MATRUSRI

ENGINEERING COLLEGE

MATRUSRI ENGINEERING COLLEGE

DEPARTMENT OF COMPUTER SCIENCE AND ENGINEERING

SUBJECT NAME: AUTOMATIC CONTROL SYSTEMS

FACULTY NAME:A.NARMADA

Insert Your Photo here

 MATRUSRI
ENGINEERING COLLEGE

AUTOMATIC CONTROL SYSTEMS

COURSE OBJECTIVES:
To analyze the stability and performance of dynamic systems in both
time and frequency domain.
To design feedback controllers, such as PID, lead and lag
compensators to meet desired system performance specifications.
To provide knowledge of state variable models and fundamental
notions of state model design.
To understand the classical methods of control engineering and
physical system modelling by linear differential equations.
To understand state space representation of control systems.
 MATRUSRI
ENGINEERING COLLEGE

AUTOMATIC CONTROL SYSTEMS

COURSE OUTCOMES:

1.Convert a given control system into equivalent block diagram and

transfer function.
2.Analyze system stability using time domain techniques
3.Analyze system stability using frequency domain techniques
4.Design a digital control system in the discrete time domain
5.Analyze a control system in the state space representation
 MATRUSRI
ENGINEERING COLLEGE

UNIT-III
INTRODUCTION:

IN THIS UNIT FREQUENCY DOMAIN TECHNIQUES ARE INTRODUCED FOR THE

STABILITY ANALYSIS OF THE SYSTEM. THE NEED OF CONTROLLERS TO MEET THE
PERFORMANCE SPECIFICATIONS AND HOW THEY IMPROVE THE SELECTED
SPECIFICATIONS IS CONSIDERED IN THIS UNIT.

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Frequency response plots and compensation techniques

CONTENTS:
BODE PLOTS
FREQUENCY DOMAIN SPECIFICATIONS GAIN AND PHASE MARGIN.
PRINCIPLE OF ARGUMENT NYQUIST PLOT AND NYQUIST CRITERION FOR STABILITY.
CASCADE AND FEEDBACK COMPENSATION.
PHASE LAG, LEAD AND LAG-LEAD COMPENSATORS PID CONTROLLER.

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Frequency response plots and compensation techniques

FREQUENCY DOMAIN SPECIFICATIONS:

BANDWIDTH, BW: IT IS DEFINED AS THE RANGE OF FREQUENCIES OVER WHICH THE
SYSTEM WILL RESPOND SATISFACTORILY. IT CAN ALSO BE DEFINED AS THE RANGE OF
FREQUENCIES IN WHICH THE MAGNITUDE RESPONSE IS ALMOST FLAT IN NATURE.
CUT OFF FREQUENCY, FC: THE FREQUENCY AT WHICH THE MAGNITUDE OF THE CLOSED
LOOP RESPONSE
IS 3 DB DOWN FROM ITS ZERO FREQUENCY VALUE IS CALLED CUT-OFF FREQUENCY.
CUT-OFF RATE: THE SLOPE OF THE RESULTANT MAGNITUDE CURVE NEAR THE CUT-OFF
FREQUENCY IS
CALLED CUT-OFF RATE.
RESONANT PEAK, MP: IT IS THE MAXIMUM VALUE OF MAGNITUDE OF THE CLOSED LOOP
FREQUENCY RESPONSE RESONANT FREQUENCY: THE FREQUENCY AT WHICH RESONANT
PEAK OCCURS IN CLOSED LOOP FREQUENCY RESPONSE IS CALLED RESONANT FREQUENCY.

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Frequency response plots and compensation techniques

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Frequency response plots and compensation techniques

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Frequency response plots and compensation techniques

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Frequency response plots and compensation techniques

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Frequency response plots and compensation techniques

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Frequency response plots and compensation techniques

CONTROLLERS:
A CONTROLLER IS A DEVICE INTRODUCED IN THE SYSTEM TO MODIFY THE ERROR SIGNAL
AND TO PRODUCE A CONTROL SIGNAL. THE CONTROLLER MODIFIES THE TRANSIENT
RESPONSE OF THE SYSTEM. THE CONTROLLERS MAY BE ELECTRICAL, ELECTRONIC,
HYDRAULIC OR PNEUMATIC, DEPENDING ON THE NATURE OF THE SIGNAL AND THE
SYSTEM.
DEPENDING ON THE CONTROL ACTIONS PROVIDED THE CONTROLLERS CAN BE CLASSIFIED
AS FOLLOWS.
1. PROPORTIONAL CONTROLLER
2. INTEGRAL CONTROLLER
3. PROPORTIONAL + INTEGRAL CONTROLLER
4. PROPORTIONAL + DERIVATIVE CONTROLLER
5. PROPORTIONAL + INTEGRAL + DERIVATIVE CONTROLLER

