EE-481: Control Systems

Dr. Abid Siddique

Fall 2023

Lectures : Introduction to Control Systems (Chapter 1)

Frequency-Domain Modeling (Chapter 2)

Department of Electrical Engineering

University of Engineering & Technology Peshawar
(Jalozai Campus)
Course Introduction
Course Instructor: Dr. Abid Siddique
Course Delivery:
Theory: 2 Lectures/week (1.5 hours/Lecture)
Labs: 1 Lecture/week (3 hours/Lecture)
Semester: 7th Semester, Fall 2023
Section A:
Monday 10:20 am-11:50 am
Wednesday 12:10 am-01:40 am
Tuesday 12:10 pm – 03:10 pm (Lab)
Section B:
Monday 08:30 am – 10:00 am
Wednesday 08:30 am - 10:00 am
Monday 12:10 pm – 03:10 pm (Lab)
Contact: [email protected]
Office Hours: Tuesday 08:30 am – 12:00 pm
Grading Policy:
Mid Term (20%)
Written (Long Questions, Short Questions)
Final Term (50%)
Written (Long Questions, Short Questions)
Sessional (30%)
Assignments 40% (3 Assignments)
Quizzes 60% (2 Quizzes+CEP)
Text book:
Norman S. Nise, “Control Systems Engineering”, Seventh Edition.
Reference Books:
Franklin, Powell and Emami-Naeini, “Feedback Control of Dynamic
Systems”, Seventh Edition.
Stefani, Shahian, Savant, Hostetter,”Design of Feedback Control
Systems”, Fourth Edition.
Course Outline
 Modeling (Chapters 1, 2 & 3) (Cognitive-3)
 Modeling in Frequency and Time domain systems, modeling
examples, differential equations, Laplace transforms, impulse
response, transfer functions, poles and zeros, linearization,
Introduction to State-space representation, state variables and
state equations, conversion from state-space to transfer function
and conversion from transfer function to state space.
 Analysis (Chapters 4, 5, 6, 7) (Cognitive-4)
 Transient Analysis: Transient Response analysis of first, second,
and higher order systems. Classification of second order systems
based on their damping behavior, effect of additional poles and
zeros, time domain solution of state equations, Block Diagrams,
Signal-Flow graphs, Mason Rule
Course Outline (Cont.)
 Stability Analysis: Routh-Hurwitz Criteria, special cases and
examples, stability in state space
 Steady State Analysis: Steady state errors of unity feedback
systems, static error constants and system types, sensitivity
analysis, steady state analysis for state space

 Design (Chapters 8,9,10,11, 12) (Cognitive-5)

 Root Locus techniques, properties and sketching, examples,
transient response via gain adjustment, pole sensitivity, transient
and steady state response dynamic improvement, active and
passive compensators and their circuitry, Bode Plots and Nyquist
stability criteria, Gain and phase margins, state space design:
controllability and observability, controller and observer designs.
COURSE LEARNING OUTCOMES:
Upon successful completion of the course, the student will be able to

S/no. CLO Domain Taxonomy level PLO

1. Acquire sufficient knowledge to mathematically Cognitive 3 1

Model the behavior of different physical
systems

2. Analyze the behavior of system using Cognitive 4 2

mathematical techniques

3. Design controllers to meet the specified control Cognitive 5 3

design objectives such as faster transient
response and smaller steady state errors while
ensuring system stability.

4. Use Modern Tools for system modeling, Cognitive 6 5

analysis, design validation and performance
comparison of different types of controllers.
RELEVANT PROGRAM LEARNING OUTCOMES (PLOs):
1 Engineering Knowledge:  7 Environment and Sustainability: ☐

2 Problem Analysis:  8 Ethics: ☐

3 Design/Development of Solutions:  9 Individual and Team Work: ☐

4 Investigation: ☐ 10 Communication: ☐

5 Modern Tool Usage:  11 Project Management: ☐

6 The Engineer and Society: ☐ 12 Lifelong Learning: ☐

Lab:
S/no. CLO Domain Taxonomy level PLO

1. Perform experiments to demonstrate the Psychomoto 3,4 1,2,3,

use of P, PI, PD and PID control for control r 5
system behavior enhancement on UniTrain
Lucas-Nulles apparatus. MATLAB is used
for modeling analysis and design validation
in the process.
Control Systems
• A control system consists of subsystems and processes (or plants)
assembled for the purpose of obtaining a desired output with
desired performance, given a specified input.

