NATIONAL INSTITUTE OF TECHNOLOGY-WARANGAL

Department of Electrical Engineering, AY 2017-18

Lecture Schedule for Linear Control System Open Elective of 3 credits
Class: B.Tech. (III/IV)- Sem-II Code: EE390 Faculty: Mohammed Osman
Lecture No. TOPICS MARKS
1,2 Introduction to control systems
3,4 Types of system, feed forward systems
5,6,7 Feedback systems, linearization of feedback systems
8,9 Mathematical modeling of physical systems
10,11 Block diagram representation
Minor I 10
12,13 Transfer function analysis
14,15 Signal flow graphs
16,17 Mason’s gain formula
18,19 Time domain analysis of control systems
20,21 Stability
22 Routh –Hurwitz criterion
Mid Exam For Two Hours 30
23 P, PI controllers
24,25 PID controller
26,27 Root loci theory, Application to system stability
28,29,30 Frequency domain analysis of control systems
Minor II 10
31,32 Polar plots
33,34 Nyquist stability criterion
35,36,37 Bode plots, application of bode plots
End Exam For Three Hours 50
Text books:
1. B.C. Kuo, Automatic Control Systems, 7th Edition, Prentice Hall of India, 2009.
2. K Ogata, Modern Control Engineering, 5th Edition, Prentice Hall of India, 2010.
3. Norman S Nise, Control Systems Engineering, 5th Edition, Wiley India Edition.
References
1. Automotive Control Systems, A. Galip Ulsoy, Huei Peng, Melih C. akmakc
2. The Control Handbook: Control System Fundamentals by WS Levine
3. The Control Handbook: Control System Applications by WS Levine
4. The Control Handbook: Control System Advance Methods by WS Levine
I Introdction:
1.1 Introduction:
1.1.1 Basic components of a Control systems, 1.1.3 Open loop control systems, 1.1.4
Closed loop control systems
1.2 Feedback and Its Effects
1.2.1 Effect on gain, 1.2.2 Effect on stability, 1.2.3 Effect on sensitivity, 1.2.4 Effect on
Disturbances/Noise
1.3 Feedback control systems types
1.3.1 Linear vs Nonlinear Control systems, 1.3.2 Time invariant vs Time varying
Systems

II Mathematical Foundation
2.2 Complex Variable Concept
2.2.1 Complex variables, 2.2.2 Functions of a complex variables, 2.2.3 Analytic function,
2.2.4 Singularities and poles of a function, 2.2.5 Zeros of a Function
2.3 Differential Equations
2.3.1 Linear ordinary differential Equations, 2.3.2 Nonlinear Differential equations
2.4 Laplace Transform
2.4.1 Definition of The Laplace Transform, 2.4.2 Inverse Laplace Transformation, 2.4.3
Final value theorem
2.5 Partial fraction expansion method
2.5.1 partial fraction method
2.6 Application of Laplace transform to the Solution of Linear ODE and problems on 2nd
order system

III Transfer Functions, Block Diagrams, Signal Flow Graphs

3.1 Introduction
3.2 Impulse response and Transfer function of Linear systems
3.2.1 Impulse response, 3.2.2 Transfer function (SISO), 3.2.3 Transfer function (MIMO)
3.3 Block Diagrams
3.3.1 Block diagram of Control Systems, Reduction to unity Feedback systems, 3.3.2
Block diagram and transfer functions of Multivariable Systems
3.4 Signal Flow graph (SFG)
3.4.1 Basic Elements of SFG
3.5 Properties Summary of SFG
3.6 Definition of SFG terms
3.7 SFG Algebra
3.7.1 SFG of Feedback Control System
3.8 Gain Formula for SFG
3.8.1Application of the gain formula between output nodes and Noninput Nodes
3.9 Application of the Gain formula to block diagrams

IV Mathematical Modeling of Physical Systems

4.2 Equations of Electric Networks
4.3 Modeling of Mechanical System Elments
4.3.1 Translational Motion, 4.3.2 Rotational Motion, 4.3.3 Conversion between
Translational and Rotational Motions, 4.3.4 Gear trains, Levers and Timing belts,
4.3.5 Backlash and Dead Zone
Test 1 (Minor-I Part 1)

4.4 Equation of Mechanical Systems

4.6 DC motors in Control Systems
4.6.1 Basic Operational Principles of DC Motors, 4.6.2 Basic Classifications of PM DC
motors. 4.6.3 Mathematical Modeling of PM DC Motors, 4.6.4 Torque-Speed curves of a
DC Motor, 4.6.5 Torque-Speed Curves of an Amplifier/DC-Motor System
4.7 Linearization of Nonlinear Systems
4.9 Operation Amplifier
4.9.1 Ideal Op-Amp, 4.9.2 Sums and Differences, 4.9.3 First-order Op-amp
Configurations

VI Stability of Linear Control Systems

6.1 Introduction
6.2 BIBO Stability
6.2.1 Relationship between Characteristic Equation Roots and Stability
6.3 Zero-Input and Asymptotic Stability
6.4 Methods for Determining Stability
6.5 Routh-Hurwitz Criterion
6.5.1 Hurwitz Criterion, 6.5.2 Routh’s Tabulation, 6.5.3 Special Cases When Routh’s
Tabulation Terminates Prematurely
Test 2 (Minor-I Part 2)

