CONTROL SYSTEMS

BY
ENGR. JORGE P. BAUTISTA
 COURSE OUTLINE
I. Introduction to Control Systems
II. System Modelling
III. Laplace transforms and applications
IV. Transfer functions, poles and zeros
V. Block Diagrams
VI. Signal Flow Graphs
VII. System stability and error
VIII. Time domain responses
IX. Root Locus, Bode plot and Nyquist Criteria
 Text and References
1. Control System Engineering, 3rd ed, by Nise,
2000, Wiley & Sons
2. Modern Control Systems, 8th ed, by Dorf and
Bishop
3. Linear Control Systems, 4th ed, by DAzzo and
Houpis, 1988, McGrawHills
4. Automatic control systems, 8th ed, by S.Hasan
Saeed, 2014,Katson Books
5. Feedback Control of Dynamic Systems, 4th ed,
Franklin, Gene, 2002, Prentice Hall
 Lesson No. 1
Introduction to Control systems
Lesson Objectives: At the end of the lesson
the student should be able to
1.Know the basic elements of control
systems.
2.Comprehend terminology and definitions
used in control systems
3.Understand the concept of feedback
4.Familiarize with some types of sensors
and controllers
 Introduction
Control system is very important in the field
of engineering as it finds wide application
not only in engineering but also in non-
engineering discipline. The first automatic
control system device was invented by
James Watt in 1770. it is known as the fly
ball governor. This device is used to keep
the speed of the engine constant by
regulating supply of steam in the engine.
 Classification of systems
The system can be classified as
1.Linear and nonlinear system
2.Time invariant and time varying system
3.Continuous time and discrete time system
 What is a control system?

It is an arrangement of several elements

that performs particular task. These
elements are connected in proper
sequence and facilitates signal to flow.
 Types and basic components
1. Open loop control systems. It has no
feedback elements. Hence the control
action is independent of the output. Its
basic elements are the controller and the
controlled process. The controller may be
an amplifier, filter circuits, etc
The input (r) is applied to the controller
where some control actions are performed
and a signal is obtained from the
controller. The controller is connected to a
controlled process which is regulating the
system. Signal obtained from the
controller is fed to the controlled process
which further process the signal and gives
the desired output (c). The direction of the
signal is unidirectional.
Examples:
1.Washing machine
2.Armature control of a DC machines
3.Immersion rod
4.Traffic lights
Advantages:
1.They are simple
2.They are economical
3.Maintenance is cheap and easy
4.Proper calibration is not a problem
Disadvantages:
1.They are inaccurate
2.They are not reliable and slow
3.It can be affected by nonlinear element
2. Closed loop control systems

setpoint error output

compensating
plant
network
+
summing -
point

feedback
transducer
It is also known as feedback control
systems. The control action is dependent
on the desired output. The output is
compared with the reference input and
therefore an error signal is produced. The
error signal is fed to the controller to
reduce the error and the desired output is
obtained.
Examples:
1.air-conditioner
2.Cloths dryer
3.Water level controller
4.Missile launch
Advantages:
1. They are more reliable and faster
2. A number of variables can be handled
simultaneously
3. Less affected by nonlinear elements
4. Output can be maintained at desired level
Disadvantages:
1. Complex in construction
2. Expensive
3. Maintenance is difficult
4. Unstable under certain conditions
Elements:
1. Command (input) it is externally produced and
independent of the feedback signal.
2. Reference input element this produces the
standard signals proportional to the command
3. Error detector it receives the measured signal
and compare it with the reference input. The
difference of two signals produces the error
signal.
4. Control element this regulates the
output according to the signal obtained
from the error detector.
5. Feedback element this element fed
back the output to the error detector for
comparison with the reference input.
Differentiate positive from negative feedback
Negative feedback is the most useful control
type since it helps a system converge
toward an equilibrium state. Positive
feedback can lead a system away from an
equilibrium state thus rendering it
unstable, even potentially producing
unexpected results.
In negative feedback systems, the response
reverses a change in a controlled
condition, and in positive feedback
systems, the response strengthens the
change in a controlled condition.
 Requirements of a Good
Control systems
Accuracy: Accuracy is the measurement
tolerance of the instrument and defines
the limits of the errors made when the
instrument is used in normal operating
conditions. Accuracy can be improved by
using feedback elements. To increase
accuracy of any control system error
detector should be present in control
system.
Sensitivity: The parameters of control
system are always changing with change
in surrounding conditions, internal
disturbance or any other parameters. This
change can be expressed in terms of
sensitivity. Any control system should be
insensitive to such parameters but
sensitive to input signals only.
 Noise: An undesired input signal is known
as noise. A good control system should be
able to reduce the noise effect for better
performance.
Stability: It is an important characteristic
of control system. For the bounded input
signal, the output must be bounded and if
input is zero then output must be zero
then such a control system is said to be
stable system.
 Bandwidth: An operating frequency range
decides the bandwidth of control system.
Bandwidth should be large as possible for
frequency response of good control system.
Speed: It is the time taken by control system to
achieve its stable output. A good control system
possesses high speed. The transient period for
such system is very small.
Oscillation: A small numbers of oscillation or
constant oscillation of output tend to system to
be stable.
Example No. 1
 Transducers and Sensors
Transducer- It is a device that transform one
form of energy into another. It can change
quantities such as heat, light, motion, etc,
into a form of electrical energy.

