CS Lecture 1
CS Lecture 1
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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
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Text Books
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Reference Books
1. Modern Control Engineering, (5th Edition)
By: Katsuhiko Ogata.
(Prof Emeritus)
Mechanical Engineering
University of Minnesota
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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
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Evaluation Scheme
• Mid Term Exam: 25
• End Term Exam: 50
• Assignments: 25 (5+10+10)
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Definitions
Process – The device, plant, or system under control. The input and
output relationship represents the cause-and-effect relationship of the
process.
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Definitions
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Definitions
Manipulated Variable
Input
or Output
Set point Controller Process Or
or Controlled Variable
reference
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Types of Control System
• Natural Control System
• Universe
• Human Body
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Types of Control System
• Manmade Control System
• Aeroplanes
• Chemical Process
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Types of Control System
• Manual Control Systems
• Room Temperature regulation Via Electric Fan
• Water Level 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
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Types of Control System
Closed-Loop Control Systems
Input Output
Comparator Controller Process
Measurement
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Types of Control System
Multivariable Control System
Outputs
Temp
Humidity Comparator Controller Process
Pressure
Measurements
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Types of Control System
Feedback Control System
Feedback
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Types of Control System
Servo System
• A Control System in which output varies linearly with the input is called a
linear control system.
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.
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
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
y(t ) 2u(t ) 3t
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Types of Control System
Continuous Data Vs Discrete Data System
• 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
t 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
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