Control System Notes by HPK Kumar JWFILES

www.jntuworld.
com
www.jntuworld.com
www.jwjobs.net
CONTROL SYSTEM
NOTES
(ForBachelorofEngineering)
Notesby:
PROF. SHESHADRI G. S
SoftCopymaterialdesignedby:
KARTHIK KUMAR H P
Yourfeedbackscanbemailedto:
hpk_kumar007@yahoo.com

INDEX
(1) IntroductiontoControlsystem
(2) Mathematicalmodeloflinearsystems
(3) Transferfunctions
(4) Blockdiagram
(5) SignalFlowGraphs
(6) SystemStability
(7) RootLocusPlots
(8) BodePlots
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

1
Control Systems
By: Sheshadri.G.S.
HPK Kumar
Introduction to Control Systems
By: Sheshadri.G.S.
CIT, Gubbi.
Control Systemmeans any quantity of interest in a machine or mechanismis maintained or altered in
accordance with desired manner. OR
A systemwhich controls the output quantity is called a control system.
Definitions:
1. Controlled Variable:
It is the quantity or condition that is measured & controlled.

2. Controller:
Controller means measuring the value of the controlled variable of the system& applying the
manipulated variable to the systemto correct or to limit the deviation of the measured value to the
desired value.

3. Plant:
A plant is a piece of equipment, which is a set of machine parts functioning together. The
purpose of which is to performa particular operation. Example: Furnace, Space craft etc.,

4. System:
A system is a combination of components that works together & performs certain objective.

5. Disturbance:
A disturbance is a signal that tends to affect the value of the output of a system. If a disturbance
is created inside the system, it is called internal. While an external disturbance is generated outside the
system.

6. Feedback Control:
It is an operation that, in the presence of disturbance tends to reduce the difference between the
output of a system& some reference input.

7. Servo Mechanism:
A servo mechanism is a feedback controlled systemin which the output is some mechanical
position, velocity or acceleration.

8. Open loop System:
In an Open loop System, the control action is independent of the desired output. OR
When the output quantity of the control systemis not fed back to the input quantity, the control
systemis called an Open loop System.

9. Closed loop System:
In the Closed loop Control System the control action is dependent on the desired output, where
the output quantity is considerably controlled by sending a command signal to input quantity.

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

2
Introduction to Control System
By: Sheshadri.G.S.

HPK Kumar

10. Feed Back:
Normally, the feed back signal has opposite polarity to the input signal. This is called negative
feed back. The advantage is the resultant signal obtained fromthe comparator being difference of the
two signals is of smaller magnitude. It can be handled easily by the control system. The resulting signal
is called Actuating Signal This signal has zero value when the desired output is obtained. In that
condition, control systemwill not operate.
Effects of Feed Back:
Let the systemhas open loop gain feed back loop gain Output signal &
Input signal .
Then the feed back signal is,

With this eqn. , we can write the effects of feed back as follows.
(a) Overall Gain:
Eqn. shows that the gain of the open loop systemis reduced by a factor in
a feed back system. Here the feed back signal is negative. If the feed back gain has positive value, the
overall gain will be reduced. If the feed back gain has negative value, the overall gain may increase.

(b) Stability:
If a systemis able to follow the input command signal, the systemis said to be Stable.
A systemis said to be Unstable, if its output is out of control. In eqn. , if the output of the
systemis infinite for any finite input. This shows that a stable systemmay become unstable for certain
value of a feed back gain. Therefore if the feed back is not properly used, the systemcan be harmful.

(c) Sensitivity:
This depends on the systemparameters. For a good control system, it is desirable that the system
should be insensitive to its parameter changes.
Sensitivity, S
G
=

This function of the systemcan be reduced by increasing the value
of . This can be done by selecting proper feed back.
G(S)
H(S)
R(S)
B(S)
E(S)
C(S)
-

&
Hence,

=
(1)
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

3
Control Systems
By: Sheshadri.G.S.
HPK Kumar
(d) Noise:
Examples are brush & commutation noise in electrical machines, Vibrations in moving system
etc.,. The effect of feed back on these noise signals will be greatly influenced by the point at which these
signals are introduced in the system. It is possible to reduce the effect of noise by proper design of feed
back system.
Classification of Control Systems
The Control Systemcan be classified mainly depending upon,
(a) Method of analysis & design, as Linear & Non- Linear Systems.
(b) The type of the signal, as Time Varying, Time Invariant, Continuous data, Discrete data systems etc.,
(c) The type of systemcomponents, as Electro Mechanical, Hydraulic, Thermal, Pneumatic Control systems etc.,
(d) The main purpose, as Position control & Velocity control Systems.

1. Linear & Non-Linear Systems:
In a linear system, the principle of superposition can be applied. In non- linear system,
this principle cant be applied. Therefore a linear system is that which obeys superposition
principle & homogeneity.

2. Time Varying & Time Invariant Systems:
While operating a control system, if the parameters are unaffected by the time, then the
system is called Time Invariant Control System. Most physical systems have parameters
changing with time. If this variation is measurable during the system operation then the system
is called Time Varying System.
If there is no non-linearity in the time varying system, then the system may be called as
Linear Time varying System.

3. Discrete Data Systems:
If the signal is not continuously varying with time but it is in the form of pulses. Then
the control system is called Discrete Data Control System.
If the signal is in the form of pulse data, then the system is called Sampled Data Control
System. Here the information supplied intermittently at specific instants of time. This has the
advantage of Time sharing system. On the other hand, if the signal is in the form of digital
code, the system is called Digital Coded System. Here use of Digital computers, p, c is
made use of such systems are analyzed by the Z- transform theory.

4. Continuous Data Systems:
If the signal obtained at various parts of the system are varying continuously with time,
then the system is called Continuous Data Control Systems.