Sensors It converts the physical quantity

to a signal that can be recognized by other
components such as display, transmitter
and etc.
 A. Position Sensing
The potentiometer as a sensor has the
following advantages:
1. It is inexpensive
2. It can provide a high output voltage
Some Disadvantages are:
1. They become noisy with age
2. It wears out.
3. Friction loads the mechanical system
4. The slider will bounce with fast motion
The potentiometer is the most common
electrical transducer. It consist of resistive
elements and a movable contact that can
be positioned along with the length of the
element. This movable contact is called by
various names including tap, wiper and
slider.
Translational position sensing
potentiometer

MASS
+

e(t)

1 2 3 -

E
Potentiometer Bridge

reference

E
+ e -

output
Linear Variable Differential
Transformer
core
+
+ +
V1 e
primary
voltage -
+
V2
A linear variable differential transformer
gives an AC output voltage signal which is
proportional to a physical displacement.
When the LVDT core is perfectly centered,
the output voltage equals to zero.
When the LVDT core moves up, the output
voltage is in phase with the input voltage.
When the LVDT core moves down, the
output voltage is out of phase with the
input voltage.
Rotational Position Sensing
Potentiometer
R

R1

e(t)

E
 B. Velocity Sensor
The presiding figure shows a typical velocity
measuring transducer used for
determining linear velocity. It can also be
used for rotational velocity when used with
the proper mechanical rotary to linear
motion conversion technique.
The sensor uses a photocell device that
detects the passage of light and dark
spaced marks on a rotating disk.
The photocell in turn produces either a
voltage or no voltage signal depending on
the light level that it senses and sends this
pulsating voltage level to a signal
conditioning circuit. The circuit then
converts the frequency of the pulses into a
proportionally varying DC voltage level.
Whose magnitude represents the velocity
amount.
 vel = dq/dt

DC output freq to
voltage voltage photo cell
converter light source
Using Tachometer Bridge

TP4
TP3
+ +
e1 e2
- -

n2
n1
+ e -
A tachometer is a device which measures
the angular speed of a rotating shaft. The
most common units for expressing angular
speed are revolutions per minute and
radian per second. A radian is equal to
1/2 revolutions. In industry, tachometers
are used to measure the angular speed
using magnitude and frequency of the
generated voltage.
 C. Pressure Sensor
The most commonly used method for
sensing pressure is thru the usage of
strain gages. The principle of operation
rests in the fact that if one wire is stretch
its DC resistance would also increase
proportionally to the applied stress. Very
small changes in wires resistance can be
detected by arranging the wire in a
wheatstone bridge.
Operation:
A voltage source, V, supplies voltage to the bridge. By
design, R3 is unstressed meaning no pressure is
present on the transducers pressure diaphragm. The
opposing current flowing thru the bridges central leg
are equal and are therefore nullified. Consequently, no
current at all flows under this condition. However, as
soon as pressure occurs at the transducers
diaphragm, R3 becomes stressed. Thereby upsetting
the balanced condition of the bridge and causing
current to flow thru the indicator in the bridge central
leg. The amount of current will be proportional to the
amount of pressure being applied. This resulting
imbalance of current is then transmitted thru a signal
conditioning circuit that converts the current into a
designed signal form.
 applied
R3 pressure
R1

V
R4
R2

to signal conditioner
Another different approach to industrial
pressure measurement is the use of
Bourdon tubes and bellows. These
devices detect the measured pressure
and convert it into a mechanical
movement. The mechanical movement is
then transduced into an electrical signal by
either a potentiometer or an LVDT
A bourdon tube is a deformed metal tube with an
oval cross section. It is open at one end sealed
at the other end. The whole tube is elastic
because of the elasticity of the metal used in its
construction. The fluid whose pressure is being
measured is admitted to the inside of the tube at
the open end, which is mechanically anchored.
The tube then deflects by an amount
proportional to the magnitude of the pressure.
This deflection is mechanically transmitted to the
wiper of a potentiometer or to the core of an
LVDT to provide an electrical signal.
 D. Flowrate Sensor
The flowrate sensor uses hot wire
anemometer got sensing gases. In this
process, a heated wire is allowed to be
cooled by the flowing gas. The amount of
cooling is determined by the amount of
decrease in wire electrical resistance.
Once this change in resistance is known,
this can be correlated to the flowrate of the
gas flowing past the sensor itself. Its
purpose is to regulate the flow of gas in the
system.
 E. Electromagnetic Sensor
Electromagnetic sensing covers very large
range of sensor types. This is due to the
very broad nature of the electromagnetic
spectrum. In control system,
electromagnetic sensing is usually limited
to the radio communication frequencies.
Basically, a radio frequency sensing device
or RF sensing is nothing more than a radio
receiver that has been designed to tune to
a desired range of radio frequency.
F. Light Sensors
 G. Temperature Sensor
A commonly used temperature sensing device is
the thermocouple. The device depends on the
phenomenon called Seebeck Effect. Two
dissimilar wires are heated to their ends where
they are physically connected through twisting or
welding. This produce and EMF at the wires
opposite ends. The EMF is proportional to the
amount of heat being applied to the junction.
Since the generated voltage is very small, it can
be amplified to a larger value and can represent
either DC or AC voltage.
 Controllers
A combination of components which utilizes
the error signal to determine the flow of
power to the final correcting devices which
is usually a motor.
Types of Controllers
a. on-off controllers- this final correcting
device has only two positions or operating
states. The controlled variable oscillates
about the desired setting.
a regulator whose controlling member, upon receiving a
signal from a sensor, can only move into one of two
extreme positionson or off. The flow of energy or
material to the controlled object may be only maximal
or minimal.
The simplest kind of on-off control mechanism is an
electromagnetic relay, whose contacts are either open
or closed, depending on the signal received from the
sensor. On-off controllers are widely used in cases
where the operation of equipment requires some
control within given limits but does not require a high
accuracy of control (for example, the control of electric
furnaces, refrigerators, or steam heating and water
heating).
 A Supply
voltage
+
desired
temp
B

