EEPW 3200: Control Systems, Advanced Diploma

Chapter 1
Introduction
In recent years, control systems have assumed an increasingly important role in the
development and advancement of modern civilization and technology. Particularly every
aspect of our day to day activities is affected by some type of control system. For example in
the domestic domain, automatic controls in heating and air-conditioning systems regulate the
temperature and humidity of homes and buildings for comfortable living. To achieve
maximum efficiency in energy consumption many modern heating and air conditioning
systems in large office and factory buildings are computer controlled.
The principles of control system can be illustrated in many fields.

By turning a key the driver of an automobile can start a large H.P engine.

A person can lower the temperature in the room simple by turning a knob on the air
conditioner.

The driver of several tones automobile can control as motion by the simple use of
steering wheel, accelerator, and brake pedal.

Mixing blue & yellow color to produce green in a paint factory.

Walking along a straight line by the robot.

Safety locks of automatic washing machine.

Automatic filling of bottles.

Packing machine using conveyor belt system.

Packing of biscuits by weights automatically.

Computer controlled lathe machine.

Conveyor belt system to feed the material.

DEFINITION OF SYSTEM
A system is a combination or an arrangement of different physical components in
some fashion or configuration in order to achieve certain objective.
Every physical object is actually a system. A class room is a good example of physical
system. A room along with the combination benches, whiteboard, fans, AC and lighting
arrangement can be called a classroom which acts as elementary system.

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DEFINITION OF CONTROL SYSTEM
A control system can be defined combination or an arrangement of different physical
components in some fashion or configuration in order to regulate, direct or command itself or
some other system.
*Referred : Modern Control Engineering by K .Ogata
Examples:
a) TV Remote is a control system which is not connected but related to it. It is used for
controlling different channels of the TV.
b) Car speedometer is control system used for controlling the speed of the car. It is
connected to the car.
CLASSIFICATION OF CONTROL SYSTEMS
Control Systems are broadly classified into many types depending upon following:
1. Based on presence of feedback in control System
a. Open-loop control system
b. Closed-loop control system
2. Based on input-output relationship of the control System
a) Linear Control System
b) Non Linear Control System
3. Based on type of components of the control system
a) Mechanical Control System
b) Electrical and Electromechanical Control System
OPEN LOOP CONTROL SYSTEMS (NON FEED BACK SYSTEMS)
Those systems in which the output has no effect on the control action are called open
loop control systems.
In other words, in an open - loop control systems the output is neither measured nor
feedback for comparison with the input.

Figure 1.1. General block diagram of open loop system

Example 1: Rotational Generator

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The input to rotational generator is the speed of the prime mover (e.g. steam turbine) in RPM.
Assuming the generator is on no load the output may be induced voltage at the output
terminals.
Speed of the Prime mover

Rotational Generator

Induced Voltage

Fig 1.2 Rotational Generator

*Referred : Modern Control Engineering by K .Ogata
Example 2: Washing machine
Most (but not all) washing machines are operated in the following manner. After the clothes
to be washed have been put into the machine, the soap or detergent, bleach and water are
entered in proper amounts as specified by the manufacturer. The washing time is then set on a
timer and the washer is energized. When the cycle is completed, the machine shuts itself off.
In this example washing time forms input and cleanliness of the clothes is identified as
output.

Fig 1.3 Washing Machine

CLOSED LOOP CONTROL SYSTEMS (FEEDBACK CONTROL SYSTEMS)
Those systems in which the output has effect on the input by providing feedback path
are called closed loop control systems.

Fig 1.3 General Block Diagram of a closed loop control system

Example: HOME HEATING SYSTEM

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Fig 1-4 Block diagram of Home Heating system.

A change in outdoor temperature is a disturbance to the home heating system. If the outside
temperature falls, the room temperature will likewise tend to decrease.
*Referred : Modern Control Engineering by K .Ogata
Comparison between Open Loop and Closed Loop Control System

No
1
2
3
4

Open Loop System

Closed Loop System

The circuit / system is simple

The circuit / system is Cheap
The circuit / system is easy to repair
The circuit / system is Less accurate
The output signal is directly affected by
the disturbance signal. The output
signal is determined by the initial
setting only
It has no feedback

Input is not modified

There is no comparison element and

feedback sensor element

The output measurement is not required The output measurement is necessary

10

Highly sensitive to environmental

changes

The circuit / system is complex

The circuit / system is expensive
The circuit / system is difficult to repair
The circuit / system is more accurate
The output signal is controlled and
maintained at the set point value even
under the presence of disturbance signal
It has feedback
The input is modified with the information
from output as feedback signal
There is a comparison element and a
feedback sensor element

