust processes the input signal with proporhoral and ‘abegeeck anal clerivative achions.Crxamngles ahah is the danchion Oh Whe fatiousing cited 7 16 a 44RD : ee | es Ce at eo hte @, of a ez Re (£+E+% ke fe BAW Bn Be HE Seommuing amplifier on Luerting Amal ier‘Transfer Functions of Dynamic Elements and Networks. _lement or System ot 1. Integrating rei, er les = 1)nto Syst 5. DC moor e-em, emtonal actuator be 6 DC motor srmature-controle, rational actuator 7. AC motor. tw phe cons fl tational ator ae 1. Rotary Amplifier Amplidye) ts Ho) Ke We) ” Ae BE A Ke BURY Tae +)» RR] M9) Ka vs) "aes #1) dio my) ‘n= sope of nerized toeave speed uve (normaly negative) Mle) RMR Ml) Got ler, FD Fem hdl, ty7 bly foc the unloaded case iy =O. = boss <1 < O38 Nye We Me 8507) = Now A= 008. peoElement or Systom 1. Gent tin rtatona tanformer ™ Gear ratio « n= ms re 11, Poentometer,soltgecontat in 12, Poentometer, err detector bridge ® 4s) = R(O(s)-6)) yp Re V8) = kena) «| ne v0 Yan Fae & sure 13, Tachometer. veal sensor Ws) = Kus) = Katte) va = constant 4 DCampliser Wis) __he put os Wa) et i eel 6 ~ output expaitance FERC Is 0d icften nent for ‘onroller spiesement o System is 15, Aceleromeer aeseraon sas se) = 30) ~ al fm xa, 2 Li Fn HG) "FE iw Forlonelequeey sions where fo woo “9 \ ao)” Gar ase Ry 7 = 8% = pein doce . ‘due to thermal process G (Q = Aid ow rte = contant ermal capacitance ‘= splice of water = thermal eine of station (0) = trator of rate teat Now of esting element 17, Rack and pinion “aa convert rial motion torincae motionBlock Diagrwns % A Meck ago af a syst is = pelea wegresodahion of the fanchion perfecmed by each congoreat and whe flow of sigall, Avfeck aeqguon Ses the aduaitege of indicocbing more realistically the synall lear fhe acdual option « Tam block dager all ystinn variables ane Risked te each other heough fanchional blacks “The black is a symbol for Ht mattamahical opetehion om the inpuck signed to the block thot produces the oudput. The diaasfer fonchions of Hee Componerls ove usually extered in Yhe comespenaling blocks, which are connected by arrows te indicate He dlisechion of the How Signals. Tap sso, |_ stent Ss) Sammuing Poisks As in figure belaw, Wh inchicates a sumening opetation. “The plus or minus sign ot enc arrowhead! indicetis wheather that the sige fs to be adeled or Subbracted. rhe quantities being addled! or sublvadtid mast -b have Same climantions and Same units. % e Branch ports A branch point 1s @ poiat from which the Spal rom a block goes camcurently +o ather blocks o« Saramiang pois. Block Orage of « chsee.brep Systm. + Res) > eeey, eae Beanch point ccs)The onda c<8) is fed back de the summing point aud Gnpered '® cwith the veference raput Res). the output of He block ccs) is obteined by muatiplying tha kansfer function Gres) by whe inped fo He block , Bes). Hes) is the transfer punction of He feedback clement . The fescback signak tad i's Pedback to vhe Semen poink for Comparison with the Inputs Bes)= Hes) ccs) open Poop Transfer puunchiion : open-loop transfer funchion = 22 = Ges) Hesy Feed fotararl transfer punch Freee! Brwarel Trans Per fanchion 2 Gres) = s Closeel-laop Transfer pamchiom e392 ees) es)= Res) — Hes) C¢59 2 63) = GES [ RES) HES? Ces] COS) + Ces Greer Hesd= GesrResy Ces L 4 Gesr Hes] = Gesr ees) cess. Ges) Res) Te Ges Hes) which is cabled the closed Loop banster function Closed Deep tystim sabiecked to a asherbamee Orsturbance OCs) Res ces) time inveciart syslim , each input can be treated indepencently ofthe other j and the ouput cescesponding to cach inpuct alone 19 an be adldecl « f Cosa v's the output Coespomchng to disturbance 065), Cats) vs the oudput Covresponclig to He refarenct inptt Res) ~thus , oes) Gates? Des eGuenGacoHey Cees GuesrGnesy REY” 14 G.DGAIHES) = Cp 64 Cyes) = 2S), cores + Des C8) = Cptsre Coes) = ne on lo DRI + >] wohen [GiesHess] m1 and [Gress Gres) Hes yt then 2s becomes almost taro ancl then the effect of ei is suppressed ama vhis 5 an advontuge of the closed -foup Sys - IP MOnlsGa CHOY increases and becomes 37 then 1, hare tHe closed. Jaup transfer Cees) cppreackes I. , fun sine? ge becames oepenctunt of Gics ene! Gizes) which iy — advantage of the closed Soop syst. Tt is abso sean that ang closed Loop system with wnidy fetbeck , Hesy=! 