Hg
solenoid

fuel
burner
When the coil of the solenoid is deenergized that is
no current flowing, fuel is supplied to the burner
since the valve is open as shown. Temperature
rises until the level reaches point A producing a
closed circuit thereby energizing the coil. Due to
this, the switch moves downward and also the
valve closes. Fuel is therefore cut-off. The
process temperature will stop increasing and will
eventually go down until it reaches point B.
Solenoid is still energized at this point. When the
level goes below point B, coil is deenergized and
the fuel is again admitted. Process temperature
will therefore swing back and forth between TA
and TB
2. PID controller
P proportional it produces a signal which
is proportional to the error, it increases the
error by a constant value
I Integral it helps in the elimination or
reduction of steady state errors and it
degrades stability.
D- Derivative it increases the spedd of
response and improves stability
 Assignment No. 1
Research on the Following:
1. Servomotor
2. Rate generator
3. Resolver
4. Modulator
5. Demodulator
6. Phase lead network
7. Phase lag network
8. Stepper motor
9. Synchro mechanism
10. Peizoelectric
 Lesson No. 2
System Modelling
Lesson objectives: At the end of the lesson
the students should be able to
1.Analyze electrical, mechanical and
electromechanical systems
2.Convert systems into equivalent circuits
3.Transform mechanical systems to
electrical analogous circuit
4.Write differential equations from the given
system
 System Modeling
1. Electrical System
a. Resistor
Vr = V2 V1 = iR
i = Vr / R = (V2 V1) / R
b. Inductor
VL = V2 V1 = L di/dt = LDi
iL = 1/L VL dt = (V2 V1) / LD
c. Capacitor
VC = (V2 - V1) = q/C = 1/C i dt = i/CD
iC = C dVc/dt = CD(V2 V1)
 Example No. 2
Determine the mesh and nodal equations of
the given circuit
C2 R3

R2 L1

R1 C1 C
L2 D
+

e1 e2
+
 R7 1k
VG4
VG5 L5 1
R8 1k

2 6 5

+
+

4
12V 1.5A 10V
 Assignment no. 2
Write the systems of mesh and nodal
equation for the given circuit

5 6H

10

2A
+

12V 3F 7H
2. Mechanical system
a. Mass

fm
fm = M a
M a = dv / dt
v = dx / dt
x therefore
2 2
therefore, fm = M d x / dt
2
fm = M D x
2. Damping or Viscous friction(it occurs
whenever a body moves through a fluid,
which may be a liquid or a gas.)

v1
fB = B (v1 - v2)
but v = dx / dt
therefore
fB = B (Dx1 - Dx2
B if x2 = 0 (grounded)
fB = BDx1
v2
3. Elastance or Stiffness (it provides a
restoring force, thus if stretched, the
spring tries to expand and if compressed,
it tries to shorten its normal length.
x1
fk = k(x1 - x2)
K if x2 = 0 (grounded)
fk = k x1
x2
 Units for Translational Mechanical
Systems
Symbol Quantity Metric Units English
f(t) Force Newton Pounds
x(t) Distance Meters Feet
v(t) Velocity m/s ft/s
(t) Acceleration m/s2 ft/s2
M Mass Kg slugs
K Stiffness N/m lbs/ft
B Damping N-s/m lbs-s/ft
 Example no. 3

1. Write the differential equation of

performance of the given system

K
L2 1m
M
f
B
2. K1

M1 F(t)

K2

M2

K3 B1
3. K1 B1

K1 B1

M1
F(t)

M2

B2
4.

K2
K1

B2 M2 B1 M1
F(t)

B3
5.

