Control Theory EE6201
6th semester, EEE
SP 2016
Instructor: Nirbhar Neogi, Dept. of EEE, BIT, Mesra
Control Theory(EE 6201) - syllabus
MODULE I: Introduction: Examples of control systems and applications, Basic
components of control systems, Open loop and closed loop control systems, Effect of
feedback on overall gain, Stability and external disturbances, Classification of control
system : Linear and nonlinear continuous and digital, Time invariant and time varying,
Minimum phase and non-minimum phase systems etc. Linearization of nonlinear
systems using Taylors series.
MODULE II: Block Diagrams and Signal Flow Graph: Block diagrams of control
systems, Block diagram reduction, Signal Flow Graph (SFG)- Basic properties of SFG,
SFG algebra, Gain formula to SFG, Application of gain formula to block diagrams.
MODULE III: Time Response of Control Systems: Transient and steady state
response, Time response specifications, Typical test signals, Steady state error, and
error constant, Stability- Absolute, relative and conditional stability, Dominant poles of
transfer function.
Root Locus Methods: Root locus concept, Properties and construction of root locus,
Determination of relative stability from root locus, Root sensitivity to parameter
variation, Root contours, Systems with transportation lag and effect of adding poles or
zeros.19
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Control Theory(EE 6201) - syllabus
MODULE IV: Bode Analysis and Introduction to Design: Frequency response
specifications, Correlation between time and frequency domain Bode plot,
Determination of stability using Bode plot, Introduction to design, lead, lag & leadlag compensation.
MODULE V: Other Frequency Domain Tools: Nyquist stability criterion,
Theory of Magnitude phase plot, Constant M, constant N circle and Nichols chart.
MODULE VI: Control System Components and Basic Control Actions:
Sensors and encoders in control system, Potentiometer, Tachometers, incremental
encoders, Synchros, Operational Amplifiers, Basic control actions: on-off control,
P, PI, PD and PID.
MODULE VIII: Concepts of State, State Variables: Development of statespace models. State and state equations, State equations from transfer function
Transfer function from state equations, State transition matrix.
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Control Theory(EE 6201) - Books
Text Books:
1. I. J. Nagrath & Gopal, "Control Systems Engineering", New Age
International Publication.
2. K. Ogata, "Modern Control Engineering", Pearson Education.
Reference Books:
1. Norman Nise, "Control System Engineering, Wiley.
2. Graham C. Goodwin, "Control System Design", PHI.
3. B. C. Kuo, "Automatic Control System", PHI.
Need to understand basics of following disciplines:
Signals & systems
Laplace transform
Theory of complex variable
Control Theory: Module-1
Control Theory
MODULE I:
Introduction
Examples of control systems and applications,
Basic components of control systems,
Open loop and closed loop control systems,
Effect of feedback on overall gain, Stability and external disturbances,
Classification of control system : Linear and nonlinear continuous and
digital, Time invariant and time varying, Minimum phase and nonminimum phase systems etc.
Linearization of nonlinear systems using Taylors series
Control system: Introduction
Objectives
CONTROL
SYSTEM
Results
Control theories can be broadly classified as:
Control theory (conventional)
Modern control theory
Robust control theory
Control system: Introduction
Historical perspective:
First feedback control system on record:
Ancient water clock of Alexandria,
Egypt
- 3rd Century BC
- Time is kept by regulating water flow
from a vessel (water level control)
- Water clock was still in use in 1258 AD
when Mongols captured the city
Control system: Introduction
First documented automatic control system is the Steam Engine of James Watt
which used centrifugal fly-ball governor for speed control of the engine 1788
AD. About 100 years later, Maxwell analysed the dynamics of the governor.
Control system received a major boost during 2nd world war (1939-45)
Control system: Introduction
Control is a process of causing a system variable to attain some desired
value called -Reference value
Control methods are deployed whenever some parameter, say,
temperature, altitude, speed etc must be made to behave in some
desirable way over time or with respect to some other parameter
Three types of control systems:
Natural (including biological)
Man made
Combination of the two
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Control system: Simple examples
Ceiling/table fan
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Control system: Simple examples
Ceiling fan
OPEN LOOP SYSTEM
Output has no effect on control action
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Control system: Simple examples
Washing machine
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Control system: Simple examples
Washing machine
OPEN LOOP SYSTEM
Output has no effect on control action
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Control system: Simple examples
Automatic electric iron
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Control system: Simple examples
Automatic electric iron
CLOSED LOOP SYSTEM
Output is measured and feedback is used to
modify control action
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Control system: Simple examples
Driving a car
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Control system: Simple examples
Driving a car
CLOSED LOOP SYSTEM
Output is measured and feedback is used to
modify control action
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Control system: Simple examples
Tank level control system
CLOSED LOOP SYSTEM
Output is measured and feedback is used to
modify control action
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Control system: Simple examples
DC motor: open loop OR closed loop system?
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Control system: Simple examples
DC motor: open loop OR closed loop system?
Where is the feedback??
