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Chapter - 01

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System: A collection of objects to achieve a specific task/purpose is called a system.

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Control System: Control system consists of various subsystems/processes in which a quantity of interest is varied

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Examples for Control Systems (Engineering applications):

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(5) Speed control of electric motors (6) Voltage and frequency control in power systems

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Examples for Control Systems (Non Engineering applications):

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(3) Political systems (4) Judiciary system and So on

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(1) Open - Loop Configuration

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(1) Disturbance rejection is possible (1) Spped control of electric motors

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(3) Stability can be improved by using proper feedback (3) Traffic lights with sensors/police
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Overview of Control Systems Syllabus:

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Chapter - 3: Stability

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Chapter 1: Mathematical modelling - Rouths mehtod

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- Controllability and Observability

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Lecture 2

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Review of Laplace Transforms

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Laplace Transform.

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Table - 2 (Usefule Laplace Transforms Theorems)7093916495604?txSecret=7993965d37a5a2fbb03df0cf079e221f&txTime=65E490A1

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Case - I: Roots of denominator polynomial are real and distinct

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Principle of Homogenity: In a given system an input x is acting on it and producing an

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Principle of Superposition: In a given system let, multiple sources are acting simultaneously. If the response is

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Suppose, if the given system satisfies both Homogenous and superposition principles then it is known as

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LINEAR SYSTEM.

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Time Invariant System: If the system parametes are not varying with respect to time, then

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such systems are known as Time Invariant Systems.

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Electrical circuits are the best examples for time invariant systems.

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Time Variant System: If the system parametes are varying with respect to time, then

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such systems are known as Time variant Systems.

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In this course, we can consider the physical systems belongs to Linear and Time Invariant Systems (LTI

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Analysis.

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In an LTI system, the physical system can be expressed with nth order differential equation

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Transfer Function Definition:

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In an LTI system, the ratio of Laplace transform of output to Laplace transform of input

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under zero initial conditions is known as transfer function.

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Some useful conclusions on Transfer Function (TF):

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(2) TF can be defined under zero initial conditions only.

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(3) TF is independent of input.

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(6) If the system configuration is not known, then TF can be determined by

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(7) Laplace transform of Impulse response is same as TF

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(8) The highest power of 's' in the denominator (after cancelling common terms)
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Closed - Loop system with disturbance input
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Sensitivity:

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Sensitivity is the measure of effectiveness of a feedback system in reducing the

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Sensitivity should be low (or zero) for good control systems.

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s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
Transfer Function for Electrical Circuits:

lo
ng
s
- Basic components are Resistor (R), Inductor (L) and Capacitor (C).

to
Ab
- Basic laws are KVL and KCL.

hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
Lecture 04

na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
Transfer function for Operational Amplifiers

hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
Home work (Op - Amp circuits):

lo
ng
s
TYC - 1.2: Q13, Q14, Q15, Q16, Q17

to
Ab
hi
na
Transfer function for Mechanical Systems:

v
Kr
is
- Translational systems (linear movement/motion)

hn
a
M
- Rotational systems (Circular movement/motion)

te
fF
- Rotational systems with gear mechanism

R
0
(a
- Electromechanical Systems (Separately Excited DC motor)

b
hi
na
vm
kr
Transfer function for Translational systems (linear movement/motion):

is
hn
a2
- Basic variables are Force f(t); Displacement x(t) and velocity v(t):

02
0@
- Basic parameters are

gm
ai
- Spring (K)

l.c
om
- Viscous Damper (fv) where fv is coefficient of viscous friction

,8
54
- Mass (M)

7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
lo
There are two ways of comparing mechanical systems with electrical circuits:

ng
s
to
Ab
Force - Voltage analogy:

hi
na
v
- Force is analogous to Voltage

Kr
is
hn
- Velcotiy is analogous to current

a
M
- Displacement is analogous to electric charge

te
fF
R
- Viscous damper is analogous to Resistor

0
(a
b
- Mass is analogous to Inductor

hi
na
vm
- Spring is analogous Capcitor

kr
is
hn
a2
Force - Current analogy:

02
0@
- Force is analogous to current

gm
ai
- Velcotiy is analogous to voltage

l.c
om
- Viscous damper is analogous to Resistor

,8
54
- Mass is analogous to Capacitor

7
26
80
- Spring is analogous Inductor

34
)
Note: These comparisions are important for PSU exams
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
Lecture 05

na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
Transfer function for Rotational Systems:

lo
ng
- Basic variables are Torque T(t), Angular velocity (t), Angular displacement

s
to
Ab
- Basic elements are Spring (K), Viscous damper (D) and Moment of Inertia (J)

hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
Rotational Systems with gear mechanisim:

lo
ng
Two or more rotational systems (like shafts) will be connected each other using

s
to
Ab
gears to get and advantage of adjusting speed and torque, as shown in the figure below.

hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
Transfer Function for Electromechanical System (Separately Excited dc motor):

lo
ng
s
The equivalent circuit arrangement is as shown in the figure below.

to
Ab
hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
- If a current carrying conductor is placed in a magnetic field, then it will experience a force known as torque

gm
ai
developed by the motor [Tm(t)].

l.c
om
- If a conductor is placed in a magnetic field and there is a relative speed between then an emf will induced in the

,8
54
conductor. In motor, this emf is known as back emf [eb(t)].

7
26
80
- If the dc motor is used to control the angular position of the shaft, then it can be referred as Position Control

34
)
application.
- If the dc motor is used to control the speed of the shaft, then it can be referred as Speed Control application.
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
Lecture 06

v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
Reduction of Multiple Sub Systems:

lo
ng
In some complicated systems, several sub systems will be connected each other.

s
to
Ab
The overall transfer function can be simplified by using the following methods:

hi
na
(1) Block Diagram Reduction (BDR)

v
Kr
is
(2) Signal Flow Graph (SFG)

hn
a
M
te
fF
Block Diagram Reduction Techniques

R
0
(a
- In this method each block is assumed to be isolated from each other that means at any stage, the given

b
hi
na
block will not consume power from its predecessor block. In simple terms, loading effect is neglected.

vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
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TYC - 1.3: Q02, Q03, Q06, Q07

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Signal Flow Graph (SFG):

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which represents the direction of the signal.

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Input Node (Source node): It is a node that has only outgoing branches.

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Output Node (Sink node): It is a node that has only incoming branches.

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Path: A path is collection of a continous succession of branches traversed in the same

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 Make sure to complete TYC and PYQs of Ch-1
Chapter - 1 Completed

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