5. Adaptive Control systems:
In some control systems, certain parameters are either not constant or vary in an
unknown manner. If the parameter variations are large or rapid, it may be desirable to design
for the capability of continuously measuring them & changing the compensation, so that the
system performance criteria can always satisfied. This is called Adaptive Control Systems.
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

4
Introduction to Control System
By: Sheshadri.G.S.

HPK Kumar

6. Optimal Control System:
Optimal Control System is obtained by minimizing and/or maximizing the performance
index. This index depends upon the physical system & skill.

7. Single Variable Control System:
In simple control system there will be One input & One output such systems are called
Single variable System (SISO Single Input & Single Output).

8. Multi Variable Control System:
In Multivariable control system there will be more than one input & correspondingly
more outputs (MIMO - Multiple Inputs & Multiple Outputs).
Comparison between Open loop & Closed loop Gain
Open Loop System Closed Loop System
1. An open loop system has the ability to
perform accurately, if its calibration is good.
If the calibration is not perfect its performance
will go down.

2. It is easier to build.

3. In general it is more stable as the feed
back is absent.

4. If non- linearitys are present; the
system operation is not good.

5. Feed back is absent.
Example:
(i) Traffic Control System.
(ii) Control of furnace for coal heating.
(iii) An Electric Washing Machine.
1. A closed loop system has got the ability to
perform accurately because of the feed back.

2. It is difficult to build.

3. Less Stable Comparatively.

4. Even under the presence of non-
linearitys the system operates better than open
loop system.
5. Feed back is present.
Example:
(i) Pressure Control System.
(ii) Speed Control System.
(iii) Robot Control System.
(iv) Temperature Control System.

Note:
Any control system which operates on time basis is an Open Loop System.

Compensator
System
H(S)
Identification & Parameter
adjustment
R(s)
E(s)
+
-
B(s)
C(s)
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

5
Control Systems
By: Sheshadri.G.S.
HPK Kumar
Block Diagram of Closed Loop System:

Thermometer Block Diagram of Temperature Control System:

Temperature Control of Passenger Compartment Car:

Control Elements
Feed Back elements
Ref. i/p
E(S)
Controlled
o/p
E(S)
Plant
Controller
Actuator
Desired
Temperature
i/p
Controller
Sensor
Radiation Heat Sensor
Air Conditioner Passenger Car
Sensor
O/p
Sun
Ambient
Temperature
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *

* * * * * * * * * * * * * * * *

A/D Converter Interface
Relay Interface Amplifier
Programmed i/p
Electric Furnace
Heater
Thermo meter
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net
1
Control Systems
Besigneu By: HPK Kumar
(hpk_kumaiuu7yahoo.com)
Mathematical Models of Linear Systems
By: Sheshadri.G.S.
CIT, Gubbi.
A physical system is a collection of physical objects connected together to serve an objective. An idealized
physical system is called a Physical model. Once a physical model is obtained, the next step is to obtain Mathematical
model. When a mathematical model is solved for various i/p conditions, the result represents the dynamic behavior of the
system.
AnalogousSystem:
The concept of analogous system is very useful in practice. Since one type of system may be easier to
handle experimentally than another. A given electrical system consisting of resistance, inductance &
capacitances may be analogous to the mechanical system consisting of suitable combination of Dash pot,
Mass & Spring. The advantages of electrical systems are,
1. Many circuit theorems, impedance concepts can be applicable.
2. An Electrical engineer familiar with electrical systems can easily analyze the system under
study & can predict the behavior of the system.
3. The electrical analog system is easy to handle experimentally.
TranslationalSystem:
It has 3 types of forces due to elements.
1. Inertial Force: Due to inertial mass,
2. Damping Force [Viscous Damping]: Due to viscous damping, it is proportional to velocity & is given by,
3. Spring Force: Spring force is proportional to displacement.
F
J
=
Jx
Jt
= . u
Damping force is denoted by either D or B or F
B
F
k

o - Accclcrotion.
M
F(t)
F
m
(t) = N. a = H
Ju
Jt
=H
J
2
x
Jt
2
Wheie, x - Iincor Jisploccmcnt.
u - Iincor Iclocity.
x
x
u
u
F
k
=k. x =k . _u dt
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net
2
Mathematical Models of Linear Systems
Rotationalsystem:
1. Inertial Torque:

2. Damping Torque:

3. Spring Torque (I
0
) :
Analogousquantitiesintranslational&Rotationalsystem:
The electrical analog of the mechanical system can be obtained by,
(i) Force Voltage analogy: (F.V)
(ii) Force Current analogy: (F.I)

Sl.
No.
Mechanical Translational
System
Mechanical Rotational
System
F.V
Analogy
F.I
Analogy
1. Force (F) Torque (T) Voltage (V) Current (I)
2. Mass (M) Moment of Inertia (M) Inductance (L) Capacitance (C)
3. Viscous friction (D or B or F) Viscous friction (D or B or F) Resistance (R) Conductance (G)
4. Spring stiffness (k) Torsional spring stiffness
(k
0
)
Reciprocal
of Capacitance (1/C)
Reciprocal
of Inductance (1/L)
5. Linear displacement (x) Angular displacement (0) Charge (q) Flux ()
6. Linear velocity (u) Angular Velocity (w) Current (i) Voltage (v)

DAlembertsPrinciple:
The static equilibrium of a dynamic system subjected to an external driving force obeys the following principle,
Foi any bouy, the algebiaic sum of exteinally applieu foices iesisting motion in any given uiiection is zeio.
ExampleProblems:
(1) Obtain the electrical analog (FV & FI analog circuits) for the Machine system shown & also write the equations.

