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CS Lecture 1

The document outlines an introductory lecture on control systems, covering basic terminology, types of control systems, and essential definitions. It distinguishes between classical and modern control methods, detailing various system modeling techniques and evaluation schemes. Additionally, it lists recommended textbooks and prerequisites for the course, while explaining the concepts of open-loop and closed-loop systems.

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0% found this document useful (0 votes)
3 views

CS Lecture 1

The document outlines an introductory lecture on control systems, covering basic terminology, types of control systems, and essential definitions. It distinguishes between classical and modern control methods, detailing various system modeling techniques and evaluation schemes. Additionally, it lists recommended textbooks and prerequisites for the course, while explaining the concepts of open-loop and closed-loop systems.

Uploaded by

studentsumit2025
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Lecture 1

Control Systems: Introduction and Basic Terminology


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 Matrix)
• System Analysis • State Space to Transfer Function
• Time Domain Analysis • Transfer Function to State Space
• Frequency Domain Analysis • Direct Decomposition of Transfer Function
• Bode Plots, Nyquist Plots, Nichol’s Chart • Cascade Decomposition of Transfer Function
• Root Locus • Parallel Decomposition of Transfer Function
• System Design • State Space Design Techniques
• Compensation Techniques
• PID Control

3
Text Books

1. Automatic Control Systems, (9th Edition)


By: Golnaraghi and B. C. Kuo.

2. CONTROL SYSTEMS: PRINCIPLES AND DESIGN, 4TH EDITION


By: M. Gopal

4
Reference Books
1. Modern Control Engineering, (5th Edition)
By: Katsuhiko Ogata.
(Prof Emeritus)
Mechanical Engineering
University of Minnesota

2. Control Systems Engineering, (6th Edition)


By: Norman S. Nise. (Professor Emeritus)
Electrical and Computer
Engineering Department
at California State Polytechnic University

5
Prerequisites
• For Classical Control Theory
• Differential Equations
• Laplace Transform
• Basic Physics
• Ordinary and Semi-log graph papers
• For Modern Control theory above &
• Linear Algebra
• Matrices

6
Evaluation Scheme
• Mid Term Exam: 25
• End Term Exam: 50
• Assignments: 25 (5+10+10)

• Mode of Exam: Offline


• Grading Scheme: Absolute Grading scheme will be adopted to award
grades
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).

8
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

9
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.

10
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.

11
Types of Control System
• Natural Control System
• Universe
• Human Body

12
Types of Control System
• Manmade Control System
• Aeroplanes
• Chemical Process

13
Types of Control System
• Manual Control Systems
• Room Temperature regulation Via Electric Fan
• Water Level Control

• Automatic Control System


• Home Water Heating Systems (Geysers)
• Room Temperature regulation Via A.C
• Human Body Temperature Control

14
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, microwave oven,


e.t.c 15
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.

16
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, Electric Iron, Air conditioner

17
Types of Control System
Multivariable Control System

Outputs
Temp
Humidity Comparator Controller Process
Pressure

Measurements

18
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.

19
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)


20
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)
20
y(t)

-10
15

-15
10

-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t) 21
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

22
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

23
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
24
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 25
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
26

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