BEEE303L

Control Systems
Lecture Notes
D. R. Binu Ben Jose, Professor, SELECT
Vellore Institute of Technology,
Chennai Campus, Chennai – 127
Email: [email protected]
Cabin: AB1-604, #09
 Introduction

 Course Name: Control Systems

 Course Code : BEEE303L

 LTPJC :30204

 Course Prerequisites : BEEE101L,

BEEE101P, BMAT102L

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Objectives

 Introduce the fundamentals of physical

systems modelling and control of linear time
invariant systems.

 Teach the practical control system design

with realistic system specifications.

 Impart knowledge of state variable models

and state feedback design.
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Expected Outcome
On the completion of this course the student
will be able to:
 Formulate mathematical model and Transfer
function of Physical systems.
 Analyze the system performance in time and
frequency domains.
 Determine the stability of linear time invariant
system in time and frequency domains.
 Design compensators and controllers to meet the
performance specifications.
 Perform state space analysis and design state
feedback control.
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Student outcomes (SLO 1, 2, 5)

 an ability to apply knowledge of mathematics,

science, and engineering
 an ability to design and conduct experiments, as well
as to analyze and interpret data
 an ability to design a system, component, or
process to meet desired needs within realistic
constraints such as economic, environmental,
social, political, ethical, health and safety,
manufacturability, and sustainability
 an ability to identify, formulate, and solve
engineering problems

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Evaluation Mode
 Continuous Assessment (30 %)
 CAT 1 – 15 %
 CAT 2 – 15 %
 Assignments / Seminars (30 %)
 Assignment I – 10 % (Multiple)
 Assignment II – 10 % (Multiple)
 Assignment III – 10 % (Mini Project/IEEE
Conference)

 Final Assessment Test (40 %)

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 Syllabus

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Unit I
Systems and their representations
 Basic elements in control systems:
open loop and closed loop,
transfer functions of mechanical,
electrical and electro-mechanical
systems, electrical analogous
systems; Block diagram reduction,
signal flow graphs.
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Unit II
Time Response Analysis
 Standard test signals, time
response of first and second order
systems, time domain
specifications; Steady state error,
static error constants and system
type.

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Unit III - Stability Analysis and
Root Locus
 Stability: concept and definition,
characteristic equation, location of
poles, Routh Hurwitz criterion;
Root locus technique:
construction, properties and
applications.

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Unit IV - Frequency Response
Analysis
 Frequency domain
specifications; Bode plot, Polar
plot; Correlation between
frequency domain and time
domain specifications.

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Unit V
Stability in Frequency Domain
 Relativestability, Gain margin,
Phase margin, stability analysis
using frequency response
methods, Nyquist stability
criterion.

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Unit VI
Compensators and Controllers
 Realization of basic compensators,
cascade compensation in time
domain and frequency domain,
feedback compensation, design of
lag, lead, lag-lead series
compensators using Bode plot; P,
PI and PID controllers in frequency
domain.
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Unit VII
State Space Analysis
 Concepts of state variable and state
model, solution of state equation,
state space to transfer function
conversion, state space
decomposition methods,
controllability, observability, pole
placement control, observer design.
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 Unit VIII
Lecture by industry experts.

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Reference Books
1. Norman S. Nise, “Control System Engineering”, John Wiley & Sons, 7th
Edition, 2014
2. M. Gopal, “Control Systems-Principles and Design”, Tata McGraw Hill –
4thEdn. 2012.
3. R. C. Dorf And R.H. Bishop, “Modern Control Systems (Examples And
Design Problems)”, 12th/e, Pearson Education, 2014.
4. K. Ogata, “Modern Control Engineering”, Pearson Edition– 5th Ed. 2011.
5. Benjamin C Kuo. “Automatic Control System.” 9th Edition, John Wiley
&Sons,2010.
6. Graham C. Goodwin, Stefan F. Graebe, Mario E. Sagado, “ Control System
Design”, PHI, New Delhi, 2009.
7. M. Gopal, “Digital Control and State Variable Methods”, Tata McGraw Hill,
2008.
8. Rao V Dukkipati, “Control Systems”, Narosa Publications, 2008.
9. I. J. Nagarth and M. Gopal, “Control Systems Engineering”, New Age
International, 5rdEdn.,2008.
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Lecture 2
17.07.2024

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 Unit I
Systems and their representations
 Basic elements in control systems: open
loop and closed loop, advantages and
disadvantages, linear and non-linear,
principle of superposition, time invariant
and time variant systems, transfer
functions of mechanical, electrical and
electro-mechanical systems, electrical
analogous systems; Block diagram
reduction, signal flow graphs.
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Introduction
 System
 A number of elements or components connected
in a sequence to perform a specific function
 Control System
 When the output quantity is controlled by varying
the input quantity, the system is called Control
System
 Types
 Open loop …
 Closed loop …