I = [
J
2
0
Jt
2
= [
Jw
Jt
I
d
= B
J0
Jt
= B. w
I
0
= k 0 = k _w Jt
w - Angulor Iclocity
0 - Angulor isploccmcnt
[ - Homcnt o Incrtio
Wheie,
B - Rototionol omping
1
J
Jt
(x
1
- x
2
)
D
2

D
1

u
2
(t)
x
2
(t)
u
1
(t)
x
1
(t)
F(t)
Free Body diagram
M
1

2
Jx
1
Jt

1

J
Jt
(x
1
- x
2
)
F(t)
M
1

k x
2
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net
1
Control Systems
G(S)
R(S)
C(S)
G(S) =
C(s)
R(s)

R(S) = I{o(t)] = 1
Transfer Functions
By: Sheshadri.G.S.
CIT, Gubbi.
The input- output relationship in a linear time invariant system is defined by the transfer function.
The features of the transfer functions are,
(1) It is applicable to Linear Time Invariant system.
(2) It is the ratio between the Laplace Transform of the o/p variable to the Laplace Transform of the i/p variable.
(3) It is assumed that initial conditions are zero.
(4) It is independent of i/p excitation.
(5) It is used to obtain systems o/p response.
An equation describing the physical system has integrals & differentials, the step involved in obtaining the
transfer function are;
(1) Write the differential equation of the system.
(2) Replace the terms
d
dt
by S & ] Jt by 1/S.
(3) Eliminate all the variables except the desired variables.
ImpulseResponseoftheLinearSystem:
Taking L
-1

Here G(t) will be impulse response of the Linear System. This is called Weighing Function. Hence LT of the impulse
response is the Transfer function of the system itself.
PROBLEMS:
(1) ObtaintheTransferFunction(TF)ofthecircuitshownincircuit1.0

Solution:

i.e., the Laplace Transform of the system o/p will be simply the Transfer function of the system.
C(S) = 0(S). R(S) = 0(S). 1
In a control system, when there is a single i/p of unit impulse function,
then there will be some response of the Linear System.
The Laplace Transform of the i/p will be R(S) = 1
C(S) = 0(S) =
C(t) = 0(t)
R
C
i
Circuit 1.0
R
i(S)
Laplace Transformed network
1
CS
Contd
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net
2
Transfer Functions
i. c., I
o
(S) =
1
CS
I(S) & I
(S) = I(S) jR +
1
CS
[

(2) ObtaintheTFofthemechanicalsystemshownincircuit2.

= CS . I
o
(S) = I(S)
CS . I
o
(S) =
I
(s)
|R +
1
CS
]
IF =
I
o
(S)
I
(s)
=
1
1 + S
Where, = RC
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net
3
Control Systems
(3) TransferFunctionofanArmatureControlledDCMotorincircuit3.0:

The air gap flux is proportional to the field current.
i.e., I
]

= K
]
. I
]
Where, K
f
is a constant.
The torque developed by the motor T
m
is proportional to the product of the arm current & the air gap flux.
I
m
= K
]
K
u
I
]
I
u
Where, K
a
& K
f
are the constants.
Since the field current is constant, I
m
= K
1
I
u
Where, K
T
is Motor torque constant.
The motor back e.m.f is proportional to the speed & is given by,
E
b
=K
b
J0
Jt
Where, K
b
is back e.m.f constant.
The differential equation of the armature circuit is, I
= i
u
R
u
+ I
u

d
c
dt
+ E
b

The torque equation is, I
m
= [
J
2
0
Jt
2
+F
J0
Jt

Taking LT for above equation, we get
I
(S) = R
u
I
u
(S) + I
u
S I
u
(S) + E
b
(S) ------------------------------- (1)
I
o
(S) =
I
i
(S)- E
b
(S)
R
o
+ I
o
S
(A)
I
m
(S) = [ S
2
0(S) + F S 0(S)
Taking LT for the torque equation & equating, we get
K
1
I
u
(S) = [ S
2
0(S) + F S 0(S)
R
a
L
a
i
a
i
a
V
i E
b
F
I
f
= Constant
V
f
T
m
0
N
E
b
Let,
R
a
Resistance of armature in s.
L
a
Inductance of armature in Hs.
i
a
Armature current. & i
f
Field current.
V
i
Applied armature voltage.
E
b
Back e.m.f in volts.
T
m
Torque developed by the motor in N-m.
0Angular displacement of motor shaft in radians
J Equivalent moment of inertia of motor & load referred to the motor shaft.
F Equivalent Viscous friction co-efficient of motor & load referred to the motor shaft.
circuit 3.0
I I
u
J ,
F
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net
4
Transfer Functions
I
o
(S) =
_[ S
2
+ F S _ 0(S)
K
I
------------------------------ (2)
0(S) =
K
T
I
c
(S)
] S
2
+P S
-------------------------- (B)
Taking LT for back e.m.f equation, we get
E
b
(S) = K
b
S 0(S) ------------------------------- (C)
Substituting the values of I
a
(S) & E
b
(S) from equation (C) & (2) in equation (1), we get
I
(S) = |R
u
+ I
u
S]
[ S
2
+ F S
K
1
0(S) + K
b
S 0(S)
I
(S) =
|(R
c
+ L
c
S )(] S
2
+ P S)+ K
b
S .K
T
]
K
T
0(S)

TheblockdiagramrepresentationofarmaturecontrolledDCMotorcanbeobtainedasfollows,
From equation (A),

From equation (B),

From equation (C),

The complete block diagram is as shown below,

0(S)
I
(S)
=
K
1
|(R
u
+ I
u
S )([ S
2
+ F S) + K
b
K
1
S]
1
R
u
+ I
u
S
V
i
(S)
E
b
(S)
-
I
a
(S)
K
1
[ S
2
+ F S
0(S) I
a
(S)
K
b
S
E
b
(S) 0(S)
K
I
[ S
2
+ F S
0(S)
1
R
u
+ I
u
S
V
i
(S)
E
b
(S)
-
I
a
(S)
K
b
S
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net
5
Control Systems
(4) TransferfunctionofFieldControlledDCMotorincircuit4.0:

