CONTROL SYSTEM

A system
 Is a combination or arrangement of different physical
components which act together as a entire unit to achieve
objective.
Control system
 Is an arrangement of different physical elements connected in
such a manner so as to regulate, direct or command itself or
some other system.
Plant
 The portion of a system which is to be controlled or regulated is
called as plat or the process
Controller
 The element of the system itself or external to the system which
controls the plant or the process is called as controller
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Classification of control systems
1.Natural control systems
The biological systems, systems inside human being are of natural
type.

2. Manmade control systems

The various systems , we are using in our day to day life are
designed an manufactured by human beings, vehicles, swathes ,
various controllers etc. are called manmade control systems.

3. Combinational control systems

Combinational control systems is one, having combination of
natural and manmade together, driver driving a vehicle .
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4. Time varying and time –invariant systems
 Time varying control systems are those in whim parameters of
the systems are varying with time. It is not dependent on
whether input and output are functions of time or not.

 Time invariant control systems are those in which the parameters

of system are independent of time, tat is not varying with time,
ie, different electrical networks consisting of the elements as
resistance , inductances and capacitances are time invariant
parameters.

5. Linear and non liners systems

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6. Single input single output (SISO) and multiple input multiple

output(MIMO)

 A system having only one input and one output is called SISO
and a system with multiple input and multiple output is called
MIMO.

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Open loop and closed loop systems
 A system in which output is dependent on input but controlling
action or output is totally independent of the output is called
open loop systems.
Advantages
 Such systems are simple in construction very much convenient
use.
 Such systems are easy from maintenance point of view.
Easy to design and economical.
Dis advantages
 Such systems are inaccurate and unreliable because accuracy of
such systems are totally on the accurate precalibration of the
controller.

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 Such systems give inaccurate results if there are variations in

the external environment.

 Similarly they cannot sense internal disturbances in the system.

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 Stepper motor positioning systems
 Traffic light controller
 Automatic door opening and closing systems

Closed loop systems

Definition
 A systems in which the controlling action or input is so
dependent on the output or changes in output is called closed
loop systems.
Feedback.
 Feedback is property of the system by which it permits the
output to be compared with the reference input so that the
appropriate controlling action can be decided.

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Closed loop control systems

Advantages

 Accuracy of such systems is always very high because

controller modifies and manipulates the actuating signal such
that error in the systems will be zero.

 Such system senses environmental changes, as well as internal

disturbances and accordingly modifies the error.

 Bandwidth of such system is very high.

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Closed loop control systems

Dis-advantages

 Such systems are complicated and time consuming from design

point of view and hence costlier.

 Due to feedback, systems tries to correct the error time to time.

 Eg. D.C. Motor control, temperature control, Automatic bottle

filling systems.

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Transfer Function

 Transfer function explains mathematical function of the

parameters of system performing on the applied input in order to
produce the required output.

 The ratio of Laplace of output to Laplace of inputs called

transfer function.

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Mathematical Modeling of Control System.
 In control theory, functions called transfer functions are commonly
used to characterize the input-output relationships of components
or systems.

 Transfer Function. The transfer function of a linear, time-

invariant, differential equation system is defined as the ratio of the
Laplace transform of the output (response) to Laplace transform of
the input (driving function) under the assumption that all initial
conditions are zero.

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Mathematical Modeling of Control System.
 In control theory, functions called transfer functions are commonly
used to characterize the input-output relationships of components
or systems
 Transfer Function. The transfer function of a linear, time-
invariant, differential equation system is defined as the ratio of the
Laplace transform of the output (response function) to the Laplace
transform of the input (driving function) under the assumption
that all initial conditions are zero.
 Consider the linear time-invariant system defined by the following
differential equation:

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 where y is the output of the system and x is the input.

 The transfer function of this system is the ratio of the Laplace

transformed output to the Laplace transformed input when all
initial conditions are zero.
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Transfer Function = G(s)

Block Diagram of a Closed-Loop System.

 The output C(s) is fed back to the summing point, where it is

compared with the reference input R(s).

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 Any linear control system may be represented by a block

diagram consisting of blocks, summing points, and branch
points.

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C(s) = G(s) E(s)

E(s) = R(s)- B(s)

C(S)= G(S) [R(S) – B(S)]

C(S) = G(S) [ R(S) – H(S) C(S)]

𝐶(𝑆) 𝐺(𝑆)
Transfer Function = =
𝑅 𝑆 [1+𝐺 𝑆 𝐻 𝑆 ]
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* Block Diagram Reduction

G(s) is the transfer function of the particular system.
C(s) is output or controlled variable

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 MODELING IN STATE SPACE
 The state of a dynamic system is the smallest set of variables
(called state variables) such that knowledge of these variables at
t=t0 , together with knowledge of the input for t≥ t0 ,
completely determines the behavior of the system for any time t
≥ 𝑡0
State Space.
The n-dimensional space whose coordinate axes consist of the
x1 axis, x2 axis……… xn axis, where x1, x2, xn are state
variables, is called a state space.
Any state can be represented by a point in the state space.

State Variables
The state variables of a dynamic system are the variables
making up the smallest set of variables that determine the state
of the dynamic system.
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In state-space analysis we are concerned with three types of

variables that are involved in the modeling of dynamic systems:
input variables, output variables, and state variables

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 Consider the mechanical system shown in Figure.
We assume that the system is linear. The external force u(t) is
the input to the system, and the displacement y(t) of the mass is
the output.