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Answer True/False against following questions:
OLS: Open Loop System, CLS: Closed Loop System, SISO: Single input/Single
output, MIMO: Multiple input/Multiple output
1.
A microwave Oven is a CLS: T/F
2.
Water geyser in bathroom is a CLS: T/F
3.
A simple wrist watch is a OLS: T/F
4.
The timing function in a mobile is a CLS: T/F
5.
A refrigerator is a CLS with MIMO for temp. control: T/F
6.
An elevator is an OLS with MIMO : T/F
7.
Water sprinkling system in a stadium is a multi feedback system: T/F
8.
Walking of a blind person is an example of multi-input CLS: T/F
9.
Movement of earth around sun is an example of a SISO control system: T/F
10. Supply/demand control in an economy is an example of MIMO CLS: T/F
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Control system: Representation- Open loop
Open-loop control system
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Control system: Representation- Closed loop
Closed-loop control system of an engine
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Control system: Representation- Closed loop
Closed-loop control system
r(t)
c(t)
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Control system: Terminology
Plant or :Process: G, System under control
Reference input or Set point or Desired output: r(t)
System output or Controlled output : c(t)
Error: e(t) Difference of reference and feedback signal
Controller: D, Ensures that appropriate control signal is applied to plant
Feedback element: H, Multiplying factor on output
Feedback signal: Signal produced by feedback element
Control signal or Actuating signal or Control action is applied to plant G
Disturbance or Noise: Signal that enters the system at a point other than
reference input
r(t)
c(t)
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Open Loop Control System: Advantages & Disadvantages
Reference
Output
Output has no effect
on control action
Advantages:
Simple and easy to maintain
Generally less expensive with less control devices
No instability
Output accuracy depends on calibration
Disadvantages
Internal/external disturbances cause O/p to drift
Calibration change causes error in system: recalibration may be required
High system gain difficult to control sometimes
Example: Fan
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Closed-Loop Control System: Advantages & Disadvantages
Output is used as feedback to
modify control action
Advantages:
Accurate control possible using less accurate, inexpensive components
Influence of internal/external disturbance on O/P is reduced
Transient response of the system is improved
Steady state error can be reduced
Gain is reduced, bandwidth is increased
Disadvantages
Costlier due to more equipment/component
System oscillation (instability) may occur
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Closed-Loop Control System: Transfer Function
Unity feedback control system
Non-unity feedback control system
Reference: R(s)
Output: C(s)
Plant: G(s)
Feedback element: H(s) [ = 1 for unity feedback]
Error = Reference Feedback = E(s) = R(s) C(s) For unity feedback
Error = Reference Feedback = E(s) = R(s) C(s).H(s) = R(s) B(s)
Output = C(s) = E(s) . G(s)
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Closed-Loop Control System: Transfer Function
Unity feedback control system
Non-unity feedback control system
C(s) = E(s) . G(s) = [R(s) B(s)] . G(s) = [R(s) C(s).H(s)] . G(s)
For unity feedback:
E(s) = R(s) C(s) = R(s) G(s).R(s)/[1 + G(s)]
E(s) = R(s)/ [1 + G(s)] For unity feedback
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Effect of feedback on gain
R(s)
G(s)
C(s)
Open loop system
C(s) = R(s) . G(s)
Unity feedback system
C(s) = R(s) . G(s)/[1 + G(s)]
Normally G(s) 1,
In a closed loop system, C(s) R(s)
Gain of closed loop system is 1/G(s)
times that of open loop system
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Problem sum on effect of feedback:
A negative feedback system has a forward gain of 10 & feedback gain of 1.
Determine the overall gain of the system
A ve feedback system with forward gain of 2 and a feedback gain of 8 is
subjected to an input voltage of 5 V. Determine the overall gain & the output
voltage of the system
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Problem sum on effect of feedback ?:
Find expression of steady state O/p temp with
- Open loop
- Closed loop
Find change in O/p temp when fluid i/p temp changes
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Effect of feedback on parameter variation
R(s)
G(s)
C(s)
Open loop system
Unity feedback system
C(s) = R(s) . G(s)
C(s) = R(s) . G(s)/[1 + G(s)]
Effect of variation of forward path gain: G(s)
Let G(s) G(s) + G(s)
O/P of open loop system: C(s) + C(s) = [G(s) + G(s)] . R(s)
C(s) = G(s). R(s)
O/P of closed loop system:
Assuming G(s) G(s)
In a closed loop system, effect of variation in G(s) is reduced by a
factor [1 + G(s).H(s)]
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Effect of feedback: Sensitivity analysis
System sensitivity: Relative variation in overall transfer function T(s) = C(s)/R(s)
due to variation of G(s), H(s) or other parameters.
For variation of G(s):
For Small incremental variation in G(s), sensitivity is:
Similarly, sensitivity of the open loop system is:
AS T = G
Sensitivity of a closed loop system w.r.t. variation in G is reduced by a factor
of (1 + GH) compared to open loop system
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Effect of feedback: Sensitivity analysis
Sensitivity of T w.r.t. H, the feedback gain, is given by:
In general, |GH| 1 Sensitivity of T w.r.t. H tends to unity.