M3
B2 B1 M1 = M2 = 4Kg
K2 K1 M3 = 3Kg
M1 M2 K1 = K2 = 6N/m
F(t) B = 2N-s/m
1
B2 B1 B2 = 3N-s/m
 Rotational Mechanical System
1. Inertial mass, J

Tj

2
Tj = JD
where Tj = torque
= angular displacement
J = inertial mass
2. Damping, B

1 2
TB = BD(1 - 2)
if 2 = 0 (grounded)
TB = BD 1
3. stiffness, K

1 2
Tk = K(1 - 2)
if 2 = 0 (grounded)
Tk = K 1
Units for Rotational Mechanical System
Symbol Quantity Metric English
T(t) Torque N-m lb-ft
(t) Angle Rad rad
(t) angular velocity rad/sec rad/sec
(t) angular acceleration rad/s2 rad/s2
J inertial mass kg-m 2 slug-ft2
K stiffness N-m/rad lb-ft/rad
B damping N-m/(rad/sec) lb-ft/(rad/sec)
 Example No. 4
Find the differential equation of performance
of the given rotational system

K1 B1
J1 J2
T

B1 B2
 T
B1 K1 B2
J1 J2
Electrical mechanical analogy
Symbol Quantity Symbol Quantity
f force i current
vel velocity vol voltage
M mass C capacitance
K spring 1/L reciprocal
inductance
B damper G conductance
 Assignment no. 3
Nise, Norman S., Control Systems
Engineering, 2nd ed, Addison-Wesley, 1995
pp. 107-108
Nos. 24,27,28
 Electromechanical Systems
Levers

a b
X

Assumption: the movements are very small that

they can be approximated as straight line.
X b

a Y

x/a = y/b
or x/y = a/b
Since we are looking at displacement
as voltages, we can therefore model a
lever as a transformer with a/b as the
turns ratio
x a:b y

N1 N2
 Example No. 5
Write the differential equations for the system below and
find the relationship between position y and the force f.

f(t) l1 l2

B
Gear Train
Let N = no. of teeth on each gear
= angular velocity of each gear
= angular position
T = torque in each gear
r = radius of each gear
P = power in each gear
n = speed of driving shaft /
speed of driven shaft
 N1
N2
P1 P2
T1 r2 T2
r1
1 2
1
w 2
Let rN ( the larger the radius, the more the
no. of teeth)
Therefore, r = kN
r1 = kN1 and r2 = kN2
k = r 1 / N 1 = r2 / N 2
Therefore; r1 / r2 = N1 / N2
Assuming 100% efficient,
P1 = P 2
T11 = T22
Therefore, T2 / T1 = 1 / 2 = n
The length of the gear surface in contact are
equal. S = r
S1 = S2
r11 = r22
Therefore, r2 / r1 = 1 / 2
Divide 1 / 2 by t so that /t = , combining
terms
n =T2 / T1 = N2 / N1 = r2 / r1 = 1 / 2 = 1 / 2
 1
r2:r1 2
N2:N1

T T1 T2

n:1
 Example No. 6

J1 N1 J3
N4
T
N2 J2 N3
B1 B3

B2
Write the diff equation of performance
of the given system and find the
relationship between T and 1
The actuator in the circuit is rotating at certain speed thru
the amount of torque being applied. Find the relationship
between the torque and the displacement x.

J1
K1 B2

T x
M1

B1 K2
Rotating power amplifier:
A generator can be used as a power amplifier
in which the power required to excite the
field circuit is lower than the power output
rating of the armature circuit. the voltage e g
induced in the armature circuit is directly
proportional to the product of the magnetic
flux set up by the field and the speed of
rotation of the armature. This is expressed
as
 eg or
eg = K1
The flux is a function of the field current and
the type of iron used in the field. A typical
magnetization curve showing flux as a
function of the field current is given below.
Up to saturation the relation is approximately
linear, and the flux is directly proportional
to the field current.
= K 2 if
Combining the two equations
eg = K1K2 if
When the generator is used as a power
amplifier, the armature is driven at
constant speed and the equation becomes
eg = Kg if
Rotating Power Amplifier
Rf Rg Lg D

if ia
ef et

+
LfD eg

J
B
Field loop
(LfD + Rf)if = ef

Armature loop
eg et = (LgD + Rg)ia
DC servomotor
1. Armature control
R Lm
TP2

+ +
im J
ea

-
em

+ T
B
2. Field control
AM1

L 1 1m
DCM1
TP1
RF R1 1k

+ IF +

+
eF LF A

-
constant

T
 Assignment no. 4
1. Write systems of differential equations of
the given system below and write the
relationship between T and 3

N1 N4
K
J1 N2 N3 J3

T J2
B1 B3

B2
2. Write the relationship between the input
force f and the output x and z
L1 L2

ft X
X
M1 K
Y

M2
3. Write the relationship between e a and 2

R Lm
TP2

+ +
im
ea

-
em J1

+
T B
1
J2

B2
 Lesson 3
Laplace Transforms and its
applications
Lesson Objectives: at the end of the lesson, the
student should be able to
1. Know how to transform time domain to S
domain
2. Familiarize with the theorems of Laplace
transforms
3. Apply Laplace transforms in ordinary differential
equations
 System Linearization
The complex function f(x,y,z) can be
linearized using the given points.
f(x,y,z) = f(x,y,z) + f/x]p (x x) + f/y]p (y
y) + f/z]p (z z) at point p = (x,y,z)
Example: Linearize the given three
dimensional curve with characteristic
equation
1. f(x,y) = 3x2y xy3 at point (2,-1)
2. f(x,y,z) = -2xyz3 + 2xy2y at point (1,1,3)
 Laplace Transforms and Transfer
Functions
The Laplace Transforms of the given function
f(t) is given by the equation

