Communication

Engineering

M.N. Bandyopadhyay
CONTROL ENGINEERING
Theory and Practice

M.N. BANDYOPADHYAY
Professor and Head (Electrical)
Dean (Academic) and Controller of Examination
National Institute of Technology
(Formerly REC)
Hamirpur

Delhi-110092
2013
CONTROL ENGINEERING: Theory and Practice
M.N. Bandyopadhyay

2003 by PHI Learning Private Limited, Delhi. All rights reserved. No part of this book may
be reproduced in any form, by mimeograph or any other means, without permission in writing
from the publisher.

ISBN-978-81-203-1954-7

The export rights of this book are vested solely with the publisher.

Eighth Printing February, 2013

Published by Asoke K. Ghosh, PHI Learning Private Limited, Rimjhim House, 111,
Patparganj Industrial Estate, Delhi-110092 and Printed by Jay Print Pack Private Limited,
New Delhi-110015.
 To
My Guide
DR. JEEVA RAMPRAKASH
My Respected Father
T.N. BANDYOPADHYAY
and
My Loving Wife and Son
ILA and SOUMENDRA
 Contents

Preface xi

1. INTRODUCTION 139
1.1 Concept of Control Systems 1
1.1.1 Closed-loop and Open-loop Control 1
1.1.2 Examples of Closed-loop Control Systems 2
1.1.3 Stages of Development of Control Systems 8
1.2 Models of the Control System 10
1.3 Block Diagram 10
1.3.1 Block Diagram of Multiple Input and Multiple Output Systems 14
1.3.2 Sensitivity of the Control System 15
1.3.3 Improvement of System Dynamics by Feedback, 18
1.4 Signal Flow Graph 19
1.4.1 Signal Flow Graph Developed From Equations 20
1.4.2 Masons Gain Formula 21
1.4.3 Development of Signal Flow Graph From the Practical Example 23
1.4.4 Methods of Solving Problems of Block Diagram and Signal Flow
Graph 27
Summary 38
Questions 38

2. REVIEW OF SOME MATHEMATICAL TOOLS 4077

2.1 The Laplace Transform 40
2.1.1 Laplace Transforms of Some Important Functions 40
2.1.2 Properties of Laplace Transform 46
2.2 The -transform 51
2.2.1 Inverse of -transform 54
2.2.2 Properties of -transform 59
2.3 Correlation of Two Sequences 65
2.4 Eigenvalues and Eigenvectors 66
2.5 Hermitian Form 72
2.6 Calculus of Variations 74
Summary 75
Questions 76

3. TRANSIENT AND STEADY STATE BEHAVIOUR OF SYSTEMS 7899

3.1 Introduction 78
3.2 The First-order System 78

v
vi Contents

3.3 The Second-order System 80

3.4 Steady-state Error of Feedback Control System and Its Types 92
Summary 97
Questions 97

4. STATE VARIABLE ANALYSIS 100144

4.1 Introduction 100
4.2 State Model of Linear Time-invariant System 104
4.2.1 Properties of the State-transition Matrix 106
4.3 State-transition Equation 107
4.4 Definition of Transfer Function and Characteristic Equation 111
4.5 Transformation from One Set of Dynamic Equations to
Another Set of Dynamic Equations 112
4.6 Definition of Controllability and Observability 113
4.6.1 Controllability in Canonical Form 113
4.6.2 Observability in Canonical Form 116
4.7 Diagonal Canonical Form 119
4.8 Jordan Canonical Form 125
4.9 Sensitivity Analysis 129
4.9.1 Trajectory Sensitivity 130
4.10 Controllable Companion Form 135
4.11 State Feedback Decoupling 140
Summary 142
Questions 143

5. STABILITY OF LINEAR CONTROL SYSTEMS 145164

5.1 Introduction 145
5.2 Methods of Determining Stability by Studying the
Roots of the Characteristic Equation 149
5.2.1 Hurwitz Stability Criterion 149
5.2.2 Routh Stability Criterion 151
5.2.3 Relation between the Routh and Hurwitz Criteria 152
5.2.4 Applications of the Routh-stability Criterion 158
Summary 161
Questions 161

6. STUDY OF THE LOCUS OF THE ROOTS OF CHARACTERISTIC EQUATION 165187

6.1 Introduction 165
6.2 Fundamental Idea of the Root Locus 165
6.2.1 Correlation with Masons Gain Formula 167
6.2.2 Method of Drawing the Root Locus 168
6.3 Construction of Root Contour 180
Summary 184
Questions 184
 Contents vii

7. ANALYSIS OF FREQUENCY RESPONSE 188206

7.1 Introduction 188
7.2 Methods of Describing Frequency Response 191
7.3 Bode Plot 196
7.3.1 Method of Plotting the Bode Plot 198
Summary 206
Questions 206