VII Time-Domain Analysis of Control Systems

7.1 Time Response: Introdction
7.2 Typical Test Signals for the Time Response of Control Systems
7.3 Steady-State Errors
7.3.1 Steady State Errors Caused by Nonlinear System Elements, 7.3.2 Steady-State
Errors of Linear Control Systems
7.4 Unit-Step Response of a Prototype Second-Order System
7.5 Transient Response of a Prototype Second-Order System
7.5.1 Damping Ration and Damping Factor, 7.5.2 Natural Undamped Frequency, 7.5.3
Maximum Overshoot, 7.5.4 Delay Time and Rise Time, 7.5.5 Settling Time
7.7 Effect of Adding Poles and Zeros to Transfer Functions
7.7.1 Addition of Pole to the Forward-Path Transfer Function: Unity-Feedback Systems
7.7.2 Addition of a Pole to the Closed-Loop Transfer Function, 7.7.3 Addition of a Zero
to the Closed-Loop Transfer Function, 7.7.4 Addition of a Zero to the Forward-Path
Transfer Function: Unity-Feedback Systems
Test 3 (Minor-I Part 3)

7.8 Dominant Poles of Transfer Functions

7.8.1 Relative Damping Ratio, 7.8.2 Proper Way of Neglecting the Insignificant Poles
with Consideration of the Steady-State Response
7.9 Approximation of High-Order Systems by Low-Order Systems: The Formal Approach
7.9.1 Approximation Criterion

VIII Root-Locus Technique

8.1 Introduction
8.2 Basic Properties of the Root Loci
8.3 Properties and Construction of the Root Loci
8.3.1 K = 0 and K = ±∞ Points, 8.3.2 Number of Branches on the Root Loci, 8.3.2
Number of Branches on the Root Loci, 8.3.3 Symmetry of the Root Loci, 8.3.4 Angles of
Asymptotes of the Root Loci: Behavior of the Root Loci at |s| = ∞, 8.3.5 Intersect of the
Asymptotes (Centroid), 8.3.6 Root Loci on the Real Axis, 8.3.7 Angle of Departure and
Angles of Arrival of the Root Loci, 8.3.8 Intersection of the Root Loci with the
Imaginary Axis, 8.3.9 Breakaway Points (Saddle Points) on the Root Loci, 8.3.10 Root
Sensitivity, 8.3.11 Calculation of K on the Root Loci
8.5 Important Aspects of the Construction of the Root Loci
8.5.1 Effects of Adding Poles and Zeros to G(s)H(s)

IX Frequency Domain Analysis

9.1 Introduction
9.1.1 Frequency Response of Closed-Loop Systems, 9.1.2 Frequency-Domain
Specifications
9.2 Mr, ωr, and Bandwidth of the Prototype Second-Order System
9.2.1 Resonant Peak and Resonant Frequency, 9.2.2 Bandwidth
9.3 Effects of Adding a Zero to the Forward-Path Transfer Function
9.4 Effects of Adding a Pole to the Forward-Path Transfer Function
9.5 Nyquist Stability Criterion: Fndamentals
9.5.1 Stability Problem, 9.5.2 Definition of Encircled and Enclosed, 9.5.3 Number of
Encirclements and Enclosures, 9.5.4 Principle of the Argument, 9.5.5 Nyquist Path, 9.5.6
Nyquist Criterion and the L(s) or the G(s)H(s) Plot
9.6 Nyquist Criterion for Systems with Minimum-Phase Transfer Functions
9.6.1 Application of the Nyquist Criterion to Minimum-Phase Transfer Functions That
Are Not Strictly Proper
9.7 Relation between the Root Loci and the Nyquist Plot
9.8 Illustrative Example: Nyquist Criterion Minimum Phase Transfer Function
Test 4 (Minor-II Part 1)
9.9 General Nyquist Criterion: For Minimum- and Nonminimum-Phase Transfer functions
9.9.2 System with Improper Loop Transfer Functions
9.10 Illustrative Example: General Nyquist Criterion for Minimum- and Nonminimum-Phase
Transfer Functions
9.14 Relative Stability: Gain Margin and Phase Margin
9.14.1 Gain Margin, 9.14.2 Phase Margin
9.15 Stability Analysis with the Bode Plot
9.16 Relative Stability Related to the Slope of the Magnitude Curve of the Bode Plot
9.16.1 Conditional Stable System
9.17 Stability Analysis with Magnitude-Phase Plot

X Design of Control Systems

10.1 Introduction
10.1 Design Specifications, 10.1.2 Controller Configurations, 10.1.3 Fundamental
Principles of Design
10.2 Design with the PD Controller
10.2.1 Time-Domain Interpretation of PD Control, 10.2.2 Frequency-Domain
Interpretation of PD Control
10.3 Design with the PI Controller
10.3.1 Time-Domain Interpretation and Design of PI Control, 10.3.2 Frequency-Domain
Interpretation and Design of PI Control
10.4 Design with PID Controller
Test-5 (Minor-II Part 2)

10.5 Design with Phase-Lead Controller

10.5.1 Time-Domain Interpretation and Design of Phase-Lead Control, 10.5.2 Frequency-
Domain Interpretation and Design of Phase-Lead Control, 10.5.3 Effects of Phase-Lead
Compensation, 10.5.4 Limitations of Single-Stage Phase-Lead Control
10.6 Design with Phase-Lag Controller
10.6.1 Time-Domain Interpretation and Design of Phase-Lag Control, 10.6.2 Frequency-
Domain Interpretation and Design of Phase-Lag Control, 10.6.3 Effects and Limitations
of Phase-Lag Control
10.7 Design with Lead-Lag Controller
10.9 Forward and Feedforward Controllers