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Open loop system

 Advantages
 Simple and economical
 Easier to construct
 Highly stable

 Disadvantages
 Inaccurate and unreliable
 Prone to external disturbances

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Closed loop system
 Advantages
 Accurate
 Accurate even during non-linearities
 Adjustable sensitivity
 Less affected by external disturbances
 Disadvantages
 Complex and costly
 Response is oscillatory
 Overall gain of the system is reduced
 The system may lose its stability
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Examples of Control System

 Temperature control system

 Traffic control system

 Numerical control system

 Position control system

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Mathematical model of control
system
 A control system is a collection of
physical components.
 Input /output relations governed by
differential equations.
 Hence mathematical model is a set of
differential equations.
 The response can be studied by solving
the differential equations.

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Contd…

 Mathematical model is linear if it obeys

the principle of superposition.

 This principle states that, if a system has

responses y1(t) and y2(t) to inputs x1(t) and
x2(t) respectively, then the system response to
the linear combination of these inputs a1x1(t) +
a2x2(t) is given by the linear combination of the
individual outputs a1y1(t) + a2y2(t)

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Contd…

 Linear time invariant system

 The coefficients of the differential equations
governing the system are constants
 Linear time variant system
 The coefficients of the differential equations
governing the system varies with time
 Various systems
 Single input single output system
 Multiple input multiple output system
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Transfer function

 Solution of the differential equations

governing the physical system

 Defined as the ratio of Laplace transform

of output to the Laplace transform of
input at zero initial conditions.

𝑳𝒂𝒑𝒍𝒂𝒄𝒆 𝒕𝒓𝒂𝒏𝒔𝒇𝒐𝒓𝒎 𝒐𝒇 𝒐𝒖𝒕𝒑𝒖𝒕

𝑻𝒓𝒂𝒏𝒔𝒇𝒆𝒓 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏 =
𝑳𝒂𝒑𝒍𝒂𝒄𝒆 𝒕𝒓𝒂𝒏𝒔𝒇𝒐𝒓𝒎 𝒐𝒇 𝒊𝒏𝒑𝒖𝒕
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Lecture 3
19.07.2024

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Mechanical Translational Systems

 Input – Force (F), Output – Displacement (x)

 Basic elements
 Mass, damper (dashpot) and spring

 Newton’s second law of motion

 The sum of applied forces to a body is equal to
sum of opposing forces
 (or) the algebraic sum of forces acting on a
body is zero
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Force balance equations of ideal
elements
 …
 …
 …
 …
 …
 …
 …
 …
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Assignment - I

 Write the differential equations governing

the mechanical system and determine the
transfer function

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The step by step procedure
 Find the number of nodes (n). Number of nodes is equal
to number of mass elements. If a damper and a spring are
connected in series without mass, it should be
considered as the elements are connected to a mass of
zero value.
 Draw free body diagram at each node. Mark the applied
and opposing forces. Also mark the corresponding
displacements.
 Write the force balance equations.
 Apply Newton’s second law for each free body diagram.
Properly arrange the resulting differential equation.
 Find the Laplace transform of the differential equations
and solve them to obtain the required transfer function.
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Assignment - I
Q1. Write the differential
equations governing the
mechanical system and
determine the transfer
𝒀𝟐(𝒔)
function
𝑭(𝒔)

𝑌2(𝑠) 𝐾2
=
𝐹(𝑠) 𝑀1𝑠2 + 𝐵𝑠 + 𝐾1+ 𝐾2 𝑀2𝑠2+ 𝐾2 − 𝐾22
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Lecture 4
22.07.2024

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Assignment - I

 Write the differential equations governing the

mechanical rotational system and determine
the transfer function

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The step by step procedure
 Find the number of nodes (n). Number of nodes is equal
to number of inertia elements. If a damper and a spring
are connected in series without inertia, it should be
considered as the elements are connected to an inertia of
zero value.
 Draw free body diagram at each node. Mark the applied
and opposing torques. Also mark the corresponding
angular displacements.
 Write the torque balance equations.
 Apply Newton’s second law for each free body diagram.
Properly arrange the resulting differential equation.
 Find the Laplace transform of the differential equations
and solve them to obtain the required transfer function.
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Assignment - I
Q2. Write the differential equations governing the
mechanical rotational system and determine the
𝜃(𝑠)
transfer function
𝑇(𝑠)

𝜃(𝑠) 𝐵12𝑠+ 𝐾
=
𝑇(𝑠) 𝐽1𝑠2 + 𝐵12𝑠 + 𝐾 𝐽2𝑠2+ 𝐵12 + 𝐵 𝑠 + 𝐾 −(𝐵12𝑠 + 𝐾)2

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Electrical systems

 Input – Voltage (v(t)), Output – Current (i(t))

or
 Input – Current (i(t)), Output – Voltage (v(t))

 Basic elements
 Inductance L, Resistance R and Capacitance C

 Kirchoff’s voltage or current law is applied

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Differential equations of ideal
elements
 …
 …
 …
 …
 …
 …
 …
 …
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Exercises

 Obtain the transfer function of the electrical

network shown in figure.