L[ f (t )] F ( s) f (t )e dt
st

0
Where s = + j (complex frequency
variables with unit sec-1)
e-st = laplace factor that approaches
to zero as t approaches to infinity.
F(s) = the Laplaced function
L[f(t)] = the symbol for Laplace
It converts differential and integral equations
into algebraic equations. This is like
phasors but applies to general signals, not
just sinusoids and handles non steady
state conditions.
Laplace Transform of the unit step.

1 st
L[u(t )] 1e dt e |
st

0
s 0

1
L[u(t )]
s
The Laplace transform of a unit impulse:

Pictorially, the unit impulse appears as follows:

f(t) (t t0)

0 t0

Mathematically:
t 0

(t t0) = 0 t 0 (t t )dt 1
t0
0 0
similarly for f = (k)
The laplace transforms is
F(s) = sk
LAPLACE TRANSFORMS PAIRS
f(t) F(s)
(t) 1
u(t) 1/s
t 1/s2
tn n!/sn+1
eat 1/(s-a)
e-at 1/(s+a)
sin (t) /(s2 + 2)
cos (t) s/(s2 + 2)
Other Laplace Transform Pairs
u(t a) = e-as / s
(t a) = e-as
sinh (t) = / (s2 2)
cosh (t) = s / (s2 2)
sin(t + ) = [s(sin) + (cos)]/ s2 + 2
cos(t + ) = [s(cos) (sin)] / s2 + 2
 Example No. 7
Evaluate the Laplace Transforms of the following
functions.
1. 4e-2t
2. 20t3
3. 6(t)
4. 3e4t
5. t4
6. sin (4t)
7. cos (1/3 t)
8. sin (2x t)
9. cosh (3 t)
10. e-1/2 t + e2 t
11. 2t5 3u(t)
12. 4u(t) sin 4t
 Laplace Theorems
1. Addition/subtraction
L[f1(t) + f2(t)] = F1(s) + F2(t)
2. Scalar multiplication
L[kf(t)] = kF(s)
3. Translation in time
L[f(t-a)] = e-as F(s)
4. Translation in s-domain
L[eatf(t)] = F(s-a)
5. Real Differentiation
L[Dnf(t)] = snF(s) sn-1f(0) sn-2 Df(0) sn-3
D1f(0) -
6. Real Integration
L[D-nf(t)] = F(s) / sn + D-1 f(0) / sn + + D-n
f(0) / s
7. Complex Differentiation
L[tn f(t)] = (-1)n dF(s) / ds
8. Complex Integration
L[f(t)/t)] = s F(s) ds
9. Initial value theorem
lims sF(s) = limt0 f(t)
10. Final value theorem
lims0 sF(s) = limt f(t)
 Example no. 8
1. f(t) = e2t sin (4t)
2. f(t) = cos 2(t 4) + sin (2t 8)
3. f(t) = 3e-2t + 2e3t+5
4. f(t) = e4t [sin (2t) + cos (3t)]
5. f(t) = e-3t cos (2t + 3)
6. f(t) = e4tt3
7. f(t) = e-2t [sin(4t)cos(2t)]
8. f(t) = D3 e2t
9. f(t) = D2 cos (3t)
10. f(t) = e-2t/t et/t
11.L[D-2 e-2t]
12. L[t2 sin (3t)]
13. Find the final and initial value of
(1 + e-2t)
14. Find the laplace transforms of the given
differential equations:
a. D2y(t) y(t) = t ; y(0)=1, Dy(t) = 1
b. Dy(t) + 3y(t) = 10 sint; y(0) = 0
15.
f(t)

2
4
3 5

-4
 Assignment no. 5
Evaluate the laplace transform of the
following:
1. f(t) = sin (4t) e-4t
2. f(t) = 4 cos 3(t-2) + 3 sin 2(t+2)
3. f(t) = t cos (4t) - 2(t)
4. f(t) = e4t [cos(5t)sin(2t)] e3t 1
5. f(t) = 3e-2t [sin2 (4t)] + 6sinh(5t-4)
6. cosh (2t) + t = D2y(t) + 2Dy(t) 2y(t)
y(0) = y(0) = 1
7. t2 e-3t e3t = D3y(t) 8y(t)
y(0) = 1; y(0) = -1 ; y(0) = 0
8. 4u(t) t = D-2y(t) + D-1y(t) 2y(t)
y(0) = 1; y(0) = 0; y(0) = 0
9. find the final and initial value of
3e-2t + 2e2t
f(t)