In the field controlled DC motor, the armature current is fed from a constant current source.
I
m
= K
]
K
u
I
]
I
u
Where, K
a
& K
f
are the constants.
The KVL equation for the field circuit is,
I
]
= i
]
R
]
+ I
]

Ji
]
Jt

On Laplace Transform,
I
]
(S) = R
]
I
]
(S) + I
]
S I
]
(S)
I
]
(S) = I
]
(S) . |R
]
+ I
]
S ] ---------------------------------- (1)
I
(S) =
I
(S)
|R
+ I
S ]
--------------------------------- (A)

The torque equation is , I
m
= K
1
I
]
Where, K
T
is Motor torque constant.
I
m
= [
J
2
0
Jt
2
+ F
J0
Jt

On Laplace Transform,
I
m
(S) = K
1
I
]
(S) = [ S
2
0(S) + F S 0(S)
K
1
I
]
(S) = ( [S
2
+ F S ) . 0(S)
I
(S) =
_ [S
2
+ F S ] .0(S)
K
I
--------------------------- (2)
0(S) =
K
T
I
F
(S)
( ]S
2
+ P S )
------------------------- (B)
Substituting the value of I
]
(S) from equation (2) in equation (1), we get
R
f
L
f
i
f
V
f
T
m
0
I
a
= Constant
Let,
R
f
Field winding resistance.
L
f
Field winding inductance.
V
f
Field control voltage.
I
f
Field current.
T
m
Torque developed by motor.
J,
F
J Equivalent moment of inertia of motor & load referred to the motor shaft.
F Equivalent Viscous friction co-efficient of motor & load referred to the
motor shaft.
0 Angular displacement of motor shaft.
circuit 4.0
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net
6
Transfer Functions
I
]
(S) =
_ [S
2
+ F S ] .0(S)
K
I
|R
]
+ I
]
S ]

TheblockdiagramrepresentationoffieldcontrolledDCMotorcanbeobtainedasfollows,
From equation (A),

From equation (B),

The complete block diagram is as shown below,

(5) ObtaintheTF
F
u
(S)
F
|
(S)
forthenetworkshownincircuit5.0:
Solution:

Applying KVL to this circuit,
I
(S) = I(S) jR +
1
CS
[ + I
o
(S)

----------------
------------------ (1)
I(S) = I
1
(S) + I
2
(S)
I(S) =
I
o
(S)
R
+ I
o
(S). CS = I
o
(S) _
1
R
+ CS_
(1) = I
(S) = I
o
(S) j
1
R
+CS[ . jR +
1
CS
[ +I
o
(S)

I
o
(S)
I
i
(S)
=
R C S
(1+RCS)
2
+ RCS

0(S)
I
(S)
=
K
I
[ [S
2
+ F S (R
+ I
S )
K
1
[ S
2
+ F S
0(S) I
f
(S)
1
R
]
+ I
]
S
V
f
(S)
I
f
(S)
1
R
]
+ I
]
S
V
f
(S)
I
f
(S)
K
1
[ S
2
+ F S
0(S)
circuit 5.0
R C
R C V
i
V
o
R
R
1
CS

1
CS

V
i
(S) V
o
(S)
I(S) I
1
(S) I
2
(S)
I
o
(S)
I
i
(S)
=
S
[1+ S
2
+ S
Let,RC =
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net
7
Control Systems
(6) FindtheTF
F
u
(S)
F
|
(S)
forthenetworkshownincircuit6.0:
Solution:

Writing KVL for loop (1), we get
I
i
(S) = I
1
(S) _ 1u
S
+
1u
S
S
_ - I
2
(S)
1u
S
S

= I
1
(S) =
I
i
(S) . S
1u
S
(S+1)
+
I
2
(S)
S+1
------------------------------------------- (1)
Writing KVL for loop (2), we get
-I
1
(S)
10
S
S
+ I
2
(S) j
10
S
S
+ 1u
6
+
10
6
S
[ = u
= I
2
(S) =
I
1
(S)
1u S+11
-------------------------------------------- (2)
I
o
(S) = I
2
(S).
1u
6
S
= I
2
(S) =
I
o
(S) . S
1u
6
--------------------------------- (3)
Substituting for I
1
(S) from equation (2) in (1), we get
= I
2
(S). (1u S +11) =
I
i
(S) . S
1u
S
(S+1)
+
I
2
(S)
(S+1)

S I
i
(S)
1u
S
(S+1)
= I
2
(S) j
(1u S+11) (S+1)- 1
(S+1)
[
From equation (3) the above equation becomes,
S I
i
(S)
1u
S

=
I
o
(S) . S
1u
6
[ 1u S
2
+ 21 S +1u

Circuit 6.0
100 k 1M
10 p F
1 p F
V
i
V
i
(S) I
1
(S) I
2
(S)
1u
6
1u
5

1u
5
S

1u
6
S

V
0
(S)
Loop 1 Loop 2
I
o
(S)
I
i
(S)
=
1u
1u S
2
+ 21 S + 1u
1u
6
S

V
0
(S) 1
1uS + 11
I
1
(S)
+
I
2
(S)
1
S+1
S
1u
5
(S + 1)
V
i
(S)
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net
8
Transfer Functions

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

1
Control Systems

Block Diagrams
By: Sheshadri.G.S.
CIT, Gubbi.
It is a representation of the control systemgiving the inter-relation between the transfer function of
various components. The block diagramis obtained after obtaining the differential equation & Transfer
function of all components of a control system. The arrow head pointing towards the block indicates the i/p
& pointing away fromthe block indicates the o/p.