 Examples:
 Elevator
Eye following an object
Pancreas regulating the blood sugar
Position tracking system
Temperature Control systems etc.
System Responses
• Two major measures of performance of control systems
Transient response
Steady-state response
• In elevator example, passenger comfort and passenger patience
are dependent upon the transient response. If this response is too
fast, passenger comfort is sacrificed; if too slow, passenger
patience is sacrificed. The steady-state error is another important
performance specification since passenger safety and convenience
would be sacrificed if the elevator did not level properly
Advantages of Control Systems
• Control systems are built for four primary reasons:
Amplification
Remote control
Convenience of input form
Compensation for disturbances
• A radar antenna, positioned by the low-power rotation of the input,
requires a large amount of power for its output control system can
produce the needed power amplification, or gain.
• A remote-controlled robot arm can be used to pick material in a
radioactive environment.
• In a temperature control system, the position on a thermostat. The
output is heat. Thus, a convenient input yields a desired thermal output.
• An antenna that points in a commanded direction. If wind forces the
antenna commanded position, or if noise enters internally, the system
must detect the disturbance and correct the antenna’s position
System Configurations
• Two major configurations of control systems:
Open loop configuration
Closed loop configuration
System Configurations (Cont.)
• Open-loop systems, then, do not correct for disturbances and are
simply commanded by the input.
• The disadvantages of open-loop systems, namely sensitivity to
disturbances and inability to correct for these disturbances
• The closed-loop system compensates for disturbances by
measuring the output response, feeding that measurement back
through a feedback path, and comparing that response to the input
at the summing junction. If there is any difference between the two
responses, the system drives the plant, via the actuating signal, to
make a correction. If there is no difference, the system does not
drive the plant, since the plant’s response is already the desired
response.
• The control systems engineer must consider the trade-off between
the simplicity and low-cost of an open-loop system and the
accuracy and higher cost of a closed-loop system.
Analysis and Design
• Analysis is the process by which a system’s performance is
determined. For example, we evaluate its transient response and
steady-state error to determine if they meet design specifications.
• Design is the process by which a system’s performance is created
or changed. For example, if a system’s transient response and
steady-state response are analyzed and found not to meet the
specifications, then we change the parameters to meet the
specifications.
• Three major objectives of analysis and design of systems
Producing desired transient response
Reducing steady-state errors
Achieving Stability
• Cost and Sensitivity are also taken into consideration for design
purposes.
The Design Process
Chapter 2: Frequency Domain Modeling
Modeling of Physical Systems
• Two major methods of modeling any physical systems
Frequency domain modeling using Transfer Functions
Time Domain Modeling using state-space representation
• The fundamental laws of physics and engineering (Newton’s laws,
Ohm’s law, KVL, KCL etc.) are applied to develop these
mathematical models
Laplace Transform Review
• A system represented by a differential equation is difficult to model
as a block diagram.
• Laplace transform converts the Ordinary Differential Equation
(ODE) into simple algebraic equation
• Laplace transform, with which we can represent the input, output,
and system as separate entities.
• Laplace transform can be represented as

• where s=σ+ jω, is a complex variable.

• The inverse Laplace transform, which allows us to find f(t) given
F(s), is
Laplace Transform
Examples
Laplace Transform Theorems
Partial-Fraction Expansion
• There are three cases
Case 1: Roots of the Denominator of F (s) Are Real and Distinct
Case 2: Roots of the Denominator of F (s) Are Real and Repeated
Case 3: Roots of the Denominator of F (s) Are Complex or
Imaginary
Example 2.3
Example 2.3 (Cont.)
The Transfer Function
• Transfer function algebraically relates the input and output of a
system.
• For a linearly time-invariant system (LTI), it is the ratio of the
Laplace transform of output to the Laplace transform of input with
zero initial conditions.

• Consider, a general nth order, linearly time-invariant differential

equation,

• where c(t) is the output, r(t) is the input, and the ai’s, bi’s, and the
form of the differential equation represent the system.
The Transfer Function (Cont.)
• Taking the Laplace transform of both sides

 If we assume that all initial conditions are zero,

 Now form the ratio of the output transform, C(s), divided by the
input transform, R(s):
Example 2.4
Example 2.5
Electrical Network Transfer Functions
• The mathematical modeling of electrical circuits, both active and
passive is carried out by transfer function
• Guiding principles are Kirchhoff’s laws
Example 2.6
Example 2.6 (Cont.)
Laplace transforms
Complex Circuits via Mesh Analysis
 To solve complex electrical networks—those with multiple loops
and nodes—using mesh analysis, we can perform the following
steps:
Replace passive element values with their impedances.
Replace all sources and time variables with their Laplace
transform.
Assume a transform current and a current direction in each mesh.
Write Kirchhoff’s voltage law around each mesh.
Solve the simultaneous equations for the output.
Form the transfer function.
Example 2.10
 Transfer Function—Multiple Loops
Example 2.10 (Cont.)
Example 2.10 (Cont.)
Complex Circuits via Nodal Analysis
• Let’s admittance, Y(s), as reciprocal of impedance be
Operational Amplifiers (Active Circuit
Elements)
 An operational amplifier is an electronic amplifier used as a basic
building block to implement transfer functions.
 It has the following characteristics:
Operational Amplifiers (Cont.)
Inverting Operational Amplifier
 If v2(t) is grounded, the amplifier is called an inverting operational
amplifier
 For the inverting operational amplifier, we have
Example 2.14
Non Inverting Amplifier
Non Inverting Amplifier (Cont.)
Example 2.15
Electrical and Mechanical Analogs
Nonlinearities
 A linear system possesses two properties: superposition and
homogeneity.
 The property of superposition means that the output response of a
system to the sum of inputs is the sum of the responses to the
individual inputs.
 The property of homogeneity describes the response of the system
to a multiplication of the input by a scalar.