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Syllabus
Control Systems
ECE
EE
IN
2013
11.00
10.00
10.00
2012
9.00
9.00
13.00
2011
8.00
8.00
12.00
2010
11.00
9.00
7.00
Over All
Percentage
9.75%
9.00%
10.5%
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th
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Contents
Control Systems
CONTENTS
Chapter
#1.
#2.
1 - 30
1- 4
4-5
5-8
8 - 10
11 - 17
18 - 22
22 - 24
25
25 - 30
#4.
31 - 58
31 - 32
32 - 33
33 - 35
35 - 39
#3.
Page No.
Introduction
Standard Test Signals
Time Response of First Order Control System
Time Response of Second Order Control System
Time Response of the Higher Order Control System &
Error Constants
Solved Examples
Assignment 1
Assignment 2
Answer Keys
Explanations
39 - 41
42 - 46
47 - 51
51 - 53
54
54 - 58
59 - 79
59 - 61
61 - 62
62 - 63
64 - 67
68 - 70
71 - 72
73
73 - 79
Introduction
Relative Stability Analysis
Routh Hurwitz Criterion
Solved Examples
Assignment 1
Assignment 2
Answer Keys
Explanations
80 - 99
80
80 - 81
81 - 83
84 - 88
Introduction
Rules for the Construction of Root Locus
Complementary Root Locus
Solved Examples
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Page I
Contents
#5.
#6.
#7.
#8.
Control Systems
89 - 92
93 - 94
95
95 - 99
Assignment 1
Assignment 2
Answer Keys
Explanations
100 -131
100 - 101
101 - 103
103 - 107
107 - 108
109 - 113
114 - 119
119 - 125
126
126-131
132 -156
132 - 134
134 - 137
137 - 140
141 - 145
146 - 150
151 - 152
153
153 - 156
Bode Plots
Bode Magnitude Plots for Typical Transfer Function
M & N Circles
Solved Examples
Assignment 1
Assignment 2
Answer Keys
Explanations
157 - 175
157
157 - 158
159 - 160
161 - 163
163 - 164
165 - 168
169 - 170
170 - 172
173
173 - 175
Introduction
Phase Lag Compensator
Phase Lead Compensator
Phase Lag Lead Compensator
Controllers
Solved Examples
Assignment 1
Assignment 2
Answer Keys
Explanations
176 - 198
176
176 - 179
179 - 180
180 - 181
182 - 186
Introduction
State Space Representation
State Transition Matrix
Characteristic Equation & Eigen Values
Solved Examples
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Page II
Contents
Control Systems
187 - 190
190 - 192
193
193 - 198
Assignment 1
Assignment 2
Answer Keys
Explanations
Module Test
199 - 216
199 - 210
211
211 - 216
Test Questions
Answer Keys
Explanations
Reference Books
217
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Page III
Chapter 1
Control Systems
CHAPTER 1
Basics of Control System
Introduction
It is a system by means of which any quantity of interest in a machine or mechanism is
controlled (maintained or altered) in accordance with the desired manner. Following diagram
depicts the block diagram representation of a control system.
Control
System
Reference input
r(t)
Controlled output
c(t)
, ( )=
, ( )-
|initial conditions = 0
( )
|initial conditions = 0
( )
For any arbitrary input r(t), output c(t) of control system can be obtained as below,
r(t) = L
(R (s)) = L
Where L and L
operator.
(T (s) . R (s))
(T(s)) * r(t)
Controller
Actuating
Signal
Process
Output
The reference input controls the output through a control action process. Here output has
no effect on the control action, as the output is not fed-back for comparison with the input.
Accuracy of an open-loop control system depends on the accuracy of input calibration.
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Page 1
Chapter 1
Control Systems
In a close-loop control system, the output has an effect on control action through a
feedback.
The control action is actuated by an error signal e (t) which is the difference between the
input signal r(t)and the feedback signal f(t).
The control systems can be manual or automatic control systems.
Servomechanism is example of a close-loop (feedback) control system using a power
amplifying device prior to controller and the output of such a system is mechanical i.e.
position, velocity or acceleration.
Reference input
r(t)
Controller
Process
Output c(t)
Feedback Network
e(t)
G(s)
c(t)
f(t)
H(s)
Fig. 1.4 Transfer function representation of a closed loop control system.
Generally, the purpose of feedback is to reduce the error between the reference input and the
system output.
Let G(s) be the forward path transfer function, H(s) be the feedback path transfer function and
T(s) be the overall transfer function of the closed-loop control system, then
T(s) =
( )
( ) ( ))
Here negative sign in denominator is considered for positive feedback and vice versa.
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Page 2
Chapter 1
1)
T(s) =
T(s) =
T(s) =
( )
( )
( )
( ) ( )
T(s) =
Unity F/B
:
Control Systems
( )
( )
( )
( ) ( )
Here, G(s) is T.F. without feedback (or) T. F of the forward path and H(s) is T.F. of the feedback
path.
Block diagram shown below corresponds to closed loop control system.
R(s)
G(s)
C(S)
F(s)
H(s)
Fig. 1.5 Block diagram of a closed loop control system
The overall transfer function can be derived as below,
L{r(t)} = R(s) Reference I/P
L{c(t)}= C(s) Output (Controlled variable)
L*f(t)+ F (s) Feedback signal
L{e(t)} = E(s) Error or actuating signal
G( )H( ) Open loop transfer function
E( )/R( ) Error transfer function
G(s) Forward path transfer function
H(s) Feedback path transfer function
E(s) = R(s) F(s) ; F(s) = H(s) C(s)
C(s) = E(s) G(s) C(s) = { R(s) H(s)C(s)+ G(s)
( )
( )
Also,
( )
( )
( )
( ) ( )
( ) ( )
Here negative sign is used for positive feedback and positive sign is used for negative feedback.
The transfer function of a system depends upon its elements assuming initial conditions as zero
and it is independent of input function
S.No
1.
Open-loop C.S.
Closed-loop C.S.
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Page 3
Chapter 1
Control Systems
2.
3.
Cheaper
Costly.
4.
5.
Effect of Feedback
The feedback has effects on system performance characteristics such as stability, bandwidth,
overall gain, impedance and sensitivity.
1.
Stability is a notion that describes whether the system will be able to follow the
input command.
A system is said to be unstable, if its output is out of control or increases without
bound.
Negative feedback in a control system improves stability and vice versa.
2.
3.
Negative feedback decreases the gain of the system and Positive feedback increase
the gain of the system.
/
/
Where
denotes the incremental change in T due to the incremental change in G;
and / denote the percentage change in T and G, respectively.
=
Similarly,
/
/
-1
Negative feedback makes the system less sensitive to the parameter variation.
4.
5.
6.
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Page 4
Chapter 1
Control Systems
C(s)
G(s)
( )
( )
G(s)
( )
( )
( )
( )
( )
( )
( )
G(s)
C(s)
H (s)
( )
( )
( )
( )
( )
0
)
( )
( ) ( )
( )
1
( )
( )
( ) ( )
( )
( )
( )
G(s)H(s)
( )
1
( ) ( )
From equation 1
( )
,
G(s) H(s)- x
( )
( ) ( ) ( ) ( )
,
( ) ( )-
( ) ( )-
( ) ( )-
( ) ( )
(s)
T(s) = 1
Transfer Functions
Transfer function of a generic control system can be found using block diagram approach or
signal flow graphs as described in the following sections.
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Page 5