G 1.1. Introduction
H 22 Open Loop Control System
13, _ Closed Loop Control System
A 14 Comparison Between Open Loop & Closed Loop
Elements or components of closed loop systems
Transfer Function for Single Input Single Output System
Procedure
Characteristic equation of a transfer function
Poles and zeros of a transfer function
RR 1.10, Impulse Response
447. Translational Systems
1.12:
~ Rotational System
1.13. D'Alembert’s Principle
1a!
1.20.
1.24.
1.25.
1.28.
1.29.
1.30.
131.
1.3
E
1.33.
_L.14
f(D exists
¢ i(*) = aF as)
Elf, O*f, Ol = F,(s) « Fa(s) (complex multiplication)
Intial value theorem
Lim f(t) = Lim sF(s)
140 se
Final value theorem
Lim sF(s) = Lim sF(s)
tae 10.
i.
12.
13.
14.
15.
16.
4-.
1
1-2
1
ie
Unit Impulse
Unit Step
t
NE 1,2, 3, a
eu
sin wt
cos wt
e* sin wt
e* cos wt
5 8 sin wo, Y1-E2
1-§)
ent gin (>. 1-8? t+tan™
~E,t
e
af 1-8? t-tan?
Asean]
Laplace Transform Fairs
g
vce
g
|
s+a
oad
(s+a)*
es
(s+a)"
peal
(s+a)(s+b)
.
—_s* +0?
pe
st+07
Oa
(sta)? +07
sta
(sta +07
@,
A
87 +2E0,5+ 0,
@,
s(s? +2&0,5+@,")
Pee
5° +2E0,5 +0,"
1
(8(s+a)(s+b) Loop Systems; 1.8. Transfer Function for Single Input Single
4.7. Procedure; 1.8. Characteristic Equation of a Transfer Function; 1.9. Poles and Zeros
of a Transfer Function; 1.10. Impulse Response; 1.11. Translational Systems; 1.12. Rotational
System; 1.13. D'Alembert’s Principle; 1.14. Procedure of Writing the Models of Mechanical
System; 1.15. Analogous System; 1.16. Mechanical Equivalent Network; 1.17. Mechanical
Coupling: 1.18. Block Diagram Representation; 1.19. How to Draw the Block Diagram; 1.20.
Closed Loop Control System; 1.21. Multi-input-Multi-output System (MIMO:
4.22. Block Diagram Reduction; 1.23. Block Diagram and Transfer Function of d.c. Motor:
4.24, Signal Flow Graph; 1.25. Properties of Signal Flow Graph; 1.26. Comparison of Block
Diagram and Signal Flow Graph Method; 1.27. Construction, of Signal Flow Graph from
4 h for Differential Equations; 1.29.
4,30) M s Gain Formula;
TE I EE,
1.1, 1 juUCTI
‘The control system is very important for all engineers. The first significant control device was James
Watt's flyball governer. This was invented in 1767 to keep the speed of the engine constant by
regulating the supply of the steam to the engine.
In control system the behaviour of the system is described by the differential equations.
Minorsky, in 1922 showed that how to determine the stability from the differential equations
describing the systems. The differential equations may be ordinary differential equations or the
difference equations. The control system can be classified as open loop control system and closed
loop control systems. ; a
PEN LOOP CONTROL SYSTEM :
. pee without feedback or ea
‘The open loop control system is also known as control system on fetta,
control systems. In open loop systems the control action is independent of the desired oytp,
F Ut In
i the output is not compared with the reference input.
Re aa the open loop systems are controller and ae The Controller
may be amplifier, filter etc. depends upon the system. An inp PI controller ang
the output of the controller gives to
the controlled process fand we get the Input
output (desired).
Examples :
1. Automatic washing machine is the example of the open loop systems. In the machine
the operating time is set manually. After the completion of set time the machine wil]
stops, with the result we may or may not get the desired (output) amount of cleanliness
Controller
Output
Fig. 1.4.
of washed cloths because :
eld Speed
there isno feedback is pro- Input,| Field) [Torque) | Pe oni
vided to the machine for Ref “| dc. motor Load Position
desired output. Fig. 1.2. ©
2. Immersion rod is another
example of open loop system. The rod heats the water but how much heating is required
is not sense by the rod because of no feedback to the rod.
