INTRODUCTION

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 A D PATEL INSTITUTE OF TECHNOLOGY MECHANICAL ENGINEERING DEPARTMENT

What is Input?

Input ⮚ The stimulus or excitation applied to a

control system from an external source in
order to produce the output is called input.

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What is Output?

Input Output ⮚The actual response

obtained from a system is
called output.

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What is System?

Input Output
SYSTEM

⮚ A system is an arrangement of or a combination of different physical

components connected or related in such a manner so as to form an entire unit
to attain a certain objective.

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What is Control?

⮚ To regulate, direct or command a system so that the desired objective is

attained.

System + Control = Control System

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Control System

Input Output
CONTROL
SYSTEM

It is an arrangement of different physical elements connected in such a manner so

as to regulate, direct or command itself to achieve a certain objective.

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Difference between System & Control System

Input Proper Input Contro Desired

System l
Output Output
System

(May or may not

be desired)

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Difference between System & Control System

230V/50Hz Fan Air Flow

Input (System Output
AC Supply
)
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A Fan: Can’t say a System

⮚ A Fan without blades cannot be a “SYSTEM” Because it cannot provide a

desired / proper output. i.e. airflow

Input Output

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A Fan: Can be a System

⮚ A Fan with blades but without regulator can be a “SYSTEM” Because it can
provide a proper output. i.e. Airflow
⮚ But it cannot be a “Control System” Because it
cannot provide desired output i.e. Controlled Airflow

Input Output

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A Fan: Can be a Control System

⮚ A Fan with blades and with regulator can be a “CONTROL SYSTEM”

Because it can provide a Desired Output. i.e. Controlled Airflow

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A D PATEL INSTITUTE OF TECHNOLOGY MECHANICAL ENGINEERING DEPARTMENT

Classification of Control System

(Depending on control action)

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Definition: Open Loop System

“A system in which the control action is totally independent of the output of the
system is called as open loop system”

Block Diagram of Open loop Control System

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Example of Open Loop System

• Electric hand drier – Hot air

(output) comes out as long as
you keep your hand under the
machine, irrespective of how
much your hand is dried.

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Example of Open Loop System

⮚ Automatic washing machine: This

machine runs according to the pre-set
time irrespective of washing is
completed or not.

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Example of Open Loop System

• Bread Toaster: This machine runs as

per adjusted time irrespective of toasting
is complete or not.

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Example of Open Loop System

• Automatic tea/coffee Vending Machine:

These machines also function for pre
adjusted time only.

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Example of Open Loop System

• Light Switch: Lamps glow whenever light switch is on irrespective of light is

required or not.
• Volume on Stereo System : Volume is adjusted manually irrespective of
output volume level.

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Advantages of Open Loop System

⮚ Simple in construction and design

⮚ Economical

⮚ Easy to maintain

⮚ Generally stable

⮚ Convenient to use as output is difficult to measure

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Disadvantages of Open Loop System

⮚Inaccurate
⮚Unreliable
⮚Any change in output can’t be corrected automatically

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Definition of Close Loop System

“A system in which the control action is

somehow dependent on the output is called as closed loop
system”.

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Block Diagram of Close Loop System

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Example of Close Loop System

⮚ Automatic
Electric Iron :
Heating
elements are
controlled by
output
temperature of
the iron.

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Example of Close Loop System

⮚ Servo Voltage
Stabilizer: Voltage
controller operates
depending upon
output voltage of the
system.

