RAT307 Control System

Module 1
Vinila M L
Adi Shankara Institute of Engineering and Technology
 Module 1 9 hours
Control System- Definition, Open loop vs closed loop control systems- components of a
typical control system- Necessity of a control system in a Robot
bird’s eye view of typical actuators in robot control systems-hydraulic, pneumatic and
electric actuators
- over view of basic types-DC motors for speed control, DC and AC servo motors for
position control, Brushless DC motors for speed control of quadcopters and linear
actuation mechanisms.
- Basic idea of feedbacks in robotic systems-sensors-eg. Linear and rotary encoders.
- Linear time invariant Systems- Transfer function, Necessity of knowing the transfer
function
- Modelling -Mechanical and Electromechanical systems
- block diagram representation - block diagram reduction, characteristic equation, signal
flow graph, overview Mason's gain formula
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Control System
• Control system theory evolved as an engineering discipline and due to
universality of the principles involved, it is extended to various fields like
economy, sociology, biology, medicine, etc.
• Control theory has played a vital role in the advance of engineering and
science.
• The automatic control has become an integral part of modem
manufacturing and industrial processes. For example, numerical control
of machine tools in manufacturing industries, controlling pressure,
temperature, humidity, viscosity and flow in process industry.

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System
• When a number of elements or components are connected in a sequence
to perform a specific function, the group thus formed is called a system.
• A collection of physical, biological or abstract components which
together perform an intended objective
• A system gives an output (also called response) for an input (also called
excitation)

Input/Excitation System Output /Response

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Examples of System

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Subsystems
• System can be a collection of multiple sub-systems

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Classification of Systems
• Variety of classifications are possible based on system features and
applications
• Some of the important classifications include:
• Linear and non-linear systems
• Static and dynamic systems
• Time invariant and time variant systems
• Causal and non-causal systems

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Linear system Vs Nonlinear System
• Linear systems
• Output of the system varies linearly with input
• Satisfy homogeneity and superposition
• Eg: Resistor; I=V/R
• Nonlinear system
• Output of the system does not vary linearly with input
• Do not satisfy homogeneity and superposition
• Eg:Diode;
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Static system Vs Dynamic system
• Static systems
• At any time, output of the system depends only on present input
• Memory less systems
• Eg: Resistor
• Dynamic systems
• Output of the system depends on present as well as past inputs
• Presence of memory can be observed
• Eg: Inductor
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Time invariant system Vs Time variant system

• Time invariant systems

• Output of the system is independent of the time at which the input is
applied
• Eg: Ideal resistor
• Time variant system
• Output of the system varies dependent on the time at which input is
applied
• Eg: Aircatft, mass of aircraft changes as fuel consumes.
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Causal system Vs Non causal system

• Causal system
• Output is only dependent on inputs already received (present or past)
• Non anticipatory system
• Eg: Thermostat based AC motor
• Non causal system
• Output depends on future inputs as well
• System anticipates future inputs based on past
• Eg: whether forecasting system
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stochastic Vs deterministic systems
• deterministic system
• The output of the system is fully determined by the parameter values and
the initial conditions.
• Stochastic system
• It possesses some inherent randomness.
• The same set of parameter values and initial conditions will lead to an
ensemble of different outputs.
• Eg: tossing a coin and the no. of heads getting over a period of time
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What is a Control system
• A system or mechanism which directs the input to other systems and
regulates their output.
• Control system alters the response of a plan or system as desired

Desired Control Plant or Output

Reference Controller Input System

Control System To be controlled

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Disturbance
• Unwanted signals which affect the output of the system
• E.g. People entering and leaving an AC room disturbs room
temperature
• Controller has to eliminate the effects of disturbance
Disturbance

Desired Controller Control Plant or Output

Reference Input System

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Feedback in Control
• Feedback senses the plant output and gives a signal which can be
compared to the reference
• Controller action (control input) changes based on feedback
• Feedback enables the control system in extracting the desired
performance from the plant even in presence of disturbance
Disturbance

Desired Control Plant or Response

Reference Controller Input Output
System
Control System To be controlled
Feedback

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Closedloop control system
Openloop system

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Closedloop system

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Principle of superposition and homogeneity
• This principle implies that if a system model has responses y1(t) and y2(t) to any inputs
x1(1) and, x2(t) respectively, then the system response to the linear combination of
these inputs a1x1(t) +a2x2(t) is given by linear combination of the individual outputs
a1y1(t)+a2y2(t), where a1 and a2 are constants.

