Course Outline

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
• System Analysis Transition Matrix)
• Time Domain Analysis (Test Signals) • State Space to Transfer Function
• Frequency Domain Analysis • Transfer Function to State Space
• Bode Plots • Direct Decomposition of Transfer
• Nyquist Plots Function
• Nichol’s Chart • Cascade Decomposition of Transfer
Function
• Parallel Decomposition of Transfer
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 Text Books

1. Modern Control Engineering, (Latest Edition)

By: Katsuhiko Ogata. (Prof Emeritus) Mechanical Engineering
University of Minnesota

2. Control Systems Engineering, (Latest Edition)

By: Norman S. Nise. (Professor Emeritus)
Electrical and Computer Engineering Department
California State Polytechnic University
3. Automatic Control Systems, (Latest Edition)
By: Golnaraghi and B. C. Kuo.

4. Automatic Control Systems, (7th Edition or Latest Version)

By: Syed Hasan Saeed, Associate Professor, Deptt. of ECE, Integral University,
Luchnow, India.

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 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

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 Marks Distribution
 Total Marks = 100

 Continuous Assessment Marks = 30

 Attendance = 5 Marks
 Class Test = 25 Marks (Average of best 2 CT’s of 4 CT’s
 Marks(Assignments though out the semester)

 Final Exam Marks = 70

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 Why Control Systems Needed?

Tornado
Boeing 777

 Both are capable of transporting goods and people over long distances

• One is controlled, and the other is not.

• Control is “the hidden technology that you meet every day”
• It heavily relies on the notion of “feedback”

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 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).

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 Definitions

System – An interconnection of elements and devices for a desired purpose.

Control System – An interconnection of components forming a system

configuration that will provide a desired response.

Process – The device, plant, or system under control. The input and
output relationship represents the cause-and-effect relationship of the
process.

Input Process Output

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Definitions

Controlled Variable– It is the quantity or condition that is measured and

Controlled. Normally controlled variable is the output of the control
system.

Manipulated Variable– It is the quantity of the condition that is varied

by the controller so as to affect the value of controlled variable.

Control – Control means measuring the value of controlled variable of

the system and applying the manipulated variable to the system to
correct or limit the deviation of the measured value from a desired
value.

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 Definitions
Manipulated Variable

Input
or Output
Set point Controller Process Or
or Controlled Variable
reference

Disturbances– A disturbance is a signal that tends to adversely affect

the value of the system. It is an unwanted input of the system.
• If a disturbance is generated within the system, it is
called internal disturbance. While an external disturbance is
generated outside the system.

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 Types of Control System
• Natural Control System
– Universe
– Human Body
• Manmade Control System
– Vehicles
– Aeroplanes

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 Types of Control System
• Manual Control Systems
– Room Temperature regulation Via Electric Fan
– Water Level Control

• Automatic Control System

– Room Temperature regulation Via A.C
– Human Body Temperature Control

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 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

Examples:- Washing Machine, Toaster, Electric Fan

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 Types of Control System
Open-Loop Control Systems

• Since in open loop control systems reference input is not

compared with measured output, for each reference input there
is fixed operating condition.

• Therefore, the accuracy of the system depends on calibration.

• The performance of open loop system is severely affected by the

presence of disturbances, or variation in operating/
environmental conditions.

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 Types of Control System
Closed-Loop Control Systems

Closed-Loop Control Systems utilizes feedback to compare the actual

output to the desired output response.

Input Output
Comparator Controller Process

Measurement

Examples:- Refrigerator, Iron

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 Types of Control System
Multivariable Control System

Temp Outputs
Humidity Comparator Controller Process
Pressure

Measurements

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 Types of Control System
Feedback Control System

• A system that maintains a prescribed relationship between the output

and some reference input by comparing them and using the difference
(i.e. error) as a means of control is called a feedback control system.

Input + error Output

Controller Process
-

Feedback

• Feedback can be positive or negative.

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 Types of Control System
Servo System

• A Servo System (or servomechanism) is a feedback control system in

which the output is some mechanical position, velocity or acceleration.

Antenna Positioning System Modular Servo System (MS150)

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 Types of Control System
Linear Vs Nonlinear Control System

• A Control System in which output varies linearly with the input is called a
linear control system.

u(t) Process y(t)

y(t )  2u(t )  1 y(t )  3u(t )  5

y=3*u(t)+5
y=-2*u(t)+1
35
5

30
0
25
-5

y(t)
y(t)

20
-10
15

-15
10

-20 5
0 2 4 6 8 10 0 2 4 6 8 10
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u(t)
 Types of Control System
Linear Vs Nonlinear Control System

• When the input and output has nonlinear relationship the system is said
to be nonlinear.