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Example of Close Loop System

Perspiration

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Advantages of Close Loop System

⮚ Closed loop control systems are more accurate even in the presence of non-
linearity
⮚ Highly accurate as any error arising is corrected due to presence of feedback signal
⮚ Bandwidth range is large
⮚ Facilitates automation
⮚ The sensitivity of system may be made small to make system more stable
⮚ This system is less affected by noise

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Disadvantages of Close Loop System

⮚ They are costlier

⮚ They are complicated to design
⮚ Required more maintenance
⮚ Feedback leads to oscillatory response
⮚ Overall gain is reduced due to presence of feedback
⮚ Stability is the major problem and more care is needed to design a stable closed
loop system

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Difference between Open Loop & Close Loop System

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Classification of Control System

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Linear Control System

➢ When an input X1 produces an output Y1 & an input X2 produces an output Y2,

then any combination 𝑎𝑋1 + 𝑏𝑋2 should produce an output 𝑎𝑌1 + 𝑏𝑌2 .
➢ In such case system is linear.
➢ Therefore, linear systems are those where the principles of superposition and
proportionality are obeyed.

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Non – Linear Control System

➢ Non-linear systems do not obey law of superposition.

➢ The stability of non-linear systems depends on root location as well as initial
conditions & type of input.
➢ Non-linear systems exhibit self sustained oscillations of fixed frequency.

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Difference Between Linear & Non – Linear Control System

Linear Non – Linear

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Law of SuperPosition

➢ Law / Principle of Superposition is applicable to the system.

➢ The response to several inputs can be obtained by considering one input at a
time and then algebraically adding the individual results.

𝑓 𝑥 + 𝑦 = 𝑓 𝑥 + 𝑓(𝑦)

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Classification of Control System

Systems whose parameters vary with time When parameters do not vary with time

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Servo Control System

➢ Definition: Servo system is defined as automatic feedback control system working

on error signals giving the output as mechanical position, velocity or acceleration.

➢ Servo system is one type of feedback control system in which control

variable is the mechanical load position & its time derivatives like velocity
and acceleration.

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Block Diagram of Servo Control System

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Difference between AC Servo & DC Servo

AC Servo DC Servo

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Example of Modern
Control System

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Example of Modern Control System

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Laplace Transform
The French Newton
➢ To evaluate the performance of an automatic Pierre-Simon Laplace
control system commonly used
mathematical tool is “Laplace Transform”
➢ Laplace transform converts the differential
equation into an algebraic equation in ‘s’.

➢ Laplace transform exist for almost all signals

of practical interest.

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Why Laplace Transform?

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Advantages of Laplace Transform

➢ Initial conditions are automatically incorporated.

➢ Laplace transform provides an easy & effective solution of many problems
arising in automatic control systems.

➢ Laplace transform allows the use of graphical techniques, for predicting the
system performance.

➢ Solution to differential equations of time system can be easily obtained.

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Example of Modern Control System

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INTRODUCTION
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 A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Laplace Transform

The Laplace transform of a function, f(t), is defined as

Where,
F(s) is the symbol for the Laplace transform,
L is the Laplace transform operator, and
f(t) is some function of time, t.

Note: The L operator transforms a time domain function f(t) into an s domain
function, F(s). s is a complex variable: s = 𝜎 + 𝑗𝜔
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Standard Laplace
Transform

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Example of Laplace Transform

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Example of Laplace Transform

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Inverse Laplace Transform

By definition, the inverse Laplace transform operator, L-1, converts an s-domain

function back to the corresponding time domain function:

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Transfer Function

The relationship between input & output of a

system is given by the transfer function.

Definition: The ratio of Laplace transform of the output to the Laplace

transform of the input under the assumption of zero initial conditions is
defined as “Transfer Function”.

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Transfer Function

For the system shown,

L{c(t)} = C(s)
c(t) = output
r(t) = input L{r(t)} = R(s)
g(t) = System function L{g(t)} = G(s)

Therefore transfer function G(s) for above

system is given by,
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Transfer Function of Close Loop System

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Transfer Function of Close Loop System

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Transfer Function of Close Loop System

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Classification of Control System

Deterministic and Stochastic Control Systems

➢ A control system is said to be deterministic when its response to

input as well as behaviour to external disturbances is predictable
and repeatable.
➢ If such response is unpredictable, system is said to be stochastic in
nature.
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Classification of Control System

