Control systems

Systems and their

Representations
Unit-1
Ms. P. Geethanjali
Asst. Professor (Sr)
SELECT

Feedback Control
Measured
outputs

Controlled signal
Process or
System to be
Controlled

Feedback Control
Desired
Value
Error

+
-

Measured
outputs

Controlled signal
Control System
(analog or
digital)

Process or
System to be
Controlled

Lego Motor Control

Desired
Angle
Error

+
-

Motor Voltage
Microcontroller

Angle
Motor Assembly

Process Control

From R. Stenz and U. Kuhn, Automation of a Batch Distillation Column Using Fuzzy and Conventional
Control," IEEE Transactions on Control Systems Technology, vol. 3, no. 2, June 1995, page 172.

Power System

From:P. Kundar, Power System Stability

and Control, McGraw Hill, 1994, page
9.

Printed
Circuit
Board test

From: J. Shim, H. Cho and S. Kim, "An

Actively Compliable Probing System," IEEE
Control Systems Magazine, vol. 17, no. 1,
February 1997, page 15.

Biomedical

From: R. Dorf and R. Bishop, Modern Control Systems, Addison

Wesley, 7th edition, 1995, page 706.

Role of control System Engineers

understanding
controlling segments of their Systems
provide useful economic products for
society

Activities

Understanding
Modeling
Designing
Testing
Implementation
Monitoring

Definition
A control system is an interconnection of
components
forming
a
system
configuration that will provide a desired
system response.
Linear system Theory : Assumes Cause
effect relationship for the components of a
system.

System Models

Linear vs. non-linear

Deterministic vs. Stochastic
Time-invariant vs. Time-varying
Continuous-time vs. Discrete-time

Definition
A control system consists of subsystems and
processes assembled for the purpose of
controlling the outputs of the processes

Different types of Control System

Open loop system

Different types of Control System

Closed loop system

Comparison of OL and CL system

Open-Loop Systems
Simple
Inexpensive
Cannot correct for disturbances or variations in plant
Closed loop systems
Complex & expensive
Less sensitive to noise,
Better control of transient and steady state response
Better accuracy
Self-sustained oscillations possible

Response Characteristics

Design Objectives

Produce desired transient response.

Reduce steady-state error.
Achieve closed-loop stability.
Total Response = Natural Response
+Forced Response
The output input must follow the input.

Block Diagram Models, and Simplification

Methods
Visualize input output relations
Useful in design and realization of (linear)
components
Helps understand flow of information
between internal variables.
Are equivalent to a set of linear algebraic
equations
Mainly relevant where there is a cascade
of information flow

Block Diagram
Manipulation Rule -1

Block Diagram
Manipulation Rule -2

Block Diagram
Manipulation Rule -3

Block Diagram Reduction

Block Diagram Step 1

Block Diagram Step 2

Block Diagram Step 3

Block Diagram Step 4

Block Diagram Step 5

Block Diagram Step 6

Block Diagram Step 7

Block Diagram Step 9

Signal Flow Graphs

Alternative to block diagrams
Do not require iterative reduction to find
transfer functions (using Masons gain rule)
Can be used to find the transfer function
between any two variables (not just the input
and output)

Signal Flow Graphs Vs Block

Diagram

Blocks are equivalent to Edges

(representing transfer functions)
Edges + junctions equivalent to Vertices
(representing variables)

Signal Flow Graphs - Definitions

Input: (source) has only outgoing branches
Output: (sink) has only incoming branches
Path: (from node i to node j) has no loops.
Forward-path: path connecting a source to a sink
Loop: A simple graph cycle.
Path Gain: Product of gains on path edges
Loop Gain: Product of gains on loop
Non-touching Loops: Loops that have no vertex
in common (and, therefore, no edge.)

Masons Gain Rule (1956)

Given an SFG, a source and a sink, N forward paths
between them and K loops, the gain (transfer function)
between the source-sink pair is

Pk is the gain of path k, is the graph determinant:

= 1- (all loop gains) + (products of non-touchingloop gain pairs) - (products of non-touching-loop gain
triplets) + ...
k = of the SFG after removal of the kth forward path

Masons Gain Rule- Example1

P1 = G(s)
L1 = -G(s)H(s)
= 1 - (-G(s)H(s))
1=1
P1 1/ = G(s)/
T(s) =

Masons Gain Rule- Example2

Masons Gain Rule- Example2solution

Mathematical Models of Systems

The modeling procedure is summarized as follows:

1. Define the system and its components.

2. List all assumptions.
3. Formulate the mathematical model.
4. Write the differential (Laplace transform, state-space)
equations describing the model.
5. Solve the equations for the desired output variables.
6. Examine the solutions (often times by comparing with
experimental results.
7. If necessary, revise assumptions and model, then analyze
again.