After obtaining the block diagramfor each & every component, all blocks are combined to obtain a
complete representation. It is then reduced to a simple formwith the help of block diagramalgebra.
The following block diagramreduction algebra is used,
(1) Blocks in Cascade [Series] :

(2) Combining blocks in Parallel:

(3) Eliminating a feed back loop:

(4) Moving a take-off point beyond a block:

(5) Moving a Take-off point ahead of a block:

If is the TF,

G
2
(S)

G(S)
C(S)

(2)
(2)
(3)
(6)

(2)
(2)
(3)
(6)

G(S)

(3)
(6)
(2)
(6)

(3)
(2)
(2)
(6)

(6)

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

2
Block Diagrams

PROBLEMS:
Reduce the Block Diagrams shown below:

(1)

Solution: By eliminating the feed-back paths, we get

Combining the blocks in series, we get

Eliminating the feed back path, we get

+
-
- -

+
-

+

C(S)
-

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

3
Control Systems

(2)

Solution: Shifting the take-off beyond the block , we get

Combining and eliminating (feed back loop), we get

Eliminating the feed back path , we get

Combining all the three blocks, we get

R(S)
-
-

-

C(S)

R(S)
-
-

-

C(S)

R(S)
-
-

C(S)
R(S)
C(S)

R(S)
-

C(S)
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

4
Block Diagrams

(3)

Solution: Re-arranging the block diagram, we get

Eliminating loop & combining, we get

Eliminating feed back loop

Eliminating feed back loop , we get

C(S) R(S)
-
- -

C(S) R(S)
- -

R(S) C(S)
-

C(S) R(S)

C(S) R(S)
-
- -

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

1 Control Systems
Signal Flow Graphs
By: Sheshadri.G.S.
CIT, Gubbi.
For complicated systems, Block diagramreduction method becomes tedious & time consuming. An
alternate method is that signal flow graphs developed by S.J . Mason. In these graphs, each node represents
a systemvariable & each branch connected between two nodes acts as Signal Multiplier. The direction of
signal flow is indicated by an arrow.
Definitions:
1. Node: A node is a point representing a variable.
2. Transmittance: A transmittance is a gain between two nodes.
3. Branch: A branch is a line joining two nodes. The signal travels along a branch.
4. Input node [Source]: It is a node which has only out going signals.
5. Output node [Sink]: It is a node which is having only incoming signals.
6. Mixed node: It is a node which has both incoming & outgoing branches (signals).
7. Path: It is the traversal of connected branches in the direction of branch arrows. Such that no node
is traversed more than once.
8. Loop: It is a closed path.
9. Loop Gain: It is the product of the branch transmittances of a loop.
10. Non-Touching Loops: Loops are Non-Touching, if they do not possess any common node.
11. Forward Path: It is a path fromi/p node to the o/p node which doesnt cross any node more than
once.
12. Forward Path Gain: It is the product of branch transmittances of a forward path.
MASONS GAIN FORMULA:
The relation between the i/p variable & the o/p variable of a signal flow graphs is given by the net
gain between the i/p & the o/p nodes and is known as Overall gain of the system.
Masons gain formula for the determination of overall systemgain is given by,

Where, Path gain of forward path.
Determinant of the graph.

The value of the for that part of the graph not touching the forward path.
T Overall gain of the system.

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

2 Signal Flow Graphs
Problems:
(1) Obtain the closed loop TF, by using Masons gain formula.

Solution:
Masons gain formula is,
No. of forward paths:

No. of individual loops:

No. of three non-touching loops = 0.

(2) Obtain the closed loop TF, by using Masons gain formula.

Solution:

Forward Paths:

Gain Products of all possible combinations of two non-touching loops:

Contd......
R(S)

C(S)

R(S)
C(S)

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

3 Control Systems
No. of individual loops: Two Non-touching loops:

(3) Construct a signal flow graph from the following equations. Obtain overall TF using Masons gain formula.

Where is i/p variable & is o/p variable.

Solution:


Individual loops: Two non-touching loops:

Three non-touching loops = 0

(4) Obtain by Block Diagram Reduction method & verify the result by signal flow graph.

Contd......

+

R(S)

+
+
C(S)
-
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

Solution: Re-arranging the summing points,

Signal flow graphs:



(5) Obtain the TF & Verify by signal flow graph.

Solution: Shifting the take-off point ahead of the block . The BD reduces to,


-

-
R(S)
C(S)

R(S)

-

-

C(S)
R(S)

C(S)
Contd......

R(S) C(S)

C(S)
+

- -
R(S)

+
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

5 Control Systems

Signal flow graph:



(6) Reduce the Block Diagram shown.

Solution:
Shifting beyond , we get

C(S)
R(S)

C(S)

R(S)

-

-
R(S)

-
+
C(S)

-

-
R(S)

-
+
C(S)

R(S)
-

C(S)

R(S) C(S)
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net



Eliminating the another feed back loop , we get

Signal flow graph:

-

R(S)

-
+
C(S)

-
R(S)

+
C(S)

-
R(S)

+
C(S)

R(S)
+
C(S)

C(S) R(S)

R(S)
C(S)

Contd......
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

7 Control Systems


(7) Obtain the closed loop TF by using Masons gain formula.

Solution:

No. of individual loops: Two non-touching loops:

(8) Obtain the TF of the closed loop control system represented by the Block Diagram shown below using
block diagram reduction method.

Solution:
Shifting the take off point of beyond block & Simplifying for the blocks , we get

R(S) C(S)

- -

-

- -

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

Eliminating loop, we get

(9) Using Masons gain rule, obtain the overall TF of a control system represented by the signal flow graph
shown below.

Solution:

Individual loops:

Two non-touching loops = 0

(10) Construct signal flow graph from the following equations & obtain the overall TF.

-

Contd......

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

9 Control Systems
Solution:



Three non-touching loops:

Four non-touching loops = 0

(11) Obtain the TF using Masons gain formula.

Two non-touching loops:

Contd......
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

Solution:




Solution:





Contd......

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

11 Control Systems
Solution:


(14) Draw the signal flow graph for the Block Diagram shown in fig. Hence obtain , Using
Masons gain formula.

