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Lecture - 1-Introduction - 2018
Lecture - 1-Introduction - 2018
Lecture-1
Introduction to the Subject
1
Outline
• Course Outline
• Recommended Books
• Prerequisites of the subject
• Basic Definitions
• Types of Control Systems
• Examples
2
Classical Control Modern Control
• System Modelling • State Space Modelling
• Transfer Function • Eigenvalue Analysis
• Block Diagrams • Observability and Controllability
• Signal Flow Graphs • Solution of State Equations (state Transition
• System Analysis Matrix)
• Time Domain Analysis • State Space to Transfer Function
• Frequency Domain Analysis • Transfer Function to State Space
• Bode Plots, Nyquist Plots, Nichol’s Chart • Direct Decomposition of Transfer Function
• Root Locus • Cascade Decomposition of Transfer Function
• System Design • Parallel Decomposition of Transfer Function
• Compensation Techniques • State Space Design Techniques
• PID Control
3
Text Books
1. Modern Control Engineering, (5th Edition)
By: Katsuhiko Ogata.
(Prof Emeritus)
Mechanical Engineering
University of Minnesota
4
Prerequisites
• For Classical Control Theory
– Differential Equations
– Laplace Transform
– Basic Physics
– Ordinary and Semi-logarithimic graph papers
• For Modern Control theory above &
– Linear Algebra
– Matrices
5
What is Control System?
• A system Controlling the operation of another
system.
• A system that can regulate itself and another
system.
• A control System is a device, or set of devices to
manage, command, direct or regulate the
behaviour of other device(s) or system(s).
6
Definitions
Process – The device, plant, or system under control. The input and
output relationship represents the cause-and-effect relationship of the
process.
7
Definitions
8
Definitions
Manipulated Variable
Input
or Output
Set point Controller Process Or
or Controlled Variable
reference
9
Types of Control System
• Natural Control System
– Universe
– Human Body
10
Types of Control System
• Manmade Control System
– Aeroplanes
– Chemical Process
11
Types of Control System
• Manual Control Systems
– Room Temperature regulation Via Electric Fan
– Water Level Control
12
Types of Control System
Open-Loop Control Systems
Open-Loop Control Systems utilize a controller or control actuator to
obtain the desired response.
• Output has no effect on the control action.
• In other words output is neither measured nor fed back.
Input Output
Controller Process
14
Types of Control System
Closed-Loop Control Systems
Input Output
Comparator Controller Process
Measurement
15
Types of Control System
Multivariable Control System
Outputs
Temp
Humidity Comparator Controller Process
Pressure
Measurements
16
Types of Control System
Feedback Control System
Feedback
17
Types of Control System
Servo System
• A Control System in which output varies linearly with the input is called a
linear control system.
30
0
25
-5
20
y(t)
y(t)
-10
15
-15
10
-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t)
u(t) 19
Types of Control System
Linear Vs Nonlinear Control System
• When the input and output has nonlinear relationship the system is said
to be nonlinear.
0.4
Adhesion Coefficient
0.3
0.2
0.1
0
0 0.02 0.04 0.06 0.08
Creep
20
Types of Control System
Time invariant vs Time variant
• When the characteristics of the system do not depend upon time itself
then the system is said to time invariant control system.
y(t ) 2u(t ) 1
y(t ) 2u(t ) 3t
21
Types of Control System
Continuous Data Vs Discrete Data System
• A discrete time control system involves one or more variables that are
known only at discrete time intervals.
X[n]
n
22
Types of Control System
Deterministic vs Stochastic Control System
t t
t 23
Classification of Control Systems
Control Systems
LTI
Co
ntr
ol
Natural Man-made
Sy
ste
ms
(L
ine
Manual Automatic
a r ti
me
inv
ari
Open-loop Closed-loop
an
tc
on
tro
linear
l sy
Non-linear
Non-linear
ste
linear
s)m
Time variant Time invariant
Time variant Time invariant
24
Examples of Control Systems
Water-level float regulator
25
Examples of Control Systems
26
Examples of Modern Control Systems
27