Modeling: A Damped Spring

Mass System
3.4. Write the describing equation :
By Newton' s secondlaw.

Example: consider the pictured damped spring mass system

d 2 x(t )
Fnet Ma M
dt 2
Now,
dx(t )
dt
F (t ) : applied force, Kx (t ) : restoring force of spring
dx(t )
f
: damping force
dt
so the differential equationis
Fnet F (t ) Kx (t ) f

d 2 x(t )
dx(t )
M

f
Kx (t ) F (t )
dt 2
dt
5,6,7. Depend on the actual system.

Mass
M

Applied force
F(t)
x

damping
(friction) f

Electric Network Transfer

function
Table 2.3

Component

Capacitor

VoltageCurrent

1
v (t )
C

i ( ) d

i(t ) C

v(t ) Ri(t )
Resistor

Currentvoltage

i (t )

dv(t )
dt

Voltagecharge

v(t )

1
q(t )
C

1
v (t ) v(t ) R dq(t )
R
dt

impedance
Admittance
Z (s) V (s) / I (s) Y(s)=I(s)/V(s)

1
Cs

Cs

1
G
R

Ls

1
Ls

Inductor

di(t ) i(t ) 1 v( )d
d 2 q(t )
v(t ) L
v(t ) L

L
dt2
dt
0

Electric Network Transfer

function
Table 2.3

Component

Capacitor

VoltageCurrent

1
v (t )
C

i ( ) d

i(t ) C

v(t ) Ri(t )
Resistor

Currentvoltage

i (t )

dv(t )
dt

Voltagecharge

v(t )

1
q(t )
C

1
v (t ) v(t ) R dq(t )
R
dt

impedance
Admittance
Z (s) V (s) / I (s) Y(s)=I(s)/V(s)

1
Cs

Cs

1
G
R

Ls

1
Ls

Inductor

di(t ) i(t ) 1 v( )d
d 2 q(t )
v(t ) L
v(t ) L

L
dt2
dt
0

Translational Mechanical system Transfer

Functions
Table 2.4
Forcevelocity

Component

impedance
Z M (s) F (s) / X (s)

x(t)

spring

f(t)
Viscous
damper

Forcedisplacement

f (t ) K v ( ) d

f (t ) Kx(t )

k
x(t)

f(t)

f (t ) f v v(t )

f (t ) f v

dx ( t )
dt

fvs

dv ( t )
f (t ) M
dt

d 2 x(t )
f (t ) M
dt 2

Ms2

fv
Mass
x(t)

f(t)

Examples 2.16 Transfer function-one

equation of motion
Problem

Find the transfer function X(s)/F(s), for the system Figure

2.15(a).
K

x(t)

M
f(t)

fv
F(s)

(a)

1
Ms2 fv s K

X(s)

(b)

Figure 2.15
a. Mass spring, and damper system.
b. Block Diagram

Free body diagram for M

X(s)
x(t)

KX(s)

Kx(t )
fv

dx
dt

f v sX (s)

f(t)

d 2x
M 2
dt

F(s)

Ms X ( s )
(a)

(b)

Figure 2.16
d x
t)
dx(t ) od mass,spring, and damper system.
a.(Free-body
diagram
M

f
kx (t ) f (t )
v
2 transformed free-body diagram
b.
dt
dt

(2.108)

Ms 2 X ( s ) f v sX ( s ) KX ( s ) F ( s )

(2.109)

( Ms
G( s)

fv s K ) X (s) F (s)

X ( s)
1

2
F ( s)
Ms f v s K

(2.110)

(2.111)

Rotational Mechanical system Transfer

Functions
Table 2.5
Torque-angular
velocity

Component
T(t)

spring

Torque-angular
displacement

impedance
Z M (s) T (s) / (s)

(t )
t

T (t ) K ( )d

T (t ) K (t )

k
Viscous
damper

T(t)

(t )

T (t ) D (t ) T (t ) D d (t )

Ds

dt

Inertia

D
T(t)

(t )

d (t )
T (t ) J
dt
J

d 2 (t )
T (t ) J
dt 2

Js 2

Transfer function-two
Exampleequation
2.19 Transfer of
Function-two
motion

equations of motion

problem

Find the Transfer function

1 (s) 2 (s)

T(s)

T(t)

J1 J 2

Bearing
D1

2 (s)
T (s)

1 (t )

2 (t )

J1
D1

Bearing
D2

J2

D2

Torsion
(b)

(a)
T(s)

(c)

2 (s)

Figure 2.22
a. physical system
b. schematic
c. block diagram

Free body diagram for J1

1 ( s) Direction

1 ( s) Direction

J 1 s 2 1 ( s )

T(s)

J1
K 1 ( s)