3. A field control d.c. motor is the example of open loop system.
4. For automatic control of traffic the lamps of three different colours (red, yellow and green)
are used. The time for each lamp is fixed. The operation of each lamp does not depends upon
the density of the traffic but depends upon the fixed time. Thus, we can say that the control
system which operates on the time basis is open loop system.
ad es: 1. Open loop control systems are simple.
2. Open loop control systems are economical.
3. Less maintenance is required and not difficult,
4. Proper calibration is not a problem.
\, Pisadvantages :1. Open loop systems are inaccurate,
2. These are not reliable.
3. These are slow.
/ 4. Optimization is not possible,
~v
a
Closed loop control systems are also known as feedback control systems, In closed loop conto
systems the control action is dependent on the desired output. If any system having one or more
feedback paths forming a closéd 146p system,
In closed loop systems the/oirtput is compared with the reference input and error signal ©
Produced, The error signal is fed to the controller to reduce the error and desired output
obtained. a“ : :
1 Error signal
Reference = Controlled
Input 3 Amplifier |—>) Controller |—>} Process output
$
Feedback
Fig. 1.3.
Example : In a room we need to regulate the temperature and humidity for comfortable living. Air-
conditioners are provided with thermostat. By measuring the actual room temperature and compared
it with desired temperature, an error signal is produced, the thermostat turns ON the compressor or
OFF the compressor. The block diagram is shown in Fig. 1.4.
Desired temp.
Room
temp.
1 Fig. 1.4.
pheoas : 1, These systems are more reliable.
2. Closed loop systems are faster.
3. A number of variables can be handled simultaneously.
wh 4. Optimization is possible.
Disadvantages : 1. Closed loop systems are expensive.
2. Maintenance difficult.
3. Complicated installation.
COMPARISON BETWEEN OPEN LOOP & CLOSED LOOP
Table 1.1
| Itis difficult to build.
| They accurate because of feedback.
are less stable.
“ELEMENTS OR COMPONENTS OF CLOSED Loop SYSTEMS
The various components of closed loop system are shown in Fig. 1.5 Fip. 1.8.
Command : The command is the externally produced input and independent of the feedback, contro}
system. ; :
Reference input element : This produces the standard signals proportional to the command,
Error detector: The error detector receives the measured signal and compare it with reference input,
The difference of two signals produces the error signal.
Control clement : This regulates the output according to the signal obtained from error detector.
Controlled system : This represents what we are controlling by the feedback loop,
Feedback element : This element fed back the
1¢ output to the error detector for comparison with the
reference input.
Thetransfer functions defined as the ratio of Laplace transform of the ‘output to the Laplace transform
of input with all initial conditions are zero,
Consider a linear system having input r(t) and c(t) is the output of the system, the input-output
relation can be described by the fo
lowing n"-order differential equation :
"city a" elt) de(t) a(t) amy ar(t)
ar eee a tact) ba Gp tbs SO Ose (11)
where ‘a’ and ‘b’ are constants,
Take the Laplace transform of equation (1.1)
#938 ¥ san + 8 4.09) CLS) = (by 54 b
nS by SE + BSH R(S) (12)
We can define the transfer function as
C(s)
SO) = Ry
ls)
RG)
In equation (1.3), ifthe order of the denominato
a R@)
polynomial is greate “{- 4
than the order of the numerator Polynomial then the transfer function s sad
to be STRICTLY PROPER. If the order of both Polynomials are same, then the
transfer function is PROPER. The transfer function 6
said to be IMPROPER, if the order of numerator
polynomial is greater than the order of denominator polynomial R, ifthe order o}
8" +b ht 54)
(asa, st
GC) =
totasta) ler the block dia,
gram of open loop control 5} stem Fig. 1.6 where R(s) and C(s) are the
Laplace transform of input i ih
and output respectively, then the transfer function G(s) ‘can be expressed as
(1.4)
The following steps are involved to obtain the transfer function of the given system.
