Control Systems

A. Saksena
 Course Plan
https://docs.google.com/document/d/1ZxjjU1MOGn8TBPoUCJ6ZWphlQr0bf1f8/ed
it
 Introduction
● A control system consists of systems or processes or plants assembled for
the purpose of obtaining a desired output with desired performance, given a
specified input.
 Example - Elevator Control
● For example, consider an elevator.When the fourth-floor button is pressed on
the first floor, the elevator rises to the fourth floor with a speed and floor
leveling accuracy designed for passenger comfort.
● Two major measures of performance are apparent: the transient response and the
steady-state error.
○ The push of the fourth-floor button is an input that represents our desired output.
○ The performance of the elevator can be seen from the elevator response.
○ In our example, passenger comfort and passenger patience are dependent upon
the transient response.
■ If this response is too fast, passenger comfort is sacrificed; if too slow, passenger
patience is sacrificed.
■ The steady-state error is another important performance specification since passenger
safety and convenience would be sacrificed if the elevator did not level properly.
 Applications of Control Systems
● Control systems are an integral part of modern society. Numerous
applications are all around, some examples are:
○ Rockets fire
○ Space shuttle lifts off to earth orbit
○ Splashing cooling water, a metallic part is automatically machined
○ Self-guided vehicle delivering material to workstations in an aerospace assembly
plant glides along the floor seeking its destination.
 Natural Control System
● Within our own bodies are numerous control systems, such as:
○ The pancreas, which regulates our blood sugar.
○ In time of “fight or flight,” our adrenaline increases along with our heart rate,
causing more oxygen to be delivered to our cells.
○ Our eyes follow a moving object to keep it in view
○ Our hands grasp the object and place it precisely at a predetermined location.
 Examples of Control Systems
● Drone Control:
○ https://www.youtube.com/watch?v=2BwUMk10WqI
● Elevator Control
○ https://www.youtube.com/watch?v=CvY-G2FTbGM
● Communication based train Control System
○ https://www.mobility.siemens.com/global/en/portfolio/rail/automation/automatic-trai
n-control/communications-based-train-control-system.html
● Moving Block Train Control System
○ https://www.youtube.com/watch?v=a52ZSCIAoRk
 Objectives of Control Systems
● Some of the reasons for control systems:
○ Remote control
○ Convenience of input form
○ Compensation for disturbances
○ Achieving stability
 Components of Control System
● Input or Reference
● Input transducer
● Error or Actuating Signals
● Amplifier
● Controller
● Process/ Plant
● Disturbance
● Summing Junction
● Output Actuators/ transducer
● Feedback Amplifier
● Output or Controlled variable
 Open Loop System
● The distinguishing characteristic of an open-loop system is that it cannot
compensate for any disturbances that add to the controller’s driving signal.
● Open-loop systems, then, do not correct for disturbances and are simply
commanded by the input.
● The disadvantages of open-loop systems, is its inability to correct for any
disturbances occurring in the system.
 Closed Loop System
● The closed-loop system compensates for disturbances by measuring the
output response, feeding that measurement back through a feedback path,
and comparing that response to the input at the summing junction.
 Closed Loop System
● Closed-loop systems, have the obvious advantage of greater accuracy than
open-loop systems. They are less sensitive to noise, disturbances, and
changes in the environment.
● On the other hand, closed-loop systems are more complex and expensive
than open-loop systems.
 Objectives of Control System
● Two main objectives of study of control system:- Analysis and Design
● Analysis is the process by which a system’s performance is determined.
● Design is the process by which a system’s performance is created or
changed.
● To satisfy either following parameters will be studied:
○ Transient Response - Output variation when input changes
○ Steady State Response - stability of the output
 Design Process

Step 1 Step 2 Step 3 Step 4 Step 5

Transform Create a Draw a Functional Develop a Solve Mathematical

Requirements Into Schematic Block Diagram Mathematical Model Model and Analyse the
and Block Diagram Design
a Physical System
 Case Study: Antenna Azimuth Control Systems
System Concept
 Case Study: Antenna Azimuth Control Systems
Detailed Layout
 Case Study: Antenna Azimuth Control Systems
Schematic Diagram
 Case Study: Antenna Azimuth Control Systems
Functional Block Diagram
 Case Study: Antenna Azimuth Control Systems
Response Analysis
 Testing and Analysis
● Standard Test signals are chosen and response is analysed:
○ Impulses
○ Steps
○ Ramps
○ Sinusoids
○ Parabolic
○ exponential
 Impulse Input
● An approximation of this type of waveform is used to place initial energy into a
system so that the response due to that initial energy is only the transient
response of a system.
 Step Input
● A step input represents a constant command, such as position, velocity, or
acceleration.
● Step inputs results in both the transient response and the steady-state
response.
 Ramp Input
● The ramp input represents a linearly increasing command.
● The response to an input ramp test signal yields additional information about
the steady-state error.
 Parabolic Input
● Parabolic Input is similar to ramp input with added acceleration information.
 Exponential Input
● Exponential Input is input which is continuously increasing or decreasing.

Exponential Input Continuously

increasing or
decaying
input
 Sinusoidal Input
● Sine or Cosine waveform inputs are important as any signal can be
represented in terms of Sine and Cosine
 Modelling a System
● To obtain a schematic of a system, the control systems engineer must often
make many simplifying assumptions in order to keep the ensuing model
manageable and still approximate physical reality.
● The next step is to develop mathematical models from schematics of physical
systems.
● Two methods used are:
○ Transfer functions in the frequency domain
○ State equations in the time domain.
 Modelling a System
● Differential equation can describe the relationship between the input and
output of a system.
● Although the differential equation relates the system to its input and output, it
is not a satisfying representation from a system perspective.
● Relation between input and output given by differential equations which can
be transformed to block diagram or signal flow graph.
● Mathematical tool Laplace Transform is used to convert a set of differential
equation to Block Diagram or Signal Flow Graph
 Laplace Transform & Inverse Laplace Transform

● Advantage of Laplace Transform

is that it converts differential
equations into set of algebraic
equations, making analysis
easier.
● Laplace transforms are also
useful for frequency domain
analysis.
● For Time domain analysis
inverse Laplace can be used.
Laplace Transform of Standard Input Signals
Laplace Transforms Theorems
Laplace Transforms Theorems