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 The displacement y(t) is measured from the equilibrium
position in the absence of the external force.
This system is a single-input, single-output system.
From the diagram, the system equation is

Assume that a multiple-input, multiple-output system involves

n integrators.
Assume also that there are r inputs u1(t), u2(t) …ur(t) and m
outputs y1(t), y2(t) …. ym(t).

Define n outputs of the integrators as state variables: x1(t), x2(t)

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the system may b44e described by 9/30/2021
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

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 Consider the mechanical system shown in Figure 2–15.We
assume that the system is linear. The external force u(t) is the
input to the system, and the displacement y(t) of the mass is the
output. Obtain state space equation.
The displacement y(t) is measured from the equilibrium position
in the absence of the external force.
This system is a single-input, single-output system.

From the diagram, the system equation is

m𝑦 ̈ + b 𝑦 ̇ + kx = u

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

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

The output equation is

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 Correlation Between Transfer Functions and State-Space
Equations
Let us consider the system whose transfer function is given by

This system may be represented in state space by the

following equations

Transfer Function =

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 Consider the mechanical system shown in Figure. State-space
equations for the system are given by Equations. We shall obtain
the transfer function for the system from the state-space
equations

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 The state space equation and output equations can be written as

Transfer function =

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

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
State-Space Representation of nth-Order Systems of Linear
Differential Equations in which the Forcing Function Does Not
Involve Derivative Terms.

Let us define

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

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

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
The main problem in defining the state variables for this case
lies in the derivative terms of the input u.

The state variables must be such that they will eliminate the
derivatives of u in the state equation.

One way to obtain a state equation and output equation for this
case is to define the following n variables as a set of n state
variables

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

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

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

Transformation from Transfer Function to State Space Representation

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

Compare with the equation

a1 = 14 a2 = 56 a3 = 160 b0 = 0 , b1= 0 , b2 =1 , b3 =0

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
ꞵ0 = b0 = 0

ꞵ1 = 0
ꞵ2 = 1
ꞵ3 = - 14

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 Obtain a state-space equation and output equation for the system
defined by

From the given transfer function, the differential equation for the
system is

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

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

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 Transient Response and Steady-State Response.
*
Transient Response and Steady-State Response.
The time response of a control system consists of two parts:
The transient response and the steady-state response.

By transient response, we mean that which goes from the initial

state to the final state.

By steady-state response, we mean the manner in which the

system output behaves as t approaches infinity.

Thus the system response c(t) may be written as

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
Delay time, td: The delay time is the time required for the
response to reach half the final value the very first time.

Rise time, tr : The rise time is the time required for the response to
rise from 10% to 90%, 5% to 95%, or 0% to 100% of its final
value.

For underdamped second order systems, the 0% to 100% rise time

is normally used. For overdamped systems, the 10% to 90% rise
time is commonly used.

Peak time, tp:

The peak time is the time required for the response to reach the
first peak of the overshoot
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
Maximum (percent) overshoot, Mp:
The maximum overshoot is the maximum peak value of the
response curve measured from unity.
If the final steady-state value of the response differs from unity,
then it is common to use the maximum percent overshoot.

Settling time, ts :
The settling time is the time required for the response curve to
reach and stay within a range about the final value of size.
specified by absolute percentage of the final value (usually 2% or
5%).
The settling time is related to the largest time constant of the
control system.
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
Settling time ts :

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

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

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
ꞵ = 0.3 rad

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

ts = 1.33 sec for 2 % criterion

ts = 1 sec for 5 % criterion

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 Second order System

For the system shown in Figure, determine the values of gain K and
velocity-feedback constant Kh so that the maximum overshoot in the
unit-step response is 0.2 and the peak time is 1 sec.
With these values of K and Kh, obtain the rise time and settling time.
Assume that J=1 kg-m2 and
B=1 N-m / radsec

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

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

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

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

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
Step – input
r(t) = A
R(S) = A/S
Unit step input r(t) = 1
R(S) = 1/S

Ramp-input
r(t) = At
R(S) = A/ S2
Unit ramp input r(t) = t
R(s) = 1/S2

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 Parabolic input
r(t) = At2 / 2

R(s) = A / S3

Unit parabolic input r(t) = t2 / 2

R(S) – 1 / S3

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
Consider the system shown in Figure 5–46.The closed-loop
transfer function is

The transfer function between the error signal e(t) and the
input signal r(t) is
C(S) = E(S) G(S)

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

the steady-state error is

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

H(S)

Kp = α

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
Velocity error coefficient = Kv =
=

Acceleration error coefficient =

Ka = K / 6

Steady state error for r(t) = (𝑅𝑡2)/2 ( Parabolic input)

R(S) = R / S3

ess= A/ Ka = [6 R / K]

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* For unity feedback system having ,

10 ( 𝑆+1)
G(S) = 𝑆 2 , determine error coefficients , and
𝑆+2 ( 𝑆+10)
2
steady state error for input = 1+4t+𝑡 ,
2

H(S)

H(S)
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

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
The closed loop transfer function for a unity feedback system is
given by
4𝑆+6
TF = 2 , (i) find open loop transfer function
𝑆 +6𝑆+6
(ii) Steady state error for unit ramp input
Solution
4𝑆+6 𝐺(𝑆)
TF = 2 =
𝑆 +6𝑆+6 1+𝐺 𝑆 𝐻(𝑆)
H(S) = 1
4𝑆+6
G(S) =
𝑆(𝑆+2)
Steady state error for unit ramp input = 1/ Kv
kv =
Steady state error for unit ramp input = 1/ Kv
= 0.33
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