Lecture 1

Introduction
Dr. D. Saravanakumar,
Associate Professor,
Centre for Automation,
Vellore Institute of Technology - Chennai Campus.
Email: saravanakumar.d@[Link]

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 Syllabus
Course Objectives

1. To expose the students to methods of classical and modern control engineering.

2. To enable the students to design control system for various applications.
3. To enrich the ability of the students to analyse the performance of dynamic control
systems.

Expected Course Outcome:

At the end of the course the student will be able to
1. Understand the concepts of control systems and modelling techniques.
2. Acquire the skill to develop various representations of system based on the first
principles approach.
3. Ability to determine time and frequency responses and infer the time domain and
frequency domain specifications from the response.
4. Analyse the stability of closed loop systems using different techniques.
5. Design appropriate control systems for different applications.

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 Syllabus
Module:1 Control System Representation:
Concept of control system, Classification of control systems – Open loop and closed
loop control systems, Examples of control systems, Effects of feedback, LTI Systems,
Block diagram, Determining the Transfer function from Block Diagrams, Signal flow
graphs – Reduction using Mason’s gain formula.

Module:2 Modelling in Frequency Domain

Transfer Functions of LTI Systems, Concepts of Poles and Zeros, Transfer functions of
mechanical, electrical, electromechanical, Thermal and Hydraulic systems, Linearization
of Nonlinear Systems.
Module:3 Modelling in Time Domain
Concepts of state, state variables and state model, Modelling system in state space,
Conversion of State Space representation to transfer function, Conversion of transfer
function to State Space representation, diazotization, Eigen values and Eigen vectors.
Module:4 Time Response Analysis
Standard test signals, Time response of first order systems and second order systems,
Transient response of second order systems – Time domain specifications, Steady state
errors and error constants, General Controllers – P, PI, PD and PID controllers, Time
domain solutions for state equation, state transition matrix.
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 Syllabus
Module:5 Stability Analysis
The concept of stability, Routh-Hurwitz’s stability criterion, Root Locus Technique:
Concept of root locus, Construction of root locus, stability analysis using Root Locus,
Compensator design using Root Locus, Stability in state space, Lyapunov’s stability.
Module:6 Frequency Response Analysis
Frequency domain specifications, Bode plot, Phase margin and Gain margin, Polar plots,
Nyquist Criteria, Compensator design using Frequency response characteristics.

Module:7 Controller Design in State Space

Concepts of Controllability and Observability, State feedback controller design through
Pole Placement, State observers: Full order and Reduced order observers.

Module:8 Case Studies

Servo Motor Speed and Position Control, Inverted Pendulum Control, Adaptive Cruise
Control of Vehicles, Antenna angle control

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 Evaluation Pattern

Entity Marks
Continuous Assessment Test 1 15
Continuous Assessment Test 2 15
Digital Assignment 1 10
Digital Assignment 2 10
Digital Assignment 3 10
Final Assessment Test 40

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 Control System

• A system Controlling the operation of another

system.
• A system that can regulate itself and another system.
• A control System is a device, or set of devices to
manage, command, direct or regulate the behaviour
of other device(s) or system(s).

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 Types of Control System
• Natural Control System
• Universe
• Human Body

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 Types of Control System
• Manmade Control System
• Aeroplanes
• Chemical Process

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 Types of Control System

• Manual Control Systems

• Room Temperature regulation Via Electric Fan
• Water Level Control

• Automatic Control System

• Home Water Heating Systems (Geysers)
• Room Temperature regulation Via A.C
• Human Body Temperature Control

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 Types of Control System
Open-Loop Control Systems utilize a controller or control actuator to
obtain the desired response.
• Output has no effect on the control action.
• In other words output is neither measured nor fed back.

Input Output
Controller Process

Examples:- Washing Machine, Toaster, Electric Fan, microwave

oven, etc.

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 Types of Control System

• Since in open loop control systems reference input

is not compared with measured output, for each
reference input there is fixed operating condition.
Therefore, the accuracy of the system depends on
calibration.
• The performance of open loop system is severely
affected by the presence of disturbances, or
variation in operating/ environmental conditions.

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 Types of Control System
Closed-Loop Control Systems utilizes feedback to compare the actual
output to the desired output response.

Input Output
Comparator Controller Process

Measurement

Examples:- Refrigerator, Electric Iron, Air conditioner

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 Types of Control System
Multivariable Control System
Outputs
Temp
Humidity Comparator Controller Process
Pressure

Measurements

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 Types of Control System
Linear vs Nonlinear Control System
• A Control System in which output varies linearly with the input is called
a linear control system.

u(t) Process y(t)

y(t ) = −2u(t ) + 1 y(t ) = 3u(t ) + 5

y=3*u(t)+5
y=-2*u(t)+1
35
5

30
0
25
-5

y(t)
y(t)

20
-10
15

-15
10

-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t)
u(t)
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 Types of Control System
Linear vs Nonlinear Control System

• When the input and output has nonlinear relationship the system is said
to be nonlinear.

Adhesion Characteristics of Road

0.4
Adhesion Coefficient

0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08
Creep

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 Types of Control System
Time invariant vs Time variant

• When the characteristics of the system do not depend upon time itself
then the system is said to time invariant control system.

y(t ) = −2u(t ) + 1

• Time varying control system is a system in which one or more

parameters vary with time.

y(t ) = 2u(t ) − 3t

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 Classification of Control Systems
Control Systems

Natural Man-made

Manual Automatic

Open-loop Closed-loop

Non-linear linear
Non-linear linear

Time variant Time invariant

Time variant Time invariant
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 Types of Control Systems

• Based on the system involved, control can be

classified into Continuous and Discrete event
control.

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 Sequential/Discrete Event Control

• A process in which one event follows another until a

job is completed
For a process with N steps

Event 1 Event 2 …….. Event N

Characteristics
1.) Discrete loads
2.) Product output is in units (cans boxes)
3.) Different equipment modifies the product at each step
4.) Steps are staged ( do step 1 before 2)

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 Applications of Sequential/Discrete
Event Control

Assembly Line process

Conveyor systems
Industrial Robots
Power protection systems
Motor starting and control

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 Sequential Vs Continuous Control
Continuous Control
Controller Process
Setpoint output

feedback

Feedback is continuous. Controller could be implemented with analog or

digital control (DSP) methods

Sequential Control Status I/O typically bi-level (on-off) in nature

Sequential Process
Process
Controller

Process status I/O

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