Step 1 = Write the differential equations for the given system
Step 2 Take the laplace transform of the e
conditions are zero,
Step 3: Take the ratio of transformed of
Step 4 : The ratio of transform
‘uations obtained in step 1, with assumption; al initial
nutput fo input
‘ed output to the input, obtained in step 3 is the required transfer
fanction of the given system.
The characteristic equation of a linea:
polynomial of the transfer functi
of equation (1.3) will be
pS + OST a AS + Ag =
T system can be obtained by equating the denominator
ion to zero. Thus, the characteristic equation of the transfer function
(1.5)
Consider the equation (1.3), the numerator and denominator can be factored in m and n terms
respectively, then the equation (1.3) can be expressed as
C(s) _ K+2Z,)(8+Zp)(as* +bs+c)
= = +=(1.6)
Re ap eHpa As Bsc) seu
is known as the gain factor, sis the complex frequency
POLES : The poles of G(s) are those values of 's' which make G(s) tend to infinity. For example in
equation (1.6) we have poles at s =~ p,,s =~p, and a pair of poles at
_ -B+ VB? -4AC
soa (7)
ZEROS : The zeros of G(s) are those values of 's' which make G
(1.6) we have zeros at §, = ~ Z,, 5) =~ Z, and a pair of zeros at
(s) tend to zero. For example in eq.
a (1.8)
If either poles or zeros coincide, then such type of poles or zeros are called multiple poles or
multiple zeros, otherwise they are known as simple poles or simple zeros. Multiple poles are due to
the repetitive factor in denominator and multiple zeros are due to the repetitive factor in numerator
ofa transfer function. : een ¢ jj Automatic Control Systems
consider the transfer function
50(s+3)
GO) = Fe 2N(8 +4" s
‘The above transfer function having the simple poles ats = 0,5 = -2, multiple poles at 5 = 4.
the pole of order 2 at s = ~ 4 and simple zero at s
The above, mentioned poles and zeros are of fin
including infinity then two cases arises.
1. If the no. of zeros are less than the no of
becomes zero forse». Hence we can say tl
zeros is P - Z. For example in equation (1.9) there
there is one finite zero at s = -3 but there are three
the function has a total of four poles and four zeros
2. If the no. of poles are less than the no. of zeros P < Z then the value of the transfer function
For example,
=-3. ce
ite values. If we consider the entire 's' Plibe
poles ie. Z 0
Flo. an Input-Output Relationship // 7
Practically, it is not possible to i if i
enerate a true impulse. A pulse with less duration than the time
constant of the system can be considered as an impulse and denoted by &().
EXAMPLE 1.1. Find the ‘transfer,
N function of the given network
Solution : Step 1: Apply KVL in mesh (1)
v; = Ried wa(1.13) v
Apply KVL in mesh (2) al
i Iiput
Vo = LS (1.14) Fig. 1.8.
Step 2: Take Laplace transform of
2 equations (1.13) and (1.14) with assumption that all initial
conditions are zero.
V{(s) = RI(s) + sLI(s) (1.15)
Va(s) = sLI(s) (1.16)
Step 3: Calculation of transfer function
Vols) _ __sLi(s)
Vi(s)_~ (R+sL)I(s)
Vo(s) sL
He a gz (1.17)
Equation 1.17 is the required transfer function.
EXAMPLE 1.2, Determine the transfer function of the electrical network shown in Fig. 1.10.
Solution : Step 1: Apply KVL in both meshes
R L
E, ai) c= &
1f.
Ey=e J idt (119) ;
Step 2: Take Laplace transform of equations (1.18) and (1.19) Met
E(s) = RI(e) + SLI (s) + dre = Ho[Reai+
$l ee
E,= Ris L4G [itt (1.18)
2,
£6) = uo) Reeetcet) Ras
Es) = 2108)
08) = Oe (1.21)
Step 3 : Determination of transfer function
Ens) _ 108), Cs
E\(s) ~ Cs 1(s)[s*Le+SRC +1)
Eo(5) 1
E\(s) ~ S*LC+SRC+1 Ans, d
=CH UV.)