Lumped Parameter Control Systems Distributed Parameter Control Systems
Control system that can be described by Control systems that can be described by
ordinary differential equations is called lumped partial differential equations are called
parameter control system. distributed parameter control systems.
For example: Electrical networks with different For example, transmission line having its
parameters as resistance, inductance, etc. are parameters resistance and inductance totally
lumped parameter systems. distributed along it.
The lumped parameters are physically The distributed parameters can not be
separable and can be shown to be located at a physically separated and hence can not be
particular point while representing the system. represented at a particular place.
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Difference between ODE & PDE

ODE PDE
One Dependent Variable and One One Dependent Variable and
Independent Variable. More than one Independent
Variables.
𝑑𝑦
+𝑥 =0 𝜕𝑢 𝜕𝑢 𝜕𝑢
𝑑𝑥 + + =0
Where, 𝜕𝑥 𝜕𝑦 𝜕𝑧
x – Independent Variable Where,
y – Dependent Variable u – Dependent Variable
x, y, z – Independent Variable

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Classification of Control System

SISO System MIMO System

A system having only one input and systems may have multiple type of
one output is called single input single inputs and multiple outputs, these are
output system. called multiple input multiple output
For example a position control system systems.
has only one input (desired position) The multiple input multiple input
and one output (actual output systems are also called multivariable
position). control systems.

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Examples of SISO & MIMO System

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Laplace Transform of Resistor

(R)

➢ Resistors are time and frequency invariant.

➢ Therefore, the transform of a resistor is the same as the
resistance of the resistor.
L{Resistor}=R(s)

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Laplace Transform of Capacitor

(C)

Let us look at the relationship between

voltage, current and capacitance, in the
time domain:

Solving for voltage, we get the following

integral:

Then, transforming this equation into the

Laplace domain, we get the following:
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Laplace Transform of Capacitor

(C)

Again, if we solve for the ratio V(s)/I(s), we

get the following:

Therefore, the transform for a capacitor

with capacitance C is given by:

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Laplace Transform of Inductor

(L)
Let us look at the relationship between
voltage, current, and inductance, in the time
domain:

putting this into the Laplace domain, we

get the formula:

And solving for our ratio

Therefore, the transform of an inductor with

inductance L is given by:
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Kirchhoffs Circuit

Find the current flowing in the 40Ω Resistor, R3

The circuit has 3 branches, 2 nodes

(A and B) and 2 independent loops.

Using Kirchhoffs Current

Law, KCL the equations are given
as:
At node A : I1 + I2 = I3
At node B : I3 = I1 + I2

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Kirchhoffs Circuit

Using Kirchhoffs Voltage Law

(KVL) the equations are given as:
Loop 1 is given as:
10 = R1 I1 + R3 I3 = 10I1 + 40I3
Loop 2 is given as:
20 = R2 I2 + R3 I3 = 20I2 + 40I3
Loop 3 is given as :
10 – 20 = 10I1 – 20I2

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Kirchhoffs Circuit

As I3 is the sum of I1 + I2 we can rewrite the equations as;

Eq. No 1 : 10 = 10I1 + 40(I1 + I2) = 50I1 + 40I2
Eq. No 2 : 20 = 20I2 + 40(I1 + I2) = 40I1 + 60I2

We now have two “Simultaneous Equations” that can be

reduced to give us the values of I1 and I2

Substitution of I1 in terms of I2 gives us the value of I1 as -0.143 Amps

Substitution of I2 in terms of I1 gives us the value of I2 as +0.429 Amps

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Kirchhoffs Circuit

As : I3 = I1 + I2
The current flowing in resistor R3 is given as :
-0.143 + 0.429 = 0.286 Amps
and the voltage across the resistor R3 is given as :
0.286 x 40 = 11.44 volts

The negative sign for I1 means that the direction of current flow initially
chosen was wrong, but never the less still valid.
In fact, the 20v battery is charging the 10v battery.
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Example: Find the TF of given RC network

Apply KVL for input loop,

Taking Laplace transform above equation

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Example: Find the TF of given RC network