Adhesion Characteristics of Road

0.4
Adhesion Coefficient

0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08
Creep

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 Types of Control System
Linear Vs Nonlinear Control System
• Linear control System Does not
exist in practice. Adhesion Characteristics of Road

0.4
• Linear control systems are
idealized models fabricated by

Adhesion Coefficient
0.3
the analyst purely for the
simplicity of analysis and design. 0.2

• When the magnitude of signals 0.1

in a control system are limited to
range in which system 0
0 0.02 0.04 0.06 0.08
components exhibit linear Creep
characteristics the system is
essentially linear.
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 Types of Control System
Linear Vs Nonlinear Control System
• Temperature control of petroleum product in a distillation column.

°C

Temperature
500°C

Valve Position

0% 25% 100%
% Open

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 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

• Time varying control system is a system in which one or more

parameters vary with time.

y(t )  2u(t )  3t

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 Types of Control System
Lumped parameter vs Distributed Parameter

• Control system that can be described by ordinary differential equations

are lumped-parameter control systems.

d 2x dx
M C  kx
dt 2 dt
• Whereas the distributed parameter control systems are described by
partial differential equations.
2
x x  x
f1  f2 g 2
dy dz dz
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 Types of Control System
Continuous Data Vs Discrete Data System

• In continuous data control system all system variables are function of a

continuous time t.
x(t)

• A discrete time control system involves one or more variables that are
known only at discrete time intervals.
X[n]

n
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 Types of Control System
Deterministic vs Stochastic Control System

• A control System is deterministic if the response to input is predictable

and repeatable.
x(t) y(t)

t t

• If not, the control system is a stochastic control system

z(t)

t
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 Types of Control System
Adaptive Control System

• The dynamic characteristics of most control systems

are not constant for several reasons.
• The effect of small changes on the system
parameters is attenuated in a feedback control
system.
• An adaptive control system is required when the
changes in the system parameters are significant.

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 Types of Control System
Learning Control System

• A control system that can learn from the

environment it is operating is called a learning
control system.

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 Classification of Control Systems
Control Systems

LTI
Co
ntr
o
Natural Man-made

lS
yst
em
s(L
ine
Manual Automatic

ar
tim
ei
nv
ari
Open-loop Closed-loop

an
tc
on
tro
linear

l
Non-linear

sys
Non-linear linear

tem
s)
Time variant Time invariant
Time variant Time invariant
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 Examples of Control Systems
Water-level float regulator

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 Examples of Control Systems

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 Examples of Modern Control Systems

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 Examples of Modern Control Systems

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 Examples of Modern Control Systems

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 Transfer Function
• Transfer Function is the ratio of Laplace transform of the
output to the Laplace transform of the input.

u(t) Plant y(t)

If u(t )  U ( S ) and
y(t )  Y ( S )
• Where  is the Laplace operator.

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 Transfer Function
• Then the transfer function G(S) of the plant is given
as
Y (S )
G( S ) 
U (S )

U(S) G(S) Y(S)

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 Why Laplace Transform?
• By use of Laplace transform we can convert many
common functions into algebraic function of complex
variable s.
• For example

sin t  2 2
s 
Or 1
 at
e 
sa
• Where s is a complex variable (complex frequency) and
is given as s    j
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 Laplace Transform of Derivatives
• Not only common function can be converted into
simple algebraic expressions but calculus operations
can also be converted into algebraic expressions.
• For example
dx(t )
  sX ( S )  x( 0 )
dt

2
d x(t ) 2 dx( 0)
 2
 s X ( S )  x( 0) 
dt dt
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 Laplace Transform of Derivatives
• In general

n
d x(t ) n n 1 n 1
 n
 s X (S )  s x( 0)    x (0)
dt

• Where x(0) is the initial condition of the system.

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 Example: RC Circuit

• u is the input voltage applied at t=0

• y is the capacitor voltage

• If the capacitor is not already charged then

y(0)=0.

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 Laplace Transform of Integrals

1
 x(t )dt  X ( S )
s

• The time domain integral becomes division by

s in frequency domain.

