Control System

Unit 1
Chapter Learning Outcomes
After completing this chapter, the student will be able to: Define a control system and describe some applications Describe historical developments leading to modern day control theory Describe the basic features and configurations of control systems Describe control systems analysis and design objectives Describe a control system's design process Describe the benefit from studying control systems

Objectives
The main objectives of this chapter are: 1. To define a control system. 2. To explain why control systems are important. 3. To introduce the basic components of a control system. 4. To give some examples of control system applications. !. To explain why feedbac" is incorporated into most control systems. #. To introduce types of control systems. To understand the open loop and closed loop $feedbac" % systems To understand time domain and fre&uency domain analysis of control systems re&uired for stability analysis. To understand the compensation techni&ue that can be used to stabili'e control systems

Objectives edited
The main objectives are: To define a control system To identify the open loop and closed loop control systems To list some examples of control system To understand time domain and fre&uency domain analysis of control systems re&uired for stability analysis. To understand the compensation techni&ue that can be used to stabili'e control systems

Compensation[edit !here are a number of different compensation units that can be employed to help fi" certain system metrics that are outside of a proper operating range# $ost commonly, the phase characteristics are in need of compensation, especially if the magnitude response is to remain constant# %hase Compensation[edit &ccasionally, it is necessary to alter the phase characteristics of a given system, without altering the magnitude characteristics# !o do this, we need to alter the fre'uency response in such a way that the phase response is altered, but the magnitude response is not altered# !o do this, we implement a special variety of controllers (nown as phase compensators# !hey are called compensators because they help to improve the phase response of the system#

!here are two general types of compensators: Lead Compensators, and Lag Compensators# )f we combine the two types, we can get a special Lead-Lag Compensator system# *hen designing and implementing a phase compensator, it is important to analy+e the effects on the gain and phase margins of the system, to ensure that compensation doesn't cause the system to become unstable# phase lead compensation:, - it is same as addition of +ero to open loop !. since from pole +ero point of view +ero is nearer to origin than pole hence effect of +ero dominant# %hase /ead

Lesson 1 Introduction control system

*hen a number of elements or components are connected in a se'uence to perform a particular tas( ,is called a system# )n a system when the output 'uantity is controlled by varying the input 'uantity the system is called control system# A control system is a device, or set of devices, that manages, commands, directs or regulates the behavior of other device0s1 or system0s1#

Basic Components of a Control System

The basic ingredients of a control system can be described by: 1. input signal.$u% 2. (ontrol system components. 3. )esults or outputs.or controlled variable $y% . *n general+ the objective of the control system is to control the outputs in some prescribed manner by the inputs through the elements of the control system.

frequency response linear time invariant systems have the important property that if the input to the system is sinusoidal+ then the steady state output will also be sinusoidal at the same fre&uency but in general with different magnitude and phase. These magnitude and phase differences as a function of fre&uency comprise the frequency response of the system.

Stability
-any system should be stable the output should be predictable finite for a !iven input ,)f all poles of the transfer function 0values of s at which the denominator e'uals +ero1 have negative real parts, then the system is stable# ,)f any pole has a positive real part, then the system is unstable# ,)f we view the poles on the comple" s,plane, then all poles must be in the left half plane 0/2%1 to ensure stability# ,)f any pair of poles is on the imaginary a"is, then the system is marginally stable and the system will oscillate#

Compensation ,if the system is unstable,then compensation is re'uired to stabili+e the system ,compensation can also be provided to stable systems to obtain the desired performance

/esson,3
2 Types
a% open loop control system b% closed loop control system Open-Loop Control Systems "#onfeedbac$ Systems% A type of control system that uses only an input signal to actuate an output# !here is no automatic feedbac( to adjust the process, so adjustments must be made manually by the operator#
An open-loop controller, also called a non-feedback controller, is a type of controller that computes its input into a system using only the current state and its model of the system# A characteristic of the open,loop controller is that it does not use feedbac( to determine if its output has achieved the desired goal of the input#

An open-loop control is a control type that computes its input into a system using only the current state and its model of the system. It does not use feedback to determine whether its output has achieved the expected goal. a system which does not automatically correct the variation in its output is called open loop system

,xamples timer based traffic control + + an electric clothes drier.

Depending upon the amount of clothes or how wet they are, a user or operator would set a timer 0controller1 to say 45 minutes and at the end of the 45 minutes the drier will automatically stop and turn,off even if the clothes are still wet or damp# )n this case, the control action is the manual operator assessing the wetness of the clothes and setting the process 0the drier1 accordingly# !hen in this e"ample, the clothes drier would be an open,loop system as it does not monitor or measure the condition of the output signal, which is the dryness of the clothes# !hen the accuracy of the drying process, or success of drying the clothes will depend on the e"perience of the user 0operator1#

closed loop control system "&eedbac$ Control Systems%' ( system that maintains a prescribed relationship

bet)een the output and the reference input by comparin! them and usin! the difference as a means of control is called a feedback control system. examples
Clothes dryer with moisture sensor Air conditioner Density based traffic control

APPLICATION OF CONTROL SYST !

(ontrol systems are found in abundance in all sectors of industry+ such as &uality control of manufactured products+ automatic assembly lines+ machine tool control+ space technology and weapon systems+ computer control+ transportation systems+ power systems+ robotics+ -icro ,lectro -echanical .ystems $-,-.%+ nanotechnology+ and many others. ,ven the control of inventory and social and economic systems may be approached from the theory of automatic control.

Transfer function of closed loop system

he closed,loop transfer function is measured at the output# !he output signal waveform can be calculated from the closed,loop transfer function and the input signal waveform# An e"ample of a closed,loop transfer function is shown below: !he summing node and the G0s1 and H0s1 bloc(s can all be combined into one bloc(, which would have the following transfer function:

6sing this figure we can write

Inter disciplinary lin$a!e

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Transfer function/$0aplace transform of output10aplace transform of input%with 'ero initial condition Transfer function/$0aplace transform of output10aplace transform of input%

Plant

*nput )$t%

output ($t%

Lesson * +athematical model of mechanical translational systems

,-&- .1"/a!e 00-*1% ,1 "/a!e 1'2-1'13% $uo"134-112%

2nce the schematic is drawn+ the designer uses physical laws+ such as 3irchhoff4s laws for electrical networ"s and 5ewton4s law for mechanical systems+ along with simplifying assumptions+ to model the system mathematically. These laws are Kirchhoff's voltage law The sum of voltages around a closed path e&uals 'ero. Kirchhoffs current law The sum of electric currents flowing from a node e&uals 'ero.
Newton's laws The sum of forces on a body e&uals 'ero63 the sum of moments on a body e&uals 'ero.

Laplace transform

Lesson 3 +athematical model of mechanical rotational systems

Lesson 1 +athematical model of -lectrical systems

,-&---.1"*3-*2% ,1"121-140%

#orman S'#ise 5Control system -n!ineerin!6 si7th edition

Lesson 2 .ransfer &unction of armature controlled 8C motor

Lesson 4 .ransfer &unction of field controlled 8C motor

Lesson 9 -lectrical (nalo!ous of mechanical translational system

Lesson : -lectrical (nalo!ous of mechanical rotational system

Lesson 1; <loc$ dia!ram reduction

Lesson 11 Si!nal flo) !raph

Lesson 10 Convertin! bloc$ dia!ram to Si!nal flo) !raph