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Frequency response plots and compensation techniques

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Frequency response plots and compensation techniques

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Frequency response plots and compensation techniques

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Frequency response plots and compensation techniques

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Frequency response plots and compensation techniques

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Nyquist plot

If the G(s)H(s) contour in the G(S)H(S) plane corresponding to Nyquist

contour in the s-plane encircles the point -1+j0 in the anticlockwise
direction as many times as the number of right half s-plane poles of
G(S)H(S), then the closed loop system is stable.
In examining the stability of linear control systems using the Nyquist
stability criterion, we come across the following three situations.
1.No encirclement of -1+j0 point: This implies that the system is stable if
there are no poles of G(S)H(S) in the right of s-plane. If there are poles on
right half s-plane, then the system is unstable.

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Nyquist plot

2. Anticlockwise encirclement of -1+j0 point: in this case the system is

stable if the number of anticlockwise encirclement is same as the number
of poles of G(S)H(S) in the right half s-plane. If the number of
anticlockwise encirclements is not equal to the number of poles on right
half s-plane then the system is unstable.

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Nyquist plot

2. Anticlockwise encirclement of -1+j0 point: in this case the system is

stable if the number of anticlockwise encirclement is same as the number
of poles of G(S)H(S) in the right half s-plane. If the number of
anticlockwise encirclements is not equal to the number of poles on right
half s-plane then the system is unstable.

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Nyquist plot

Procedure for investigating the stability using Nyquist criterion:

1.Choose a Nyquist contour, which encloses the right half of the S-plane
except the singular points. The Nyquist contour encloses all the right half
S-plane poles and zeros of G(S)H(S).
2.The Nyquist contour should be mapped in the G(S)H(S) plane using the
function to determine the encirclement -1+j0 point in the G(S)H(S) plane.
The Nyquist contour can be divided into four sections. The mapping of
four sections in the G(S)H(S) plane can be carried section wise and then
combined together to get entire G(S)H(S) contour.

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Nyquist plot

Procedure for investigating the stability using Nyquist criterion:

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Nyquist plot

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Nyquist plot

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Compensators

The compensator is a physical device. It may be an electrical network,

mechanical unit, hydraulic or combinations of various types of devices.
The commonly used various electrical compensating networks are
1. Lead compensator
2. Lag compensator
3. Lag-Lead compensator

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Compensators

Lead Compensator:

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Compensators

Effects of Lead compensation:

The various effects of a lead compensation are,

The lead compensator adds a dominant zero and a pole. This increases the
damping of the closed loop system.
The increased damping means less overshoot, less rise time and less
settling time. Thus there is improvement in the transient response.
It improves the phase margin of the closed loop system.

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Compensators

Effects of Lead compensation:

It increases bandwidth of the closed loop system. More the bandwidth,
faster is the response.
The steady state error does not get affected.
Limitations of Lead Compensator:
Lead compensation requires additional increase in gain to offset the
attenuation inherent in the lead network. Larger gain requirement means,
larger space, more elements, greater weight and higher cost.
More bandwidth is sometimes not desirable. This is because the noise
entering the system at the input may become objectionable.

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Compensators

Lag Compensator:

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Compensators

Effects and Limitations of Lag Compensator:

The various effects and limitations of Lag Compensator are,
Lag compensator allows high gain at low frequencies thus it basically a
low pass filter. Hence it improves the steady state performance.
In lag compensation, the attenuation characteristics is used for the
compensation. The phase lag characteristics is of no use in the
compensation.

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Compensators

Effects and Limitations of Lag Compensator:

The attenuation due to lag compensator shifts the gain crossover
frequency to a lower frequency point. Thus the bandwidth of the
system gets reduced.
Reduced bandwidth means slower response. Thus rise time and
settling time are usually longer. The transient response lasts for
long time.
Lag Compensator approximately acts as proportional plus integral
controller and thus tends to make system less stable.

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Compensators

Lag-Lead Compensator:

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Compensators

Effects of Lag-Lead Compensator:

Lag-Lead Compensator is used when both fast response and good static
accuracy are desired. Use of Lag-Lead Compensator increases the low
frequency gain which improves the steady state. While at the same time it
increases the bandwidth of the system, making the system response very
fast.

OUTCOMES:
Students will be able to analyze system stability using frequency domain techniques
 MATRUSRI
ENGINEERING COLLEGE

Questions

1. What are the limitations of bode plots?

2. Define gain margin and phase margin.
3. State the Nyquist stability criterion.
4. Explain PID controller.
5. How the roots of the characteristic equations are related to stability.
6. Sketch the bode plot of 6/s(s+6).
7. What is lead compensator?
8. Draw the Bode plot of a Lag network.