Apply KVL for output loop,

Taking Laplace transform above equation

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Example: Find the TF of given RC network

From equation 1,

From equation 3 and 4,

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Example: Find the TF of given RC network

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Speaker: Prof. Sankalp Bhatia
A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Example: Find the TF of given RLC network

Taking Laplace transform of

network

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Speaker: Prof. Sankalp Bhatia
A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Example: Find the TF of given RLC network

Apply KVL for input loop,

Apply KVL for Output loop,

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Speaker: Prof. Sankalp Bhatia
A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Example: Find the TF of given RLC network

From equation 1 & 2

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Speaker: Prof. Sankalp Bhatia
A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

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Speaker: Prof. Sankalp Bhatia
MATHEMATICAL MODELLING OF
CONTROL SYSTEMS
 A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Mathematical Modeling

Mathematical modeling of any control system is the first and foremost task that a control
engineer has to accomplish for design and analysis of any control engineering problem.
A mathematical model of a dynamic system is defined as a set of differential equations
that represents the dynamics of the system accurately, or at least fairly well.
Note that a mathematical model is not unique to a given system. A system may be
represented in many different ways and, therefore, may have many mathematical models,
depending on one’s perspective. For example,
In optimal control problems, it is good to use state-space representations.
On the other hand, for the transient-response or frequency-response analysis of
single- input-single-output, linear, time-invariant systems, the transfer function
representation may be more convenient than any other.

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 A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Mathematical Modeling

❑ Once a mathematical model of a system is obtained, various analytical

and computational techniques may be used for analysis and synthesis
purposes.
❑ Because the systems under consideration are dynamic in nature, the
equations are usually differential equations. If these equations can be
linearized, then the Laplace transform may be utilized to simplify the
method of solution.

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 A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Different Mathematical Models

❑ Commonly used mathematical models are,

▪ Differential equation model (Time Domain)

▪ Transfer function model (S-Domain)
▪ State space model (Time Domain)

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 A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

The approach to dynamic system problems can be as follows:

Define the system and its components.

Formulate the mathematical model and list the necessary assumptions
Write the differential equations describing the model.
Solve the equations for the desired output variables.
Examine the solution and the assumptions.
If necessary reanalyze or redesign the system.

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 A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Transfer Function

Poles: They are roots of the denominator (Values of s such that transfer function
becomes infinite)
Zeros: They are roots of the numerator (Values of s such that transfer function
becomes Zero)
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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Describing Differential Equations

for
Electrical and Electronic Elements

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Differential equation modeling of

Mechanical Systems

There are two types of mechanical systems based on the

type of motion.

Translational mechanical systems

Rotational mechanical systems

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Modeling of Translational Mechanical Systems

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Mass

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Spring

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Dashpot

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 A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Describing Differential
Equations for
Translation
Mechanical Elements

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Modeling of Rotational Mechanical Systems

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Moment of Inertia

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Torsional Spring

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Dashpot

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Describing Differential Equations for

Rotational Mechanical Elements

Transfer Functionfor
(a) Angular (b) TorqueDisplacement
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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

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MATHEMATICAL MODELLING OF
CONTROL SYSTEMS
 A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Example: Find the transfer function represented by,

Solution

By taking Laplace
transform

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 A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Solution

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Free Body Diagram Laplace Domain

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

[sum of impedances] X(s) = [sum of applied forces]

Movement to the left is positive

Transfer function equation

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 A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

(a) System consisting of two springs in parallel;

the equivalent spring constant keq is

obtained from

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 A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

(b) system consisting of two springs in series.

Elimination of y from these two

equations results in

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

The equivalent spring constant keq for this case is then found as

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Example: Determine the transfer function of

the system

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

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 A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Transfer function
equation
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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Two-Mass System

Derive the equation of motion for x2 as a function of Fa.

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

Cramers’s Rule

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

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A D PAT E L I N S T I T U T E O F T E C H N O L O G Y M E C H A N I C A L E N G I N E E R I N G D E PA RT M E N T

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