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Transfer function of armature
controlled dc motor

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Equivalent diagrams

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Contd…

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Governing equations

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Contd…

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Contd…

 La/Ra = Armature time constant

(electrical)

 J/B = Mechanical time constant

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 Transfer function of field
controlled dc motor

Vf Va

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Equivalent diagrams

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Contd…

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Governing equations

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Contd…

Ktf/RfB = Motor gain constant

Lf/Rf = Field time constant

(electrical)

J/B = Mechanical time constant

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Assignment - I

Q3. Obtain the transfer function of a

separately excited dc generator

E g (S ) Kg

E f (S ) sL f  R f
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Analogous systems
 Electrical Analogous of mechanical
translational systems
 Force-voltage analogy
 Force-current analogy

 Electrical Analogous of mechanical

rotational systems
 Torque-voltage analogy
 Torque-current analogy

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Force – Voltage analogous systems

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Elements in Force-voltage analogy

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Quantities in Force-voltage analogy

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Assignment - I

 Write the differential equations governing the

mechanical system and hence obtain force
voltage electrical analogous network

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The step by step procedure
 Find the number of nodes (n). Number of
nodes in mechanical system corresponds to
number of closed loops in electrical systems.

 Write the differential equations governing the

mechanical translational system.

 Write the analogous electrical equation.

 Draw the analogous electrical network.

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Assignment - I

Q4. Write the differential

equations governing the
mechanical system and
obtain the Force-
Voltage analogous
system

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Force – Current analogous systems

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Elements in Force-current analogy

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Quantities in Force-current analogy

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Assignment - I

 Write the differential equations governing the

mechanical system and hence obtain force-
current electrical analogous network

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The step by step procedure
 Find the number of nodes (n). Number of
nodes in mechanical system corresponds to
(n+1) number of nodes in electrical systems.

 Write the differential equations governing the

mechanical translational system.

 Write the analogous electrical equation.

 Draw the analogous electrical network.

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Assignment - I

Q5. Write the differential

equations governing the
mechanical system and
obtain the Force-
Current analogous
system

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Torque – Voltage analogous systems

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Elements in Torque-Voltage analogy

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Quantities in Torque-Voltage analogy

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Assignment - I

 Write the differential equations governing the

mechanical system and hence obtain torque-
voltage electrical analogous network

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The step by step procedure
 Find the number of nodes (n). Number of
nodes in mechanical system corresponds to
number of nodes in electrical systems.

 Write the differential equations governing the

mechanical rotational system.

 Write the analogous electrical equation.

 Draw the analogous electrical network.

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Torque – Current analogous systems

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Elements in Torque-Current analogy

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Quantities in Torque-Current analogy

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Assignment - I

 Write the differential equations governing the

mechanical system and hence obtain torque-
current electrical analogous network

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The step by step procedure
 Find the number of nodes (n). Number of
nodes in mechanical system corresponds to
(n+1) number of nodes in electrical systems.

 Write the differential equations governing the

mechanical rotational system.

 Write the analogous electrical equation.

 Draw the analogous electrical network.

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Block diagrams
A pictorial representation of functions performed
by each component of the system and the flow of
signals

 Block: A symbol for the mathematical operation

on the input signal to the block that produces the
output.
 Summing point: used to add two or more signals
 Branch point: a point from which the signal from a
block goes to other blocks or summing points.

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Construction of the Block diagram
of Armature Controlled DC motor
 Construct individual block diagram for the
differential equations governing the motor
and the combine the blocks

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Construction of the Block diagram
of Field Controlled DC motor
 Construct individual block diagram for the
differential equations governing the motor
and the combine the blocks

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Block diagram algebra - Rules

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Contd…

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Contd…

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Contd…

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Exercises
 Using block diagram reduction technique
find C/R.

𝑪 𝑮𝟏𝑮𝟐 + 𝑮𝟑
=
𝑹 𝟏 + 𝑮 𝟏𝑯
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Assignment - I
 Using block diagram reduction technique
find C(s)/R(s).