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Necessity of a control system in a Robot
• control systems help facilitate the movement and function of
different parts of a robot and execute a specific set of demands.

• Point-to-point (PTP) control robot.

• Continuous-path (CP) control robot.
• Controlled-path robot.
• Stop-to-Stop.

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Typical actuators in robot control systems-
hydraulic, pneumatic and electric actuators
• Actuators are mechanical devices that convert energy into motion. This involves
a control command that signals a change in a physical system which then
generates force to accomplish a task.

• Actuators control machines and allow parts to move. This motion can be any
one of hundreds of operations such as lifting, clamping, blocking and ejecting.

• Typically, actuators are key parts in industrial and manufacturing operations

where they activate valves, pumps, motors and switches.

• Actuators usually control and direct mechanized motion. Movements can be

linear, rotary or oscillatory. In other terms, that motion can be in one direction,
circular or back and forth in regular intervals
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Hydraulic actuators
• Hydraulic actuators work on fluid compression and convert that pressure
into motion under controlled circumstances. In almost all hydraulic
systems, that fluid is some form of oil. Because oil is very difficult to
compress, it easily transfers large amounts of energy by volume.

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Electric actuators
• Electric activators work on alternating current that energizes an electric
motor. Electric energy converts into torque which drives the actuator.

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 Pneumatic actuators
• It’s simply intaking air at atmospheric pressure and then mechanically
compressing it to a higher pressure. Most actuator systems that use
pneumatic power have compression rates of about 80 to 100 psi.

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Modelling of System - What is a Model
• An elemental or mathematical representation of a plant or system.
• Model helps in the analysis (input-output) of the system.
• Captures the dynamics of a system.
• Dynamics refers to evolution of system variables.
– The change in the room temperature when an AC is switched ON
– The change in the speed of car when accelerator is pushed by certain angle
– The change in the current flowing through an inductor when an AC voltage is applied

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Types of Mathematical Models

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Types of Mathematical Models

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Two methods of modelling systems:

• Analytical modelling :
• – Involves systematic application of basic physical laws to system components and their
interconnections

• – Combination of physical modelling and mathematical modelling

• Experimental modelling :
• – Selection of mathematical relations which best fit the observed input-output data of a
system

• – Also called modelling by synthesis

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Transfer Function Approach
Motivation
• How to find the response of a system for an given input signal?
Find 𝑉0 (𝑡) for a given signal 𝑉 𝑖(𝑡)

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• To find the time response, we need to solve ordinary differential
equations (integro-differential equations)
• When model equations are transformed to 𝑠 − domain, they turn out to
be algebraic equations which are comparably easy to solve
• The transformed model in 𝑠 − domain is called transfer function model
• It is a model which is applicable for all kinds of input signals

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Transfer Function
• For an LTI system, transfer function is the ratio of the Laplace transform
of the output to the Laplace transform of the input with the initial
conditions being zero
• • Mathematically, if 𝑈(𝑠) is the Laplace transform of the input function
and 𝑌(𝑠) is the Laplace transform of the output, the transfer function 𝐺(𝑠)
is given by: 𝐺(𝑠) = 𝑌(𝑠)/ 𝑈(𝑠)

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Transfer Function : General Form
• General form of transfer function of a system:

• 𝑛: Order of the system

• 𝐾: System gain or Gain factor – A proportional value that relates the magnitude
of the input to that of the output signal at steady state
• 𝑧1,𝑧2,…,𝑧𝑚: Zeros of the system
• 𝑝1,𝑝2,…,𝑝𝑛: Poles of the system
• 𝑛 ≥ 𝑚 because the system becomes non-causal and is not physically realizable if
𝑛<𝑚
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Transfer Function as Impulse Response