1 ( s) Direction
T(s)
J1

J1
D1 s 1 s

J 1 s 2 1 ( s )

K 2 ( s)

K 1 ( s)
K 2 ( s)

(a)

(b)

(c)

F i gu r e 2. 2 3
a. Torques on J1 due only to the motion of J1
b. Torques on J1 due only to the motion of J2
c. final free-body diagram for J1

D1 s 1 ( s )

Free body diagram for J2

2 (s) Direction

2 (s) Direction
K1 (s)

J 2 s 2 2 (s)

J2
K 2 (s)

J2
D2 s 2 s

(a)

2 (s) Direction
J 2 s 2 2 (s)
K1 (s)

J2

K 2 (s)

(b)

Figure 2.24
a. Torques on J2 due only to the motion of J2
b. Torques on J2 due only to the motion of J1
c. final free-body diagram for J2

(c)

D2 s 2 (s)

( J1s 2 D1s K )1 (s)

K 2 (s) T (s)

K1 (s) ( J 2 s 2 D2 s K ) 2 (s) 0
2 (s)
T (s)

K
Sum of impedances
connected to the
motion at

1 ( s)

Sum of
impedances
between

1 and 2

Sum of
impedances
between

(J 2 s 2 D2 s K )

2(s)

1 and 2

1 ( s)

Sum of impedances
connected to the
motion at

(2.127b)
(2.128)

( J 1 s 2 D1 s K )

(2.127a)

2( s )

Sum of applied
torques at

(2.129a)

Sum of applied
(2.129b)
torques at

Electromechanical Model
DCD.C
Motor
Armature
Recall : Armature-Controller
motor

control

Ra

va (t)

Field Current i f is constant

so, motor torqueTm is proportional

La
Rf

to armature current ia ; i.e.

Tm ( s) K m I a ( s)

Lf

vf

inertia J
Friction f

if

field

ia (t)
-

,
Armature

Load

(1)

Armature crurrentsis in turn related to armature votage

Va ( s ) ;
i.e. Va ( s ) ( Ra La s ) I a ( s ) Vb ( s ) Vm ( s ) Vb ( s )

(2)

where Vb ( s ) is the back emf (electromotive force) and

is proportional to motor speed
i.e. Vb ( s ) K b ( s )
so, from (2) and (3)
Va ( s ) K b ( s )
I a (s)
( Ra La s )

(3)

(4)

Now, the load torqueTL ( s ) is

TL ( s ) s 2 J ( s ) sf ( s ) Tm ( s ) Td ( s )
Js ( s ) f ( s )

(5)

so, the armature controlled DC motor takesthe following form

Td (s )

Vm (s)

Va (s)

Km
La s Ra

Tm (s)

Vb (s )
Back emf

Kb

TL (s )

1
Js f

(s)

a typically set of speed vs. torque curves might be

200

150

V f 50V

speed
100

50

V f 40V
V f 30V

V f 20V
10

20

30

40

Motor Torque

The transfer function for load torque disturbance can be

obtained by reducing the block diagram:
Assume V a ( s ) 0

Td (s)

1
Js f
-

KmKb
La s Ra

(s)

Thus ,

1
(s)
1
Js f

Km K b
K m Kb
1
Td ( s )
1
Js f
La s Ra Js f
La s Ra

It is coustomary to neglect La , so
( s)
Td ( s )

1
Js f

K m Kb
Ra

The steady state speed error due to Td ( s)

D
is then
s

1
lim (t ) lim s ( s ) lim s
t
s 0
s 0
Js f K m K b

Ra

K K
f m b
Ra

(open loop)

Now, consider a closed loop control system where a Tachometer

is used as the measuring element, and where the controller is an
amplifierof gain K a
The block diagram for the closed-loop system is

Td (s)
amplifier

R (s )

Ka
-

V a (s )

Km
Ra

+
-

Vb (s )

Kt

Kb

Tm (s)
+

TL (s)

1
Js f

(s )

The output speed resulting from a load disturbance Td ( s)

can be obtained by block reduction:
Let R(s)=0
Td (s )

1
Js f
-

(Kt Ka Kb )Km
Ra

(s )

1
(s)
Js f
i.e.

Td ( s)
1 K t K a K b K m

1
Ra
Js f

K
Js f ( K t K a K b ) m
Ra

D
so, in the steady - state, for Td ( s)
s

1
lim (t ) lim s ( s ) lim s
t
s 0
s 0
Km
Js f ( K t K a K b )

Ra
D

Km

f ( K t K a K b )
Ra
Thus, f or large K a
Ra
( )
D
Kt K m K a

D
s

If we were to plot a typical set of speed vs. torque curves for

the closed loop system, we might get

speed

200

V f 50

150

V f 40

100

V f 30

50

V f 20
10

20

30

40

Motor Torque

The near horizontal curves indicatethat speed is essentially

independent of disturbance torque.