3 6 t
 Example No. 9
Obtain the inverse Laplace transforms of the given
complex frequency.
1. 36/s4 4e-2s
2. 7 /( s + 3)
3. 4s / (s2 36)
4. 6 / (s2 + 4)
5. (s 3) / [(s 3)2 + 100]
6. 12s / (s2 + 4s + 9)
7. 12 / [(s + 5)2 + 8]
8. (s + 4) / (s2 + 25)
9. (3 s) / (s2 + 16)
10. e-S/2 / (s2 + 9)
11. e2t (s + 5) / [(s 4)2 + 25]
12. 2/s (e2s e-3s)
 Example No. 10
Inverse Laplace involving partial fractions
1. (3 s) / (s3 s2 6s)
2. 6 / [s(s-4)(s+2)3]
3. (2s2 16) / (s3 16s)
4. (2s + 4) / [s(s2 2s + 5)]
5. Dy(t) + y(t) = sin 3t at y(0) = 0
6. D2y(t) + 2Dy(t) + 5y(t) = 0 at y(0) = 1 and
y(0) = 0
7. D2y(t) 2Dy(t) + y(t) = et at y(0) = -2 and
y(0) = -3
8. Dx(t) + 3x(t) = 0; x(0) = 2
9. x(0) = 0 and Dx(0) = 0

x(t)

f(t) = sin 2t V
2
D 4D
10. 25

IT

+
100H
10 cos 10t V

0.02F
 Assignment no. 6
Solve the given differential equations.
1. D2x(t) + 3Dx(t) + 2x(t) = 0
x(0) = 3; Dx(0) = 2
2. D2y(t) + 4y(t) = 3 sin 2t
y(0) = 1; Dy(0) = 0
3. D2x(t) + 2Dx(t) + x(t) = 3te-t
x(0) = 4; Dx(0) = 2
4. D2y(t) + y(t) = t
y(0) = 1; Dy(0) = -1
Find the inverse Laplace of
F(s) = (3s2 + 9s + 12) / (s+4)(s2 + 4S + 8)
 Lesson No. 4
Transfer Functions, Gain, Poles
and Zeros
Lesson objectives: at the end of the lesson,
the student should be able to
1.Obtain the transfer function of a given
system
2.Plot the poles and zeros in the S plane
3.Compute for the system gain using
transfer function equation
Transfer function is defined as the ratio of
Laplace transforms of the output to the
Laplace transforms of the input with all
initial conditions are zero.
The transfer function is defined as
G(S) = C(S) /R(S)
Where C(S) = output of the system
R(S) = input of the system
Note: if the order of the denominator
polynomial is greater than the order of the
numerator then the transfer function is
strictly proper.
The characteristic equation of a transfer function is
the denominator equated to zero.
For a given transfer function
G(S) = KC(S)/R(S)
Where K = gain of the system
= b0/a0
b0 = coefficient of the highest exponent of
the numerator
a0 = coefficient of the highest exponent of
denominator
If either poles or zeros coincide, then such
type of poles or zeros are called multiples
poles or multiple zeros, otherwise they are
known as simple poles or zeros.
 Example No. 11
1. Plot the poles and zeros of the and
determine the system gain. Then
determine its inverse laplace transforms
a. F(S) = 20(S+40) / [5S2 + 40S + 75]
b. F(S) = (2S3 + 6S + 8) / (S3 + 2S2 + 5S +
10)
2. Find the transfer function represented by
a. dc(t)/dt + 3c(t) = r(t)
b. v(t) = 2D2i(t) Di(t) 6i(t)
c. f(t) = D2x(t) + 3Dx(t) + 2x(t)
d. v(t) = Ldi(t) + Ri(t) + i(t)/CDi(t)
3. Use the transfer function a and b to find
the response if
a. r(t) = 2u(t)
b. v(t) = sinh 2t V
4. Find the gain, poles, zeros and
characteristic equation of the transfer
function given below
C(S)/R(S) = 10(S-1) /[(S+1)(S2 +4S + 4)]
5. Find the value of the transfer function at S
= 0 for the transfer function in problem 4.
6. A transfer function has a zero root at -2
and 0. it has a pole root at 1, j2 and j2.
the value of the transfer function at S = 4
is 2. find the transfer function and the
gain.
7. A system having an input x(t) and output
y(t) is represented by
dy(t)/dt + 4y(t) = dx(t)/dt + 5x(t)
find the transfer function of the given
system
8. The transfer function of the system is
given by
G(S) = (4S + 1) / ( S2 + 2S + 3)
Find the differential equation of the system
having input x(t) and output y(t)
9. Derive the transfer function of the given
electrical systems taking the output at the
inductor
10. Find the transfer function of the given
system taking the output at the capacitor
 Assignment no. 7
1. Determine the transfer function of the given
circuits then find the gain and plot the poles
and zeros at the S plane
a.
b. Do not plot the points in the s plane, just
determine the gain poles and zeros.
2. Plot the poles and zeros and find the
gain. Find the value of the transfer
function at s = 1.
a.C(s)/R(s) = [20(s-2)(s+2)]/ [s(s+1)(s+4)]
b. C(s)/R(s) = [0.25(s2+9)(1+0.5s)]/[(s2 +4)
(1+0.2s)]
3. A transfer function has zeros at s = 2 +/-
j3 and poles at 0, +/-j5 and -3 +/- j3. find
the transfer function when s = -1
 Lesson no. 5
Block Diagrams
Lesson objectives: at the end of the lesson,
the student should be able to
1.Familiarize with the reduction of complex
block diagrams
2.Convert systems into block diagram
equivalent
3.Determine the transfer function using
block diagrams identities
 Block Diagrams
Block diagrams are pictorial representation of
a control system. Each element is
represented by a separate block and each
block is characterized by transfer function
of the element. Let us consider element of
a control system having transfer function
G(S). If the input and output of element are
I(S) and O(S) respectively, then this
element is represented by a block shown in
the next slide.
Procedure for drawing the block diagram
1. Write down the differential equation
representing the system.
2. Find the Laplace transform of these
equation assuming zero initial conditions
3. Represent each equation in the form of a
block
4. Interconnect these block to get the final
block diagram
 System Representation
Canonical Form (Standard Form)