Solution:





Contd......
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net


(15) Obtain TF, using block diagram algebra & also by using Masons Gain Formula. Hence Verify
the TF in both the methods.

Solution:
Same block diagramcan be re-arranged as shown below.

Shifting the take-off points beyond we get

-

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

13 Control Systems

Substituting x value in the block diagram. The block diagrambecomes,

Signal flow graph:


No. of individual loops: Two non-touching loops = 0

(16) Obtain TF, using block diagram algebra & also by using Masons Gain Formula. Hence Verify
the TF in both the methods.

Contd......
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net


Solution:
Same Block Diagramcan be written as,

Substituting the value of x

Signal flow Graph:

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

15 Control Systems

No. of individual loops: Two non-touching loops = 0

(17) Find the output

Solution:
(i) Let then we can find


No. of individual loops: Two non-touching loops:


www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

(ii) Let Determine


remains same.

(iii) Let Determine


remains same.

(iv) Let Determine
(i.e., Response at 2 when source 2 is acting).
(figure is in next page)

remains same.

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

17 Control Systems

Hence,

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

1
Control Systems

System Stability
By: Sheshadri.G.S.
CIT, Gubbi.
While considering the performance specification in the control systemdesign, the essential &
desirable requirement will be the systemstability. This means that the systemmust be stable at all times
during operation. Stability may be used to define the usefulness of the system. Stability studies include
absolute & relative stability. Absolute stability is the quality of stable or unstable performance. Relative
Stability is the quantitative study of stability.
The stability study is based on the properties of the TF. In the analysis, the characteristic equation is
of importance to describe the transient response of the system. Fromthe roots of the characteristic equation,
some of the conclusions drawn will be as follows,
(1) When all the roots of the characteristic equation lie in the left half of the S-plane, the system
response due to initial condition will decrease to zero at time Thus the systemwill be termed as
stable.

(2) When one or more roots lie on the imaginary axis & there are no roots on the RHS of S-
plane, the response will be oscillatory without damping. Such a systemwill be termed as critically stable.

(3) When one or more roots lie on the RHS of S-plane, the response will exponentially increase
in magnitude; there by the systemwill be Unstable.

Some of the Definitions of stability are,
(1) A systemis stable, if its o/p is bounded for any bounded i/p.

(2) A systemis stable, if its response to a bounded disturbing signal vanishes ultimately as time
t approaches infinity.

(3) A system is unstable, if its response to a bounded disturbing signal results in an o/p of
infinite amplitude or an Oscillatory signal.

(4) If the o/p response to a bounded i/p signal results in constant amplitude or constant
amplitude oscillations, then the systemmay be stable or unstable under some limited constraints. Such a
systemis called Limitedly Stable system.

(5) If a systemresponse is stable for a limited range of variation of its parameters, it is called
Conditionally Stable System.

(6) If a systemresponse is stable for all variation of its parameters, it is called Absolutely Stable
system.

Routh-Hurwitz Criteria:
A designer has so often to design the systemthat satisfies certain specifications. In general, a
systembefore being put in to use has to be tested for its stability. Routh-Hurwitz stability criteria may be
used. This criterion is used to know about the absolute stability. i.e., no extra information can be obtained
regarding improvement.
As per Routh-Hurwitz criteria, the necessary conditions for a systemto be stable are,
(1) None of the co-efficient of the Characteristic equation should be missing or zero.

(2) All the co-efficient should be real & should have the same sign.
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

2
System Stability

A sufficient condition for a systemto be stable is that each & every termof the column of
the Routh array must be positive or should have the same sign. Routh array can be obtained as follows.
The Characteristic equation is of the form,

0
0
0 0
0 0 0

Similarly we can evaluate rest of the elements,
The following are the limitations of Routh-Hurwitz stability criteria,
(1) It is valid only if the Characteristic equation is algebraic.

(2) If any co-efficient of the Characteristic equation is complex or contains power of , this criterion
cannot be applied.

(3) It gives information about how many roots are lying in the RHS of S-plane; values of the roots are
not available. Also it cannot distinguish between real & complex roots.

Special cases in Routh-Hurwitz criteria:
(1) When the termin a row is zero, but all other terms are non-zeroes then substitute a small positive
number for zero & proceed to evaluate the rest of the elements. When the column termis zero, it
means that there is an imaginary root.

(2) All zero row: In the case, write auxiliary equation frompreceding row, differentiate this equation &
substitute all zero row by the co-efficient obtained by differentiating the auxiliary equation. This case
occurs when the roots are in pairs. The systemis limitedly stable.

Problems:
COMMENT ON THE STABILITY OF THE SYSTEM WHOSE CHARACTERISTIC EQUATION IS GIVEN BELOW:

(1)

1 21 20
6 36 0
15 20 0
28 0 0
20 0 0

Where,

The no. of sign changes in the column = zero.
No roots are lying in the RHS of S-plane.
The given Systemis Absolutely Stable.
: :
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

3
Control Systems

(2)

4 2
3 5
-4.66 0
5 0

(3)

1 1 5
2 4 0
-1 5 0
14 0 0
5 0 0

(4)

1 2 3 +ve
2 4 1 +ve

0 2.5 0 +ve

1 0 -ve
0 0 +ve
1 0 0 +ve

(5)

1 2 3

2 4 6

2 6 0

-16 0 0

6 0 0

(6)

1 8 20 16
2 12 16 0
2 12 16 0

6 16 0 0
2.66 0 0 0
16 0 0 0
The no. of sign changes in the column = 2
Two roots are lying in the RHS of S-plane.
The given Systemis unstable.
The no. of sign changes in the
column = 2
Two roots are lying in the RHS
of S-plane.
All Zero row. A.E. is

The given Systemis unstable & limitedly stable.
A.E. is

The Systemis limitedly stable.
(Because, in the row all the elements are
zero).
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

4
System Stability

(7) The open loop TF of a unity feed back system is . Find the restriction on K, So that
the closed loop is stable.
Solution:

10 1
6.5 K

0
K 0

For, the closed loop systemis stable.