Selection of H is very important
A system is more sensitive to changes in H (feedback element)
compared to G (plant)
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Problem sum on sensitivity:
G(s) = 200/s (s + 5), H(s) = 0.2s + 1
- Find sensitivity of T(s) = C(s)/R(s) w.r.t. variations of G(s) & H(s)
-Evaluate the sensitivity of the transfer function T(s) w.r.t. variations of K
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Effect of feedback: External disturbances
For calculating effect of disturbance
D(s), assume R(s) is zero. Let CD(s) is
the O/P corresponding to D(s).
For calculating effect of disturbance R(s), assume D(s) is zero. Let CR(s) is the O/P
corresponding to R(s).
Assuming,
CD(s)/D(s) becomes almost zero
CR(s) becomes almost 1/H(s)
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Effect of feedback: System bandwidth
A control system is a low pass filter
At system bandwidth freq. ,wb, system gain
reduces to 1/2 of its DC gain
A large bandwidth means system responds
fast during transients
Open-loop transfer fn.:
where k = k/, = 1/
Closed loop transfer fn.:
where c = /(1 + K); Time constant of closed loop system is reduced
Open loop system bandwidth: b & of closed loop system cb
b = 1/ & similarly, cb = 1/ c
cb / b = / c = (1 + K)
Closed loop system bandwidth is (1 + K) time
that of open loop system
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Linearising effect of feedback
Suppose g(t) = e2(t)
As an open loop: c = r2
As a closed loop: e = (r c)2
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Classification of control systems
Linear/ Non-linear
Continuous/ Digital (Discrete)
Time invariant/ Time varying
Minimum phase/Non-minimum phase
Deterministic/Stochastic
Lumped parameter (ODE) / Distributed parameter (PDE)
SISO/MIMO
Etc.
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Linear System
A linear system obeys the principle of superposition
For a function: y = f(x),
If inputs x1(t) y1(t) and x2(t) y2(t), then:
[1x1(t) + 2x2(t)] [1 y1(t) + 2y2(t)] where 1 , 2 are constants
Sinusoidal I/P to a linear system will produce a sinusoidal O/P of same
freq. but with different amplitude and phase shift
Stability is clearly defined in a linear system
Input signals and initial conditions have no effect on stability
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Non-linear System
Does not follow principle of superposition
System response depends on I/P signal
System stability depends both on I/P signal and initial conditions
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Continuous-data System
Various parts of the control system like, input, plant O/P, feedback, error
etc. are all continuous function of time i.e. all signals are continuously
available/measurable over time.
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Discrete-data System (Sampled-data system)
In these systems, signals at one or more points of the system are either in
the form of a pulse train or in digital code.
Preferred in complex control system where a digital computer forms the
heart of a controller or where digital transmission over a long distance is
involved.
In general, a discrete-data system receives data only at uniformly spaced
discrete instances of time.
Cost of analog controller rises steeply with increase in control system
complexity.
Digital systems can be time-shared by a number systems
When signal transmission channel forms a part of a control loop, it
becomes necessary to use digital techniques
For a no. of control component, output is in discrete form: Shaft encoder,
image etc.
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Time-invariant & Time-varying systems
A system is time-invariant if its characteristics do not change with time.
The co-efficient of its equations do not change over time
Response of a time-invariant system is independent of the time at which
the input is applied
A system is time-varying if its characteristics change with time.
The co-efficient of its equations change over time
Response of a time-varying system is dependent on the time at which the
input is applied
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Linear Time-invariant control system (LTI)
All subsequent system analysis will be for Linear Time-Invariant
control systems
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Minimum phase/Non-minimum phase systems
A transfer function whose all poles and zeros are on ve side of s-plane is
called a non-minimum phase system
A system with poles and/or zeros are called non-minimum phase systems
Minimum phase system
Non-minimum phase system
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Linearisation of non-linear system
No physical system is perfectly linear
Powerful analytical tools are available for linear systems
After linearisation, greater degree of analytical studies can be done
Basics of linearisation
A smooth curve differs very little from its tangent when the variable is
close to the point of tangency
If region of operation is restricted to a narrow range, a non-linear system
can be treated as a linear system
A system can be linearised at several points along the curve so that a
complete analysis can also be done
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Linearisation of non-linear system: Taylor series
If (x - xo) is small, higher order terms of (x xo) can be neglected. Thus:
y yo = m (x xo), where m is the slope at the operating point
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Linearisation of non-linear system: Taylor series
If y depends on several I/P variables
x1, x2, xn, then the approximation
is:
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Problem: Ex 1..1 & 1.2 of Salivaahanan after slide 26
A negative feedback system has a forward gain of 10 & feedback gain of 1.
Determine the overall gain of the system
A ve feedback system with forward gain of 2 and a feedback gain of 8 is
subjected to an input voltage of 5 V. Determine the overall gain & the output
voltage of the system
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Problem sum on sensitivity: Varmah-Problems 7.48, 7.49, 7.50
Nagrath- Ex 3.2, Ex 3.1
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