CONTROL SYSTEM

DESIGN

By
B.S. MANKE
Formerly Professor of Electrical Engineering
Maulana Azad National Institute of Technology
Bhopal

KP

KHANNA PUBLISHERS
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Published by :
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ISBN NO. : 81-7409-229-3

First Edition : 2007

Price : ` 125.00

Text Composition by : Excellent Graphics, Delhi.

Printed at : Bright Printers, Phari Bhojla, Delhi-110006.

To my grandsons
Aadhit
and
Abhyudit
 Preface
The introductory course in Control System Analysis is
covered in the final/prefinal year engineering classes. As per the
development in the field of control systems this subject is shifted
to lower semester classes. Additional concepts have been introduced
for higher semester classes. The purpose of this book is to present
these concepts in a simple and concise manner.
The matter presented in this book is in addition to the course
contents of the subjects basic control systems and therefore this
book serves as a companion book.
It is presumed that the reader is well versed with the
knowledge of basic control systems. The contents of this book are
suitably framed to meet requirements at a slightly higher level
than that of introductory course on Control System Analysis.
The material contained in this book covers the course
contents of the syllabus for the subject Control System II prescribed
by Indian Universities. The book contains following chapters :
Chapter 1 deals with the compensation network design. Non-
linear control systems, the method of analysis through phase-plane
describing function method is given in chapter 2. The analysis and
design aspects based on state variable approach are presented in
chapter 3. The discrete time control systems form the basis for the
study of digital control systems. Chapter 4 covers the frequency
response, root locus analysis and stability considerations for
discrete-time control systems. Introduction to state variable model
formulation of discrete-time control systems have been included.
The stability analysis based on Liapunov method is given in chapter
5. Theory is ably supported by suitable numerical examples.
The author wishes to express his thanks to all concerned
who helped him in the preparation of this book.
The author sincerely thanks Khanna Publishers, Delhi for
publishing this book.
April 2007 B.S. MANKE
B-309 Sarvadharam Colony
Kolar Road
BHOPAL 462042
 Contents
Chapter Topic Page

1. Compensation of Feed Back Control Systems 1—62

1.1. Introduction ... 1
1.2. Root Locus Approach ... 3
1.3. Compensating Network Design : Root Locus
Approach Lead Network ... 17
1.4. Phase Lead Compensation Network ... 25
1.5. Compensation Network Design : Bode Plot
Approach ... 27
1.6. Phase Lag Compensation Network ... 31
1.7. Phase Lag Network Design : Bode Plot
Approach ... 33
1.8. Lag-lead Compensation Network ... 36
1.9. Lag-lead Network Design : Root Locus
Approach ... 37
1.10. Lag-lead Network Design : Bode Plot
(Approach) ... 41
1.11. Proportional Plus Derivative Plus Integral
(PID) Control ... 48
1.12. PID Controller Design Root : Locus Approach ... 51
1.13 PID Controller Design : Frequency Response
Approach ... 56
2. Non-linear Control Systems 63—118
2.1. Introduction ... 63
2.2. Classification of Non-linearities ... 65
2.3. Phenomena Exhibted Due to Presence of
Non-linear Element in a Control System ... 65
2.4. Phase Plane Analysis ... 71
2.5. Singular Points ... 79
2.6. The Delta Method ... 88
2.7. Describing Function Method of Analyses ... 92
3. State Variable Analysis 119—194
3.1. Introduction ... 119
3.2. Concepts of State Variables ... 120
3.3. State Equations ... 123
3.4. State Model ... 125
( vi )
Chapter Topic Page
3.5. State Space Representation ... 126
3.6. Transfer Function Decomposition ... 133
3.7. Solution of State Equation ... 147
3.8. Determination of State Transition Matrix ... 152
3.9. Determination of Transfer Matrix from State
Model ... 164
3.10. Controllability and Observability ... 166
3.11. State Variable Feed-back as Applied to Pole
Placement ... 174
3.12. State Observer ... 184
4. Discrete-Data/Digital Control Systems 195—295
4.1. Introduction ... 195
4.2. Discrete-time Signals ... 197
4.3. The Sampler and Sampling Process ... 200
4.4. Laplace Transform of Sampled Function ... 203
4.5. z-transform ... 204
4.6. The Inverse z-transform ... 212
4.7. Signal Reconstruction using Hold Circuit ... 217
4.8. Reconstruction of Signal: Minimum
Sampling Frequency ... 221
4.9. The Pulse Transfer Function (z-transfer
Function) ... 223
4.10. Difference Equation ... 232
4.11. Time Response of Discrete-Time System ... 234
4.12. The Characteristic Equation ... 241
4.13. Stability Analysis of Discrete Data Control
System ... 244
4.14. Nyquist Criterion ... 252
4.15. Bode Plot ... 259
4.16. Root Locus ... 264
4.17. State Variable Analysis of Discrete-time
Control Systems ... 271
4.18. Solution of Discrete-time State Equation ... 282
4.19. z-transfer Function Matrix ... 284
4.20. Discretization of Continuous-time State
Space Equations ... 290
5. Liapunov Stability Analysis 296—330
5.1. Introduction ... 296
5.2. Definition of Stability ... 297
Chapter Topic Page
5.3. DefinItion of Asymptotic Stability ... 298
5.4. Liapunov Function ... 300
5.5. Positive/Negative Definite Scalar functions ... 300
5.6. Stability Determination Applying Liapunov’s
Direct Method ... 305
5.7. Mathematical Representation of Liapunov’s
Stability Theorem ... 307
5.8. Determination of Liapunov Function ... 312
5.9. Aizerman’s Method ... 317
5.10. Krasovskii Method ... 320
5.11. Variable Gradient Method ... 322
Index 331—333
 1
Compensation of Feed Back
Control Systems

1.1. INTRODUCTION
The design objective of the components of a control system is to
meet the desired performance specification requirements which are
concerning time response, accuracy and relative stability.
These specifications are generally given in terms of numerical
values or in the form of qualitative data. During the design process
these requirements may have to be marginally adjusted to some
tolerable extent, because, it may not be conveniently possible to satisfy
all the given specifications at one time. For example, if the steady
state error has to be given preference, then the time response
specification are to be modified to some extent. The ultimate purpose
of the design process is to have optimal system for given purpose.
Once the preliminary analysis is done, the next step towards
designing a system is to select one of many possible alternatives that
meets the desired specifications.
To get the desired performance characteristic of a control system,
it becomes necessary to insert a compensation network in the system.
The design of a compensator is carried out in time domain or frequency
domain, as decided by the specifications given. The root locus approach
is used if the time response specifications are given. Bode plot approach
is used if frequency domain specifications are given.
The time response specifications are :
(1) rise time, tr
(2) settling time, ts
(3) damping ratio, ζ
(4) steady state error, ess
(5) % maximum overshoot, % Mp

1
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