Analogous System
It is possible to make electrical and mechanical systems using analogs
.
An analogous electrical and mechanical system will have differential equations of
the same form.

Mechanical
translational
systems

Mechanical
rotational systems

Electrical System

Force

Torque

Current

1/R

1/L

Velocity v

Angular velocity

voltage

Flux linkage

Analogous System
It is possible to make electrical and mechanical systems using analogs
.
An analogous electrical and mechanical system will have differential equations of
the same form.

Mechanical
translational
systems

Mechanical
rotational systems

Electrical System

Force

Torque

voltage

1/c

Velocity v

Angular velocity

Current

charge

Synchros
Synchros of different types transmit, receive, or combine signals among

stations which may be widely separated; for example, they transmit gun
order signals from a computer to the automatic control equipment at a
gun mount.
The simplest types of synchro units are the synchro transmitter
(sometimes called synchro generator) and the synchro receiver
(sometimes called synchro motor).
The transmitter transmits an electrical signal corresponding to the angle
of rotation of its shaft.
The receiver is a device that, when it receives such a signal, causes its
own shaft (if not appreciably loaded) to rotate to an angle corresponding
to the signal.
The synchro construction is such that the three-stator windings (S1, S2,
S3) are separated each by 120 degrees in a wye fashion.

Synchros- Working Principle

a synchro transmitter or receiver looks much like an ordinary small motor
or generator. So does the inside.
It has a bobbin-wound ball-bearing mounted rotor surrounded by a
wound stator. The stator consists of three iron-core coils connected as in
and terminating in three stator leads (S1, S2, S3). The two rotor leads (R1
and R2)
The transmitter and receiver are identical in construction except that the
motor has a damper (not illustrated) -a device that keeps it from running
away when there are violent changes in its electrical input.

Synchros- Working Principle

These synchro stator voltages are expressed as
Es3-s1 = N Er1-r2 Sin w t Sin q
Es2-s3 = N Er1-r2 Sin w t Sin (q+120)
Es1-s2 = N Er1-r2 Sin w t Sin (q+240)
Where N is the transformation ratio of the synchro and q is positive
for a CCW rotation from electrical zero as viewed from the shafts
end.
This results in an absolute analog angle that accurately reflects
the rotor position and at no point through the shafts complete
rotation is the same. induced phase voltage will depend on the
shaft angle.
The primary winding is usually the rotor and the stator is the
secondary or output winding. The rotor shaft angle is expressed in
degrees and with more resolution as minutes (1/60 of a degree)
and seconds (1/3600 of a degree).

Synchros- Working Principle

These synchro stator voltages are expressed as
Es3-s1 = N Er1-r2 Sin w t Sin q
Es2-s3 = N Er1-r2 Sin w t Sin (q+120)
Es1-s2 = N Er1-r2 Sin w t Sin (q+240)
Where N is the transformation ratio of the synchro and q is positive
for a CCW rotation from electrical zero as viewed from the shafts
end.
This results in an absolute analog angle that accurately reflects
the rotor position and at no point through the shafts complete
rotation is the same. induced phase voltage will depend on the
shaft angle.
The primary winding is usually the rotor and the stator is the
secondary or output winding. The rotor shaft angle is expressed in
degrees and with more resolution as minutes (1/60 of a degree)
and seconds (1/3600 of a degree).

Stepper Motor Basics

stator

rotor
N

Stator: made out of coils of

Electromagnet

wire called winding

Current switch in winding

==>Magnetic force

Rotor: magnet rotates on

==>hold the rotor in a position

bearings inside the stator

Direct control of rotor position (no sensing needed)

printers
computer drives

May oscillate around a desired orientation (resonance at low speeds)

Low resolution

Increased Resolution
S
torque

Half stepping

angle

Increased Resolution
S

Half stepping

More teeth on rotor or stator

Increased Resolution
S

Half stepping

More teeth on rotor or stator

Control of stepper motor

4 Lead Wire Configuration
Step Table
Step Red Blue Yellow White
0
+
+
1
+
+
2
+
+
3
+
+
4
+
+
-

A+

Red

4 lead
motor
ABlue

Yellow
B+

White
B-

Clockwise Facing Mounting End

Each step, like the second hand of a clock => tick, tick
Increase the frequency of the steps => continuous motion

Exercise
1. What assumption is made concerning initial conditions when dealing with transfer functions?
Why?

2. What are the component parts of the mechanical constants of a motors transfer function?
Obtain transfer function of DC field control of motor.
3. Find the transfer function, G(s)=X1(s)/F(s), for the following translational mechanical system.

xs (t )

4. Obtain the transfer function of thermal system?