(8)
Solution:
1 4 K
3 1 0
K 0
0 0
K 0 0

For, the closed loop systemis stable

(9) Determine the value of K & b, So that the system open loop T.F. oscillates at a
frequency of 2 radians. ( Assuming unity feed back i.e., H(S)=1 )
Solution:
The characteristic equation is

1 (3+K)
b (1+K)

0
(1+K) 0

Fromequations (9.1) & (9.2)

Either from(9.1) or (9.2)

For Stable system,
(i)
(ii)

For Stable system,
(i)
(i)

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

5
Control Systems

(10) The open-loop TF of a unity feed back system is given by the above
expression. Find the value of K for which the system is just stable.
Solution:

1 23 2K
9 (15+K) 0

2K 0
0 0
2K 0 0

When the value of K is 61.68 the systemis just stable.

(11) Using Routh-Hurwitz criteria, find out the range of K for which the system is stable. The
characteristic equation is
Solution:
1 (2K+3)
5K 10

0
10 0

The range of K is

(12) A proposed control system has a system & a controller as shown. Access the stability of the system
by a suitable method. What are the ranges of K for the system to be stable?

Solution: The characteristic equation is

16 (1+K)
8 K

0
K 0

(13)

(i) K > 0
(ii) 192 K > 0
K < 192

(iii) (192 K)(15+K) 162K > 0
(for the max. value of K)
Fromthis evaluate for K,
Using,
Considering the positive value of K,

So, 0 < K < 61.68

(i) K > 0
(ii)
Considering the positive value of K,

(i) K > 0
(ii)

The range of K is,

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

6
System Stability

(14)

(15)

(16) The open-loop TF of a control system is given by Find the range of
the gain constant K for stability using Routh-Hurwitz criteria.
Solution:

No. of sign changes = 2,
Two roots lie on RHS of
S-plane.
The systemis Unstable.

Auxiliary Equation:
No sign changes in the
column.
The systemis Limitedly
Stable.

(i)
(ii)

For the systemto be stable the range of the K is,

(i)
(ii)
(iii)
(iv)

The Range of K is for
the systemto be stable.

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

7
Control Systems

(17)

1 4 6
2 5 2

1.5 5 0
-1.666 2 0
6.8 0 0
2 0 0

(18)
Solution:

1 11
6 6
10 0
6 0

(19)
Solution:

No. of sign changes = 1

(20)

+ve 1 2 4
+ve 1 2 1
+ve
3 0
-ve
1 0
+ve

0 0
+ve 1 0 0

(21)
+ve 2 6 1
+ve 1 3 1
+ve -1 0
+ve

1 0
-ve

0 0
+ve 1 0 0

(22)
1 -5
2 -6
-2 0
-6 0
(i) No. of sign changes = 2.
(ii) Two roots lie on RHS of
S-plane.
(iii) The systemis Unstable.

No sign changes.
The systemis Absolutely Stable.
No. of sign changes = 2.
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

8
System Stability

1 -2 -7 -4
1 -3 -4 0
1 -3 -4 0

-1.5 -4 0 0
-16.66 0 0 0
-4 0 0 0

(23)
1 5 8
4
2 8 8 0
1 4 4 0

2 4 0 0

4 0 0 0

(24)
1 2 0.5
0
(4)
0
(4)
0
(0)

1 0.5 0
2 0 0
0.5 0 0

(25)
1 2 2

0.8 1.6 0
- 4 2 0
2 0 0
2 0 0

(26)

1 7500
34.5 7500K

0
7500K 0

Auxiliary equation:
The systemis Unstable &
Limitedly Stable.

Auxiliary equation:

Auxiliary equation:
The systemis Limitedly Stable.

Auxiliary Equation:

The systemis Limitedly Stable.
Auxiliary Equation:


(i)
(ii)
For a stable closed loop systemthere should not be any sign change among the elements of the column in the Routh-
Hurwitz table. This requires &
The range of K is for the systemto be stable.
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

9
Control Systems

(27) Given , .
Solution:

1 (21+K)

10 13K

0

13K 0

(28) ,
Solution:
The Characteristic equation is
1 15 2K
7 25+K 0

2K 0

0 0
2K 0 0

(29)
Solution:
1 5 15
20K 10 0

15 0

0 0
15 0 0

(30) Determine the values of K & a. Such that the system oscillates at a frequency of 2 rad/sec.

Solution: The characteristic equation is

1 (2+K)
a (1+K)

0
(1+K) 0

(31)

(i)
(ii)

The range of K is , for the system
to be stable.

(i)
(ii)
(iii)
To solve for the K value,
By simplifying,

Hence, the range of K is

(i)
(ii)
(iii)
The gain K always should be a real quantity.
Hence this systemis always Unstable.

, becomes

From(1) & (2), &

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

10
System Stability

1 2 3
1
-2 0

5 0

0 0
5 0 0

(32)

9 10 -9

0
0
0 0
0 0

(33)

1 24 24 23
9 24 24 15
21.33 21.33 21.33 0
15 15 15

7.5 15 0 0
0 0 0
15 0 0 0

(34)

1 9 4 36
5 9 20 36
7.2 0 28.8 0
9 0 36

36 0 0

0 0 0
36 0 0 0

(35) ,

Solution: The Characteristic equation is

1 2
3 K

0
K 0
Auxiliary equation:

Auxiliary equation:


(i)
(ii)

The range of K is
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

11
Control Systems

(36) The open-loop transfer function of a unity feed back control system is given by,
, using Routh-Hurwitz criteria. Discuss the stability of the closed loop-
control system. Determine the value of K which will cause sustained oscillations in the closed loop
system. What are the corresponding oscillating frequencies?
Solution:
1 69
12 198 0
52.5 0