Less sensitive to environmental changes

Transfer Function
The transfer function of a linear time- invariant system is defined as the ratio of the Laplace
transform of the output (response) to the Laplace transform of the input (driving function)
under the assumption that all initial conditions are zero.
Transfer function is given by
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EEPW 3200: Control Systems, Advanced Diploma

TF=

L [ output ]
L [ input ]

Comments on transfer function

1. The transfer function is an expression relating the output and input of a linear time
invariant system in terms of the system parameters and is a property of the system itself
independent of the input.
2. It does not provide any information concerning the physical structure of the system (the
transfer functions of many different physical systems can be identical).
3. The highest power of

in the denominator of the transfer function is equal to the order

of the system.
4. The transfer function between an input and output of a system is defined as the Laplace
transform of impulse.
*Referred : Modern Control Engineering by K .Ogata
MATHEMATICAL MODELLING OF CONTROL SYSTEM
The control system after designing should be tested and analyzed before using it in an
intended application. An accurate model that describes a system completely must be
determined in order to analyze a dynamic system.
An idealized representation of physical system is called a Physical Model.
The process of obtaining the desired mathematical description of the system is called
Mathematical Modeling.
Modeling of Mechanical Systems:
Mechanical systems can be idealized as spring-mass-damper systems and the governing
differential equations can be obtained on the basis of Newtons second law of motion, which
states that
F = ma: where F: Force, m: mass and a: acceleration (with consistent units)
Mechanical systems can be of two types:
1) Translation Systems
2) Rotational Systems.
The variables that described the motion are displacement, velocity and acceleration.
MECHANICAL TRANSLATIONAL SYSTEM
In Mechanical translational is represented by three basic elements.
Mass

represents the weight of the mechanical system

Dashpot

represents friction in the moving parts of the mechanical system and

Spring

represents the elastic deformation of the body

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Mathematical
Equation

Sno

Element

Representation

Mass

F=M

d2 x
dt 2

Dashpot

F=B

dx
dt

Spring

F=kx

*Referred : Modern Control Engineering by K .Ogata

MECHANICAL ROTATIONAL SYSTEM

In rotational system Mass element is replaced by Moment of inertia. It means energy stored
by the rotating part of the Mechanical system. Remaining elements are same as that of
mechanical translational system.
Sno

Element

Mathematical
Equation

Representation

Moment

T =J

1
of Inertia
2

Dashpot

Spring

d2
2
dt

T =B

d
dt

T =k

Example 1. Write the mathematical equations for the mechanical systems shown in
figure. Determine the transfer function of the given system

X
Solution
Transfer function is given by
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TF=

L [ output ]
L [ input ]
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EEPW 3200: Control Systems, Advanced Diploma

TF=

X (s )
F( s)

Writing the mathematical equations

f (t)=M

d2 x
dx
+ B + Kx
2
dt
dt

Taking Laplace Transform

F ( s )=M s 2 X ( s)+BsX (s)+KX (s )
F ( s )= X ( s ) [M s 2+ Bs+ K ]
X (s)
1
=
2
F(s) M s + Bs+ K

*Referred : Modern Control Engineering by K .Ogata

Example #2
Write the mathematical equations for the mechanical system given. Also find the
transfer function X2(s)/F(s) of the given system.

Solution
The required transfer function is
TF=
TF=

L [ output ]
L [ input ]

X 2 (s)
F (s )

For the given system there are two Mass elements. So there are two separate differential
equations for each Mass element.
For Mass - 1 (M1):
d2 x1
d (x1 x2 )
M1 2 +B
+ K x 1=0
dt
dt
Taking Laplace Transform
M 1 s2 X 1(s )+ Bs [ X 1( s )X 2 ( s) ]+ K X 1 (s )=0
M
X 1 (s) [ 1 s + Bs+ K ]Bs X 2( s )=0

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M
[ 1 s + Bs+ K ]
Bs X 2( s)
X 1(s )=

---------

(2)

For Mass - 2 (M2):

2

M2

d x2
dt

+B

d (x2 x1 )
=f ( t )
dt

Taking Laplace Transform

M 2 s2 X 2(s )+ Bs [ X 2 (s )X 1 ( s) ]=F ( s)
M
X 2 (s) [ 2 s + Bs ]Bs X 1( s )=F( s)

---- (3)

Substitute from 2
M
M
[ 1 s 2 +Bs + K ]=F (s)
Bs X 2 (s )
X 2 (s) [ 2 s2 + Bs ]Bs

M
M
[ 1 s 2 +Bs + K ]=F (s)
Bs X 2 (s )
X 2 (s) [ 2 s2 + Bs ]Bs

*Referred : Modern Control Engineering by K .Ogata

Exercise Problems
1. Write the mathematical equations for the mechanical system given. Also find the transfer
function X1(s)/F(s) of the given system.