Fig. 1.11,
Vy
fete
Put all these values in equation (1.23)
Ra gtece (1.24)
RR tae VV) (1.24)
Step 2: Take Laplace transform of equation (1.24)
als)
R
om V4{s) + C5 Vis) - Cs V5)
Wea Ry VAS) + Ve 6) = V6) +Cs VY)
of 2 7 2 wfc]
’
Step 3 : Determination of transfer function
% of RtRo+ BEG). Ys pastes 1+R\Cs |
RR, RX
Va(s) Ry + RRCs
Vis) “R+R,+RR,Cy Ans. ~=(E)
EXAMPLE 1.4, Find the transfer function of lag network shown in Fig, 1.12,
Solution : Step 1: Apply KVL in both meshes
edt) = Rul) + Ryilt) + 2 J i(t) dt
eo(t) = Rai (t) + J fiw dt
Step 2: Laplace transform of equation (1 26) and (1.27)
Bo =[R, +R Lh
Ej(s) = [® ay g}o
(1.26)
(1.27) 1
BO =r [x + Eo
Fo) __ 14 Cs
7 E\(s) ~ 14+R\Cs+R,Cs (1.28)
Equation (1.28) is the required transfer function,
EXAMPLE 1.5. Determine the transfer function of Fig. 1.13.
Fig. 1.13.
Solution : Step 1 : calculation of Z, :
adi
5G, R
Ara) TRcerl (1.29)
te
Step 2 : Calculation of Z,:
“1 RGS41
= Rte = SG (1.30)
Step 3 : Calculation of transfer function in terms of Z, and Z,
Ex(s) ___2a(s) _
E,(s) — 2(8)+Z2(s) baal
Step 4 :Calculation of transfer function in terms of Ry RyC, and C,, Put the values of Z, (s) and Z,(8)
from equations (1.29) & 1.30 in equation (1.31)
Eq(s) _ __(14+RsCy8)/Scp
E(s) ~ Ry, RGS41
GRS+1” SC,
Fy(s) __ (1+ R,C,S)(14R,
Ex(s) (1+ R\C,S)(1+R,C,)+ RS
‘The above equation is the required transfer function of the given circuit.
(1.32) a
tomatic Control Systems =
aaa ine the transfer function of given transformer coupled circuit (Fig, 2.9)
EXAMPLE 1.6, Determine
M:
eft)
Fig. 1.45.
Solution : Apply KVL in both meshes
if, di(t) yy do) A:
eft) =r + oi atl Mae (1.33)
ex(t) = Ryig(t) (1.34)
d.
0=R,i,(t) + (L, +L.) Haloeg, ficoa-m Tao wu(1.35)
Take Laplace transform of equation (1.33), (1.34) and (1.35)
E\() = wo] R> dest] = SMI, (5) (1.36)
cs
E,{s) = Ry1,(s) (1.37)
0 = L{9)[R, + s(L, + L;) + 1/sC,] -s MI,(s) (1.38)
Solving the equations (1.36), (1.37) and (1.38). The required transfer function.
= SRC.CM
CO) =. SR,
$°C,(Ly +1g)+1] SLC, +8C,R, +1]
MECHANICAL SYSTEM
Li 1. TRANSLATIONAL SYSTEMS”
es a aes a cea eee arr
a ematical aa spi cone a straight line is known as translational motion. There are three types
1. Intertia Force : Consider a body of mass 'M' and i
cl sider f acceleration ‘a’, th i :
second law of motion the inertia force will be equal to the product of ae Meuse suene a
Fy(t) = Ma(t) )
In terms of velocity the equation (1.39) becomes oe
Fy(t) = mae)
In f displ a =
terms of displacement the equation (1.39) can be expressed as
bex(t)
;
Fuld = MEO a)
(1.41)
Fig. 446.