7 tends te equalize ~the iap.th anel odpt . Feneedure For Drawing « Block Diagrum Tedeud « tek dingam born syn, 12 Welle the equation thal describe the Fynamnie behavior of each Component» B- Take Ha Lephecs transforms of these equadions, assuming Zero inh Condition s ancl represect each Laplace Tausfarmed equation jadivideally in block Locus -Bo Arremble te Lewes a a complet Hoek ding am: do example 1 Consider He LC circuit shown below , Aeplying the Previous Spx, a Li VyaGe ee ee ee pak fone 2. taking Laplace tansporer and represent cach equchion sn ae bled forun, Tesye Sennen Ete A es Zesyz Eien Ec eres Ents) md oS roy In Ea rocas A Tesy = Eocene do Te = Becks Gan Fe conned tx Series only fhe octet of one Block is not affected by He next fotewing Mock .7f thre are ong Loading offeds bebiseen the Components , it 5 necessary Le combine hese Componeits indo 2 Single Uock . Any aumber of cascaded blocks representing nonfoading Gmponeats can be replaced by a Single block, sthe transfer funchion of cahich is Simply the product af the tadividual bransfer functines. A comphicated bfock diagram fv elving meng fesdback foops Can be Simplified by astep-by-Slep arrangement: This arrargemert reduces “The Daber nseded for Subsepucat mathemabical analysis:Note Hak in Simplfyng a Weck cingrumn the product of the a transfer functions in the fecd forward clrechion must email He. Same, ancl the preduct of He transfer function around the Looe must remain He Same + Following tables show some nufes and properties must be Consiclered! during the Simplfreation . Block Diagram Transformations cea ‘Origa Bagram valent Oi 1. Combining bodsineasede x, x % Xs om | of oa 2. Moving a summing point behind bose QE F+ + 3. Moving pick point x % 4 % Moving kot So pe @ 4. Moving pckt point 4 % * x hind lock tie o 5. Movines summing head of lock 6 Bliinaing feedback oop[BLOCK DIAGRAM ALGEBRA AND TRANSFER FUNCTIONS OF SYSTEMS Trtreatin | Sxtien et Dar Sees cominte nia] ys gee | ta ape | Sane Benito Ty - pxanx| 2 son | +i} Fora tp d bo rE PH “Ghahe: Tontaeynde | z= P= Y tS 22.a3 BLOCK DIAGRAM ALGEBRA AND TRANSFER FUNCTIONS OF SYSTEMS, ee oe jag ram sand ebbein the dans fer funchion, He Bes) Gu ‘es Ga los =o24 v Res) GiGa Gs ees) TOG GaGsHa Rosy coao Hote thd Ha mumecector of the closed Soop tansfer fuanchiom cesy/Resy 1s the product of He Lrawsfer Punctions of the feed forwoel prcth, ancl the clenominstor ef Cev/Res) 1's equal te: 4-Z Ceredud of the TR around each Seep) = 1 CGrGats — Ge Gale GiGe Gr) Gi Grats + GrGst24 GuiGias Srewaples Stmglibyy the Block abtnggon shovon So Figure pelew, re Res) @ L_ fap pes Wa a = o (ay 82 es 2 Woae Resy & ces) are ck co Res) Eranagle: Simply the block dinyiam showin in Figure below and cbbaia Phe transfer Junckion vellahing ces) aud Resd- Rey J Rs) {a} 7 Res) G. Sa car . & = : Ray teat {ea} $ ey Rosy ses} Cu Gort Grae |} os) + YP sGGi+ a SA) = Gas Gah enomnghes Redick the black Aiantann aiventoelins te open Loop fora Reo cosFrest emoving the Summoning pei Cd beyond Guy we gete - Gift ry next, moving takedf point (ar beyond Gy, we a} Using Teansfermadion (6b) nnd €2),from He tables pLe combine the two Lower feedback Leops (Prom Gri Mi) entering Cl) and Cer, We gets now, mp plying Titans Formadhion (lt), from tables, te His faner Boop, the system becomes :TGuGaHi+ Gel 27 Ager appiyicg Tranadermalion C4) Brom Yhe tables, te the remaining Geedbuck Loop gids + Res) Gaas [-GiG@2 tie Gal + G2Gaa, Finally Tans formaion (1 Janel (2) from the tables, Give the open Soop bhock singe t Rosa 1-GiGaly + GtHi + Ga Gz He GuGe Gs Gay ~ G1 Ge Gall + Ge GuHi-+ GaGs Gu Ses)