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2. Write the mathematical equations for the mechanical system given. Also find the transfer
function X2(s)/F(s) of the given system.

3. Write the mathematical equations for the mechanical system given. Also find the transfer
function X1(s)/F(s) of the given system.

4. Write the mathematical equation for the given mechanical rotational system and determine
the transfer function 2(s)/T(s) of the given system

*Referred : Modern Control Engineering by K .Ogata

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EEPW 3200: Control Systems, Advanced Diploma

Modeling of Electrical Systems

Electrical systems can be idealized as resistance-inductance-capacitance systems and the
governing differential equations can be obtained on the basis of Kirchoffs voltage and
current laws, which states that
V = IR: algebraic sum of voltages sources and voltages drop in a loop must equal to zero.
I = 0: Algebraic sum of currents entering and currents leaving a junction in an electric
circuit is equal to zero.
Inductance and Capacitances are the energy storage elements where in energy can be stored
and retrieved without much loss and hence referred as conservative elements. Resistance
represents the energy loss (energy absorption) in the system and hence is referred as
dissipative element.
Basic Elements and their representations
Sno
1

Element

Representation

Voltage Equation
v (t )=i(t) R

Resistor

v ( t )=L

Inductor
Capacito

di(t)
dt

1
v ( t )= i ( t ) d (t)
C

3
r

Current Equation
i(t)=

i ( t )=

v (t )
R

1
v ( t ) d (t )
L

i ( t )=C

dv (t)
dt

Example 1:
Write the modeling equation of the electrical system given and determine the transfer
function.
Solution
The required Transfer function is
TF=

L [ output ]
I ( s)
TF=
V ( s)
L [ input ]

Applying KVL to above electric circuit we get

V(t) = R i(t) + L di/dt + (1/C) i(t) dt
Applying Laplace Transform to above equation, we get
V(s) = R I(s) + LS I(s) + (1/CS) I(s)
V(s) = [R + LS + (1/CS)] I (s)
*Referred : Modern Control Engineering by K .Ogata
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EEPW 3200: Control Systems, Advanced Diploma

The required Transfer function is
I ( s)
=
V (s)

1
R+ Ls+

1
Cs

Example 2:
Write the modeling equation of the electrical system given and determine the transfer
function.

Solution
Applying KVL for loop 1 corresponding to i1(t) we get
V(t) = L di1(t)/dt + R1 i1(t) + R2 [ i1(t) i2(t) ] (1)
Applying KVL for loop 2 corresponding to i2(t) we get
0 = (1/C) i2(t) dt + R2 [ i2(t) i1(t) ] . (2)
Applying Laplace transform for equations 1
V(s) = LS I1(s) + R1 I1(s) + R2 [ I1(s)-I2(s) ]
V(s) = [ LS + R1 + R2] I1(s) - R2 I2(s) . (3)
Applying Laplace transform for equations 2
0 = (1/CS) I2(s) + R2 [ I2(s)-I1(s) ]
0 = [(1/CS) + R2] I2(s) - R2 I1(s)
[(1/CS) + R2] I2(s) = R2 I1(s) => I1(s) = [(1/CS) + R2] I2(s) / R2
Substitute equation for I1(s) in equation (3)
V(s) = I2(s) ([ LS + R1 + R2] [ 1+ R2CS ] - [R2 R2 CS] ) / R2CS
Transfer function = I2(s) / V(s)
= R2CS / [ LS + R1 + R2] [ 1+ R2CS ] - [R2 R2 CS]

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*Referred : Modern Control Engineering by K .Ogata

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EEPW 3200: Control Systems, Advanced Diploma

Transfer function of Armature Controlled DC Motor
T he speed of a DC motor is directly proportional to armature voltage and inversely
proportional to flux in the field winding. In armature controlled DC motor the desired speed
is obtained by varying the armature voltage. This speed control system is electro mechanical
control system. The electrical system consists of armature and field current. The mechanical
system consists of rotating part of the motor and the load connected to the shaft.

Back emf generated is direcly proportional to angular speed

*Referred : Modern Control Engineering by K .Ogata

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EEPW 3200: Control Systems, Advanced Diploma

*Referred : Modern Control Engineering by K .Ogata

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