ES332 Control Theory

Lecture 1
Introduction
Control Systems: Interconnection of components forming a system configuration providing a desired
response.

❖ Exists in all aspects of life, especially the scenarios where no human interaction is required. Eg.
Aircraft autopilot, Automobile cruise control.

❖ Control engineer needs to deal with the variety of problems and need a working knowledge of
mechanics, electrical, electronics and so on.

❖ Control system analysis involves uniform treatment of different engineering components

Pre-requisites:

● Signals and systems

● Laplace transforms / complex numbers, functions, Linear differential equations, Matrix and
linear algebra.
● Elementary / basic working knowledge of mechanics, electrical machines, fluid mechanics /
Thermodynamics, structural and molecular
= properties.
 1-00
Class work

*
I
Mathematical modelling of processes
(t)
Newton’s law of cooling: Let be the rate at which the temperature of the body

changes and be the ambient temperature, then:

or -
-

Radioactive decay: or

Population growth:
Mathematical modelling of processes
r A + B -> "X
-

Chemical reactions: O - &

13
x

~
-

Where the reaction is given by A + B ----→ X and the initial quantity /mass of the
a
elememts are given by α , β and x respectively

e
Electric circuits

-
*

Inductor v-i relation: a i

-
Mathematical Modelling Processess
Mechanical Drive system - Force balance
⑤

a
a -
1

-
-

-
-
m
Liquid level force control
·

① 9.5
+

,
↓

En
-
Mathematical Modelling Processess
increased to he
when I -
Height

- Addiha flow of C
and

(ai-9.) dEr =
ce
9: E

cdt: Mr. ~

cd+E: Ge
~
Mathematical Modelling Processess i + hi
Thermal Systems +i ho
+

Heat input inflow rate is increased, following changes happen:

8 + 0
● The outlet temperature and the output heat flow rate
increases
● The tank water temperature increases O,i

Final heat equation:

C: Thermal capacitance
of the Tank
kealloc

dpR:
Thermal resistance

Chi..ho)
c ·
dx +

c/(called
E:
he-ho
ho -
R
~
a
Mathematical Modelling Processess
Mathematical formulation of Linear Time Invariant systems

Linearity: Property of systems where variables are independent of time

Linear systems obey principal of superposition

⑨

fr 41
4.
4. ~ 2

-
n
Described by Linear Differential Equation
Coefficients are constants or function of time
-

r
&

-
⑨
-
Non-linear Systems

If a differential equation contains higher powers (or) producucts

-..
f of derivatives
of the dependent variable (or) transcendental functions(e-g log x, sin x cos x) of
- - -
-
- .

the dependent variables then the system is non-linear.

-

Examples
-

O+ y = 0
𝑑𝑦 r

y 𝑑𝑡
*

Causal Systems : System in which the response does not precede the excitation
...
Linear/Non-linear Time Invarient/Time Varying Systems

Examples
1. LTIV -------------→
-
- .

.
-

000
2. LTV -------------→
-

3. LTV --------------→
43
r

4. NL TIV -----------→

5 NL TV ---------------→ -
𝑑𝑦
y +
𝑑𝑡
y sin t =0
Common Physical Nonlinearities
Saturation
-

a
-

Backlash
I
~

Dead Zone
-