R E C
G
+

- B

H
Definition of terms:
R(S) = reference input
E(S) = actuating signal or error signal
G(S) = forward path transfer function
C(S) = output signal
H(S) = feedback transfer function
B(S) = feedback signal
Let M(S) be the overall transfer function of a
negative feedback is
M(S) = C(S)/R(S)
At the summing point
E(S) = R(S) B(S)
But C(S) = G(S) E(S)
And B(S) = H(S) C(S)
Therefore B(S) = H(S)G(S)E(S)
So the open loop transfer function will be
B(S)/E(S) = G(S)H(S)
R(S) = E(S) + B(S)
= E(S) + G(S)H(S)E(S)
= [1 + G(S)H(S)]E(S)
therefore the closed loop transfer function
will be
M(S) = C(S)/R(S) = G(S)/[1 + G(S)H(S)]
The error transfer function is
E(S)/R(S) = 1 / [1 + G(S)H(S)]
 Block diagram reduction
1. Reduce the cascaded blocks
2. Reduce the parallel blocks
3. Reduce the internal feedback loop
4. Advisable to shift take off points to the
right and summing point to the left.
5. Repeat 1 to 4 until the block diagram is
reduced to canonical form
6. Find the transfer function using C(s)/R(s)
 Example No. 12
1. The block diagram of a closed loop
transfer function is shown in the figure.
Find
a. Forward path transfer function
b. Feedback transfer function
c. Open loop transfer function
d. Closed loop transfer function
2. The closed loop transfer function of a
system is
M(S) = 10 / [S(S + 3)]
Find the forward path transfer function for
unity negative and positive feedback
3. Draw the block diagram of the circuit
shown
4. Reduce the block diagrams shown to a
standard form and in single block diagram.
R + C
+ + G3
G1 G2

- + -

H1

H2

H3
R + +
+ C
G1 G2 G3
+
- - -

H2 H3
H1
 R2

R1 + C
G1 G2
+ +
-

H1
5. find C/R then reduce to unity feedback.
R + + C
2 1/(s-1)

- -

s 1/(s+1)