• Impulse signal (𝛿 (𝑡) ) is infinitesimally narrow and infinitely tall yet integrating
to one
• It takes zero value everywhere except at 𝑡 = 0,
• If input to the system is the unit impulse, then the output is called the impulse
response
• i.e., 𝑢(𝑡) = 𝛿(𝑡) ⟹ 𝑈(𝑆) = 1 ⟹ 𝐺(𝑠) = 𝑌(𝑠)
• That means transfer function is the Laplace
transform of the impulse response of an LTI system
when the initial conditions are set to zero
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Steps to Find Transfer Function
• 1. Find the model equations of the given system
• 2. Identify the system input and output variables
• 3. Take the Laplace transform of the model equations, assuming zero
initial conditions
• 4. Find the ratio of the Laplace transform of the output to the Laplace
transform of the input

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Problems on TF
Q1. Find the TF

1. Model Equations:

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2. Input and Output Variables:
– Input: 𝑉𝑖(𝑡)
– Output: 𝑉𝑜(𝑡)
3. Laplace Transform: (assuming initial conditions to be zero)

4. Transfer function

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Q2. Find the transfer function of a system described by following equation:
𝑑3𝑦 /𝑑𝑡3 +10𝑑2𝑦 /𝑑𝑡2 −5𝑑𝑦 /𝑑𝑡 +𝑦 = 10𝑑𝑢 /𝑑𝑡 +𝑢 with zero initial
conditions.
• Laplace Transform:
𝑌(𝑠)[ 𝑠3 +10𝑠2 −5𝑠 +1] = 𝑈 (𝑠)[ 10𝑠 +1 ]
• Transfer Function:
• 𝐺(𝑠) =𝑌(𝑠)/ 𝑈(𝑠)= (10𝑠 +1)/ (𝑠3 +10𝑠2 −5𝑠 +1 )

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Electrical system

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Problem of Transfer function of electrical network
• Q1. Obtain the transfer function of the network

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 Substitute V1 in V2

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Mechanical Translational system

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 Q1. Obtain the transfer function of the system

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Substituting for X1(s)

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Q2. Obtain the transfer function of the system y2(s)/f(s)

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Mechanical Rotational system

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• Q1. Write the differential equations governing the system and obtain the
transfer function𝜽(S)/T(s)

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 Sub 𝜽1(s) in first equation

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Q2. Write the differential equations governing the system and obtain the
transfer function𝜽(S)/T(s)

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 Substitute 𝜽1(S) in first equation

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Block diagram algebra
• It’s the pictorial representation of the functions performed by each
component and the flow of signals.
• The elements of the block diagrams are the blocks , summing point and
branch point.

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Block diagram reduction

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Q1. Reduce the block diagram and find C/R

Ans:

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Q2. Use block diagram reduction technique and find the closedloop transfer
function(TT)

Ans:

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Q3. Find the overall transfer function of the system C(s)/R(s)

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SIGNAL-FLOW GRAPHS
• Signal-flow graphs are an alternative to block diagrams.
• a signal-flow graph consists of branches, which represent systems, and
nodes, which represent signals
• A system is represented by a line with an arrow showing the direction of
signal flow through the system.
• Adjacent to the line we write the transfer function.
• A signal is a node with the signal's name written adjacent to the node

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Rules

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Maison’s Gain formula

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 Q1. Find the overall transfer function of the given signal flow graph

Ans:

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Q2. Find the overall transfer function of the given signal flow graph

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Q3. Find the overall gain of the system (TT)

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 Q4. Convert the given block diagram into signal flow graph and find the transfer function
C(s)/R(s)

Ans:

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 •Thank you

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Tutorial Questions

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Q1. Write the differential equations governing the mechanical system. Draw
the force-votage and force current electrical analogous circuits and verify by
writing the mesh and node equations (TT)

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Q2. Use block diagram reduction technique and find the closedloop transfer
function(TT)

Ans:

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Q3. Find the overall gain of the system (TT)

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