0 0
0 0

Hence,

(37) A feed back system has open-loop transfer function Determine the
maximum value of K for stability of the closed-loop system.
Solution:
Generally control systems have very low Band width which implies that it has very low frequency
range of operations. Hence for low frequency ranges, the term can be replaced by . i.e.,

The characteristic equation is ,

1
5 K

0
K 0

(i)
(ii)
(iii) The Auxiliary equation for the row is

When

(i)
(ii)
The range of K is for the systemto be
stable.
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net
1
Control Systems
Root Locus Plots
By: Sheshadri.G.S.
CIT, Gubbi.
It gives complete dynamic response of the system. It provides a measure of sensitivity of roots to the
variation in the parameter being considered. It is applied for single as well as multiple loop system. It can be defined as
follows,
It is the plot of the loci of the root of the complementary equation when one or more parameters of the open-loop
Transfer function are varied, mostly the only one variable available is the gain K The negative gain has no physical
significance hence varying K from 0 to , the plot is obtained called the Root Locus Point.
RulesfortheConstructionofRootLocus
(1) The root locus is symmetrical about the real axis.
(2) The no. of branches terminating on equals the no. of open-loop pole-zeroes.
(3) Each branch of the root locus originates from an open-loop pole at K = 0 & terminates at open-loop zero
corresponding to K = .
(4) A point on the real axis lies on the locus, if the no. of open-loop poles & zeroes on the real axis to the right of this
point is odd.
(5) The root locus branches that tend to , do so along the straight line.
Asymptotes making angle with the real axis is given by 0 =
n 18u
u
P-Z
, Where, n=1,3,5,
P = No. of poles & Z =No. of zeroes.
(6) The asymptotes cross the real axis at a point known as Centroid. i.e., o =
polcs-zcrocs
P-Z

(7) The break away or the break in points [Saddle points] of the root locus or determined from the roots of the
equation
Jk
Js
= u.
(8) The intersection of the root locus branches with the imaginary axis can be determined by the use of Routh-
Hurwitz criteria or by putting S = [ in the characteristic equation & equating the real part and imaginary to
zero. To solve for & K i.e., the value of is intersection point on the imaginary axis & K is the value of
gain at the intersection point.
(9) The angle of departure from a complex open-loop pole(0
d
) is given by, 0
d
= 18u
0
+ z0E
1

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

1
Control Systems
Bode Plots
By: Sheshadri.G.S.
CIT, Gubbi.
Sinusoidal transfer function is commonly represented by Bode Plot. It is a plot of magnitude against
frequency. i.e., angle of transfer function against frequency.

The following are the advantages of Bode Plot,
(1) Plotting of Bode Plot is relatively easier as compared to other methods.
(2) Low & High frequency characteristics can be represented on a single diagram.
(3) Study of relative stability is easier as parameters of analysis of relative stability are gain & phase
margin which are visibly seen on sketch.
(4) If modification of an existing systemis to be studied, it can be easily done on a Bode Plot.
Initial Magnitude:
If ,
,
,
,
,
,
,

Phase Plot: Magnitude Plot:
GCF
+ve PM
GCF
GCF
GCF
-ve PM
line
line
PCF
PCF
PCF
PCF
+ve GM
-ve GM
0 dB line
0 dB line
www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

2
Bode Plots
Problems:
(1) To find the angle for the quadratic term
Solution: Put,

(2) Determine the transfer function. Whose approximate plot is as shown.

Solution:
The corner frequencies are & at , the slope changes from to .
Therefore there must be a factor . Since the initial slope is , There must be a pole at the
origin i.e., at
The slope at changes from to due to a factor . Open-loop TF is,

To find the value of K :

(3) Find the open-loop TF of a system, whose approximate plot is as shown.

dB
B
A
40 dB
C

D

A
B
C

20

dB

A
B
C

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

3
Control Systems
Solution:
Corner frequencies are
but

Since the has a slope of , the corresponding factor is
Plot between & , It is having a slope of . Therefore at , there must be a zero & the
factor is in the numerator.
At ,the slop is changing from to & the corresponding factor is
in the Numerator.
At , the slope has changed from to due to a factor
in the denominator.
Therefore the open-loop transfer function is,


Solution:

(1) Slope of the first line = indicating the term
(2) At slope changes from to indicating a term in the
numerator.
(3) At slope changes to indicating a term in the Numerator.
(4) At slope changes to indicating a term in the Denominator.
(5) At slope changes to indicating a term in the
Denominator.
(6) At slope changes to indicating a term in the
Denominator.

dB

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

4
Bode Plots
Calculation of :

Calculation of :

The Open-loop transfer function is,


Solution:
Let , be the origin.

(6) Derive the Transfer function of the system from the data given on the Bode diagram given below.

[[
Solution: Between there is a decrease of there is a decrease of
dB,


Therefore, the Open-loop transfer function is,

dB

A
B

dB

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

5
Control Systems
Examination Problem (Mar/Apr 99):
(7) The sketch given shows the Bode Magnitude plot for a system. Obtain the Transfer function.

Solution: Since the initial slope is there must be zero at the origin.
&

Examination Problem (Sep/Oct 99):
(8) Estimate the Transfer function for the Bode Magnitude plot shown in figure.

Solution:

dB

A
B
40
(Z)
C
D
E
(P)
(P)

(DZ)

dB

(Z)

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

6
Bode Plots
Examination Problem (97):
(9) The bode plot (magnitude) of a unity feed back control system is as shown in the fig. Obtain the
phase plot.

Solution:

dB

www.jntuworld.com
www.jntuworld.com
www.jwjobs.net

Control System Notes by HPK Kumar JWFILES

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Control System Notes by HPK Kumar JWFILES

Uploaded by

Copyright:

Available Formats

www.jntuworld.

3. Spring Force: Spring force is proportional to displacement.

You might also like