2 1/(s+1)
 Light1
2
+
R + C
4 3 2 3
- + -

6
 Assignment no. 8
Solve nos. figure 5.2, 5.3, 5.4, 5.9, and 5.10
from pages 277-279 CONTROL
SYSTEMS ENGINEERING by NORMAN
NISE.
 Lesson No. 6
Signal Flow Graphs
Lesson objectives: at the end of the lesson,
the student should be able to
1.Convert block diagrams into signal flow
graphs
2.Reduce signal flow graphs into a single
branch
3.Obtain the transfer function using Masons
Gain formula
The process of block diagram reduction
technique is time consuming because at
every stage modified block diagram is to
be redrawn. A simple method was
developed by S.J. mason which is known
as signal flow graph. It is applicable to the
linear systems.
Signal flow graphs consist of nodes and
these nodes are connected by a directed
line called branches. Every branch of
signal flow graph having an arrow, which
represents the flow of signal.
1.Input nodes or source node a node which
has only outgoing branches
2.Output node or sink node a node that has
only one or more incoming branches
3.Mixed node a node having incoming and
outgoing branches
4. Transmittances known as transfer
function which is normally written on the
branch near the arrow.
5. Forward path a path that originates from
the input node and terminates at the output
node and along no node is traversed more
than once.
6. Loop it is a path that originates and
terminates on the same node and along
which no other node is traversed more than
once.
7. Self loop a path which originates and
terminates on the same node
8. Path gain the product of the branch
gains along the path.
9. Loop gain the gain of the loop.
10. non-touching loop non touching loop
having no common nodes branch of path.
Properties:
1. SFG is applicable to linear time invariant systems
2. The signal flow is along the direction of the arrows.
3. The value of variable at each node is equal to the
algebraic sum of all signals entering at that node.
4. The gain of SFG is given by masons formula.
5. The signal gets multiplied by the branch gain when it
travels along it.
6. The SFG is not be the property of the system
 Example no. 13
1. Consider the following sets of equations.
Draw the equivalent SFG
y2 = t21y1 + t23y3
y3 = t32y2 + t33y3 + t31y1
y4 = t43y3 + t42y2
y5 = t54y4
y6 = t65y5 t64y4
2.
3.
4.
Masons gain Formula
 Example No. 14
1. Determine C/R using Masons gain for the
problems 1-4 in example no. 13
2. Draw the equivalent SFG of the given
equations
x2 = 5x1 + 2x3 3x4 + 2x5
x3 = 0.5x2
x4 = 2x3 2x4
x5 = x3 + 4x4
 Assignment no. 9
1. Determine the transfer function using the
masons gain formula
2. Transform the given block diagram into
signal flow graph and determine the
transfer function using masons gain
formula
3. Find the transfer function using masons
gain formula
4. Draw the SFG of the given equations then
find the transfer function using masons gain
formula
x2 = 3x1 + 2x3 2x4 + 2x5
x3 = 4x2
x4 = -2x3 + 3x4
x5 = 5x3 + 4x4
Where x1 is the input variable and x5 is the
output variable
 Lesson No. 7
Stability Analysis and Steady
state response
Lesson objectives: at the end of the lesson
the student would be able to
1.Determine the stability of the system using
Routh-hurwitz stability criterion
2.Calculate the steady state response and
error of the different types of systems
 System Stability
Determine the stability of the given system
and the number of poles in the right hand
plane using Routh-Hurwitz criterion.
1.
1000S C
R ________________________
+ (S + 2)(S + 3)(S + 5)
-
2. S3 + 4S2 + 8S + 12 = 0
3. 2S3 + 4S2 + 4S + 12 = 0
4. S5 + 2S4 + 3S3 + 6S2 + 5S + 3 = 0
5. S5 + 7S4 + 6S3 + 42S2 + 8S + 56 = 0
Find the value of K to make the system
stable.
1.C/R = K / (S3 + 18S2 + 77S + K)
2.S3 + (4 + K)S2 + 6S + 12
3.
K C
R ________________________
2
+ S + 2S + 1
-
 Poles and Zeros of a First Order
System
Given the transfer function plot the poles
and zeros in the s-plane and specify the
output response
R(s) = 2/s C(s)
(s+2)/(s+5)
2. Given the system, write the output, c(t), in general terms.
Specify the forced and natural parts and plot the poles and
zeros of the system

R(s) = 1/s C(s)

(s+3)/(s+2)(s+4)(s+5)
 First Order System

R(s)
C(s)
a/(s+a)
-
Time constant, Tc, the time constant can be
described as the time for e-at to decay to 37%
of its initial value or it is the time it takes for
the step response to rise 63% of its final
value.
Tc = 1/a
Rise Time, Tr, the time for the waveform to go
from 0.1 to 0.9 of its final value.
Settling time, Ts , the time for the response to
reach and stay within 2% of its final value.
Ts = 4/a
 Second Order system
Consider the general system,
G(s) = b / (s2 + as + b)
Without damping, the poles would be on the
j axis, and the response would be
undamped sinusoid.
Natural Frequency, n , it is the frequency of
oscillation of the system without damping.
n = b
Damping ratio, , the ratio between the exponential
decay frequency and the natural frequency.
= a / 2n
Peak time, Tp , the time required to reach the first
or maximum peak.
Tp = / [n (1-2 )]
Percent Overshoot, %OS, the amount that the
waveform overshoots the steady state or final
value at peak time expressed as percentage of
the steady state value
%OS = e (/(1-2) x 100%
Settling time, Ts , =the time required for the
transients damped oscillations to reach
and stay within +/-2% of the steady state
value.
Ts = 4/n
The relationship between the damping ratio and the
rise time is given in the table.
Damping ratio Normalize rise time
0.1 1.104
0.2 1.203
0.3 1.321
0.4 1.463
0.5 1.638
0.6 1.854
0.7 2.126
0.8 2.467
0.9 2.883
Damping ratio designation
=1, the system is critically damped(the poles are real
and equal)
<1, the system is underdamped( the poles are
complex conjugate)
>1, the system is overdamped(the poles are real and
unequal)
=0, the system is undamped(the poles are purely
complex conjugate)
For the given characteristics equation
D2 + 2n D + n = 0
The roots will be
D1/2 = -n +/- jn (1 2 )
= - +/- jd which is the roots of the Laplace s
Find the damping ratio, natural response,
peak time, percent overshoot, settling time
and rise time for the given system.
1.G(s) = 100 / (s2 + 15s + 100)
2.G(s) = 36 / (s2 + 4.2s + 36)
3.
R + C
25 / [s(s+5)]
-
4. Given the plot shown, find , n , Tp,
%OS, Ts.
j

x j7

-4

x -j7
5. Given the system shown, find J and D to
yield 20% overshoot and a settling time
of 2.5 seconds for the unit step input
torque
K =5N-m/rad
J B

T(t)
7. Find the characteristic equation for the
system with Ts = 0.775 sec and n = 5.55
 Assignment no. 9
Answer nos. 17, 19, 21, 23 of CONTROL
SYSTEMS ENGINEERING by Norman
Nise pp. 217 to 218.