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 Calculation of the Transfer Function
• Consider the following ODE where y(t) is input of the system
and x(t) is the output.
d 2 x(t ) dy(t ) dx(t )
A C B
• or dt 2 dt dt

Ax' ' (t )  Cy' (t )  Bx' (t )

• Taking the Laplace transform on either sides

A[ s 2 X ( s )  sx( 0)  x' ( 0)]  C[ sY ( s )  y( 0)]  B[ sX ( s )  x( 0)]

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 Calculation of the Transfer Function

A[ s 2 X ( s )  sx( 0)  x' ( 0)]  C[ sY ( s )  y( 0)]  B[ sX ( s )  x( 0)]

• Considering Initial conditions to zero in order to find the transfer

function of the system

As 2 X ( s )  CsY ( s )  BsX ( s )
• Rearranging the above equation

As 2 X ( s )  BsX ( s )  CsY ( s )
X ( s )[ As 2  Bs ]  CsY ( s )
X (s) Cs C
 
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Y ( s ) Haldia 2
 ofBs
AsInstitute As  B
Technology 42
 Example
1. Find out the transfer function of the RC network shown in figure-1.
Assume that the capacitor is not initially charged.

Figure-1

2. u(t) and y(t) are the input and output respectively of a system defined by
following ODE. Determine the Transfer Function. Assume there is no any
energy stored in the system.

6u' ' (t )  3u(t )   y(t )dt  3 y' ' ' (t )  y(t )

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 Transfer Function
• In general

• Where x is the input of the system and y is the output of

the system.

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 Transfer Function

• When order of the denominator polynomial is greater

than the numerator polynomial the transfer function is
said to be ‘proper’.

• Otherwise ‘improper’

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 Transfer Function
• Transfer function helps us to check

– The stability of the system

– Time domain and frequency domain characteristics of the

system

– Response of the system for any given input

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 Stability of Control System
• There are several meanings of stability, in general
there are two kinds of stability definitions in control
system study.

– Absolute Stability

– Relative Stability

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 Stability of Control System

• Roots of denominator polynomial of a transfer

function are called ‘poles’.

• And the roots of numerator polynomials of a

transfer function are called ‘zeros’.

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 Stability of Control System

• Poles of the system are represented by ‘x’ and

zeros of the system are represented by ‘o’.
• System order is always equal to number of
poles of the transfer function.
• Following transfer function represents nth
order plant.

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 Stability of Control System
• Poles is also defined as “it is the frequency at which
system becomes infinite”. Hence the name pole
where field is infinite.

• And zero is the frequency at which system becomes

0.

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 Stability of Control System
• Poles is also defined as “it is the frequency at which
system becomes infinite”.
• Like a magnetic pole or black hole.

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 Relation b/w poles and zeros and frequency
response of the system
• The relationship between poles and zeros and the frequency
response of a system comes alive with this 3D pole-zero plot.

Single pole system

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 Relation b/w poles and zeros and frequency
response of the system
• 3D pole-zero plot
– System has 1 ‘zero’ and 2 ‘poles’.

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 Relation b/w poles and zeros and frequency
response of the system

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 Example
• Consider the Transfer function calculated in previous
slides.
X (s) C
G( s )  
Y ( s ) As  B

the denominato r polynomial is As  B  0

• The only pole of the system is

B
s
A

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 Examples
• Consider the following transfer functions.
– Determine
• Whether the transfer function is proper or improper
• Poles of the system
• zeros of the system
• Order of the system

s3 s
)i G( s )  )ii G( s ) 
s( s  2 ) ( s  1)( s  2 )( s  3)

( s  3) 2 s 2 ( s  1)
)iii G( s )  )iv G( s ) 
s( s 2  10) s( s  10)
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 Stability of Control Systems
• The poles and zeros of the system are plotted in s-plane
to check the stability of the system.
j

LHP RHP

Recall s    j


s-plane

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 Stability of Control Systems
• If all the poles of the system lie in left half plane the
system is said to be Stable.
• If any of the poles lie in right half plane the system is said
to be unstable.
• If pole(s) lie on imaginary axis the system is said to be
marginally stable. j

LHP RHP

If all the poles 

s-plane
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 Stability of Control Systems
• For example
C
G( s )  , if A  1, B  3 and C  10
As  B
• Then the only pole of the system lie at

pole  3
j

LHP RHP

X 
-3

s-plane
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 Examples
• Consider the following transfer functions.
 Determine whether the transfer function is proper or improper
 Calculate the Poles and zeros of the system
 Determine the order of the system
 Draw the pole-zero map
 Determine the Stability of the system

s3 s
)i G( s )  )ii G( s ) 
s( s  2 ) ( s  1)( s  2 )( s  3)

( s  3) 2 s 2 ( s  1)
)iii G( s )  )iv G( s ) 
s( s 2  10) s( s  10)
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