𝑪(𝒔) 𝑮 𝟏𝑮 𝟐𝑮 𝟑𝑮 𝟒
=
𝑹(𝒔) 𝟏 + 𝑮𝟑𝑮𝟒𝑯𝟏 + 𝑮𝟐𝑮𝟑𝑯𝟐 + 𝑮𝟏𝑮𝟐𝑮𝟑𝑮𝟒
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 Assignment - I
 Using block diagram reduction technique
find C/R.

𝑪 𝑮𝟏𝑮𝟐𝑮𝟑 + 𝑮𝟏𝑮𝟒
=
𝑹 𝟏 + 𝑮𝟏𝑮𝟐𝑯𝟏 + 𝑮𝟐𝑮𝟑𝑯𝟐 + 𝑮𝟒𝑯𝟐 + 𝑮𝟏𝑮𝟐𝑮𝟑 + 𝑮𝟏𝑮𝟒
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Home Work
Q6. Using block diagram reduction technique
find C1/R1 and C2/R2.

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Solution

𝐶1 𝐺1𝐺2𝐺3(1+𝐺4)
 =
𝑅1 1+𝐺1𝐺2 1+𝐺4 − 𝐺1𝐺4𝐺5𝐻1𝐻2

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Signal Flow Graphs
 Diagram that represents a set of linear
algebraic equations
 Used for finding Transfer Function
 Developed by S. J. Mason
 Simpler than block diagram reduction
technique
 Overall transfer function is found out
easily using Mason’s gain formula
 Applicable to linear systems only
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Terms used
 Node : a point representing a variable or
signal.
 Branch : directed line segment joining
two nodes.
 Transmittance : gain acquired by the signal
 Input node : has only outgoing branches
 Output node : has only incoming branches
 Mixed node : has both incoming and
outgoing branches
 Path : a traversal of connected branches
 Open path : starts at one node and ends at
other node
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Contd…
 Closed path : a signal starts at one node and
ends at same node
 Forward path : a path from an input node to an
output node that does not cross any
node more than once
 Forward path gain: product of branch transmittances
of a forward path
 Individual loop : closed path – starting from a node
and arrives the same node without
crossing any node more than once
 Loop gain : product of branch gains of a loop
 Non-touching loops: loops does not have a common
node
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Rules
1. Path gain

2. Path gains in series

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Contd…
3. Path gains in parallel

4. Path gains due to mixed node

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Contd…

5. Elimination of a loop

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Exercises

 Construct the signal flow graph of an armature

controlled dc motor.

 Practice Exercise: Construct the signal flow

graph of a field controlled dc motor.

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 Mason’s gain formula

 Pk = forward path gain of kth forward path

 K = number of forward paths in the SFG
 Δ = 1 – (sum of individual loop gains)
+ (sum of gain products of all possible
combinations of two non-touching loops)
– (sum of gain products of all possible
combinations of three non-touching loops) + …
 ΔK = Δ for that part of graph which is not touching Kth
forward path
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Exercises

 Using Mason’s gain formula, find the T.F.

of the signal flow graph shown in figure.

Solution:
No. of forward paths = 2
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Contd…

 Forward paths

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Contd…

 No. individual loops

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Contd…

 No. of non-touching loops

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Contd…

 Finding T.F.

Fig. 9

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Contd…

 Answer

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Assignment - I

 Using Mason’s gain formula, find the T.F.

of the signal flow graph shown in figure.

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Assignment - I
 Q7. Using Mason’s gain formula, find the
T.F. of the signal flow graph shown in
figure.

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 Solution
𝑪(𝒔) 𝑮𝟐 𝑮𝟒 𝑮𝟔 𝟏 + 𝑮𝟓 𝑯 𝟐 + 𝑮𝟑 𝑮𝟓 𝑮𝟕 𝟏 + 𝑮𝟒 𝑯 𝟏 + 𝑮𝟏 𝑮𝟐 𝑮𝟕 + 𝑮𝟑 𝑮𝟔 𝑮𝟖 − 𝑮𝟏 𝑮𝟑 𝑮𝟕 𝑮𝟖 𝑯 𝟏 + 𝑮𝟏 𝑮𝟐 𝑮𝟔 𝑮 𝟖 𝑯 𝟐
=
𝑹(𝒔) 𝟏 + 𝑮𝟒 𝑯 𝟏 + 𝑮𝟓 𝑯 𝟐 − 𝑮𝟏 𝑮𝟖 𝑯 𝟏 𝑯 𝟐 + 𝑮𝟒 𝑮𝟓 𝑯 𝟏 𝑯 𝟐

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Block diagram to signal flow graph

 Convert the given block diagram into

signal flow graph and find the T.F. using
Mason’s gain formula.

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