8. STABILITY IN FREQUENCY RESPONSE SYSTEMS 207234

8.1 Introduction 207
8.2 Nyquist Stability Criterion 208
8.2.1 Nyquist Contour with Open-loop Poles on the jw -Axis 215
8.3 Study of Relative Stability 215
8.4 Gain Margin and Phase Margin 216
8.4.1 Gain Margin 218
8.4.2 Phase Margin 218
8.5 Constant-M Circles 225
8.6 Constant-N Circles 227
8.7 Method of Determining Closed-loop Frequency Response for
Nonunity Feedback Systems 229
8.8 Nichols Chart 229
Summary 233
Questions 233

9. COMPENSATORS AND CONTROLLERS 235254

9.1 Introduction 235
9.2 Types of Compensation 239
9.2.1 Series Compensation or Cascade Compensation 239
9.2.2 Feedback Compensation or Parallel Compensation 239
9.2.3 State Feedback Compensation 240
9.2.4 Series Feedback Compensation 240
9.2.5 Feedforward Compensation 240
9.3 Lead Compensator 241
9.4 Lag Compensator 243
9.5 Lag-Lead Compensator 244
9.6 Controllers 246
9.6.1 PI Controller 246
9.6.2 PD Controller 249
9.6.3 PID Controller 252
Summary 253
Questions 254

10. NONLINEAR CONTROL SYSTEMS 255288

10.1 Liapunovs Method for Stability Study 255
10.1.1 Application of the Liapunovs Method 255
10.1.2 Liapunovs Second Method 263
viii Contents

10.2 Phase Plane Method 268

10.2.1 Method of Determining the Phase Trajectory for a Second-order
System 268
10.2.2 Method of Developing Isocline and Trajectory 269
10.2.3 Phase Plane Trajectory for the Nonlinear System 272
10.2.4 Solution of Time 276
10.3 Describing Functions 276
10.3.1 Application of the Describing Function Techniques 281
10.4 Examples of Nonlinear Systems 284
Summary 288
Questions 288

11. DIGITAL CONTROL SYSTEMS 289322

11.1 Introduction 289
11.2 Sampled Data Control System 289
11.3 Sampling 290
11.4 Signal Reconstruction 292
11.5 Linear Discrete System 293
11.6 Equivalent Representation of Pulse Sampler and ZOH 295
11.7 Impulse Sampling 297
11.8 Application of -transform to Sampled Data Systems 300
11.9 Stability Analysis of Discrete Systems 310
11.9.1 Methods of Stability Analysis of Discrete Systems 311
11.9.2 Analysis of Stability with the Help of Bilinear Transformation 315
11.9.3 Schrcohn Stability Test 319
Summary 321
Questions 322

12. CONTROL SYSTEM DEVICES 323361

12.1 Introduction 323
12.2 Potentiometers 323
12.3 Synchros 325
12.4 Servomotors 332
12.5 Tachogenerators 338
12.6 Metadyne and Amplidyne 340
12.7 Magnetic Amplifiers 344
12.8 Stepper Motors 349
12.9 Gyroscope 353
Summary 360
Questions 361

13. OPTIMAL CONTROL THEORY 362454

13.1 Introduction 362
13.2 Optimization by Steepest Descent Method 363
13.3 Optimization with Constraint by Gradient Method 365
 Contents ix

13.4 Minimization of Functions by Numerical Methods 369

13.4.1 FletcherPowell Method 369
13.4.2 NewtonRaphson Method 370
13.5 Optimal Control Problem 375
13.5.1 Characteristics of the Plant 377
13.5.2 Requirements of the Plant 377
13.5.3 Plant Data Supplied to the Controller 386
13.6 Mathematical Procedures for Optimal Control Design 386
13.6.1 Calculus of Variations 387
13.6.2 Pontryagins Optimum Policy 411
13.6.3 Bang-Bang Control 417
13.6.4 HamiltonJacobi Principle 424
13.6.5 Dynamic Programming 430
13.7 State Regulator Problem 438
13.8 Parameter Optimization 446
Summary 452
Questions 453

14. INTRODUCTION TO NEURAL FUZZY SYSTEMS AND ADAPTIVE

LEARNING SYSTEMS 455464
14.1 Introduction 455
14.1.1 Fuzzy Systems 455
14.2 Neural Networks 456
14.3 Fuzzy-Neural Integrated System 457
14.3.1 Comparison of Fuzzy Systems, Neural Networks, and
Conventional Control Theory 457
14.4 Application of Fuzzy Controllers 458
14.5 Differences between Classical Set and Fuzzy Set 458
14.6 Fuzzy Logic Control Systems 459
14.7 Adaptive Control System 461
14.7.1 Identification of the Dynamic Characteristics of the Plant 462
14.7.2 Decision Making 463
14.7.3 Modification 463
14.8 Learning System 463
Summary 464
Questions 464

15. MISCELLANEOUS SOLVED PROBLEMS 465528

16. OBJECTIVE TYPE QUESTIONS 529580

Exercises 554
Answers to Objective Type Questions 580
Appendix 581593
Index 595599
 Control Engineering: Theory And
Practice

25%
OFF

Author :
Publisher : PHI Learning ISBN : 9788120319547
BANDYOPADHYAY, M. N.

Type the URL : http://www.kopykitab.com/product/7325

Get this eBook