Text Books MECHATRONICS
1. I. J. Nagrath and M. Gopal, “Control Systems Engineering”, New Age International Pvt Ltd, 6/e.
2. Katsuhiko Ogata, “Modern Control Engineering”, Pearson Education India, 5/e.
3. A. Nagoorkani, “Control Systems”, RBA Publications.
Reference Books
1.Kuo, “Automatic Control Systems”, Prentice Hall.
2. Norman S. Nise, “Control Systems Engineering”, Wiley India Pvt. Ltd.
3. K. Ogata, “Discrete- Time Control Systems”, Pearson Education .
Course Contents and Lecture Schedule
No Topic No. of Lectures
1 Introduction
1.1 Principle of Automatic control- Open loop and closed loop systems – 2 Hours
examples System modelling & approximations
1.2 Modelling of electrical systems – dynamic equations using KCL & KVL 4 Hours
of RL, RC and RLC circuits
1.3 Transfer functions- development of block diagrams of simple 4 Hours
electrical networks - block diagram reduction -signal flow graphs -
Mason's gain formula
2 Modelling and analogy of other physical systems
2.1 Modelling of translational and rotational mechanical systems – 3 Hours
differential equations for mass, spring, and dashpot elements -
D'Alembert’s principle – dynamic equations & transfer function for
typical mechanical systems
2.2 Analogous systems –force voltage & force-current analogy - toque- 3 Hours
voltage & torque-current analogy
2.3 Electromechanical systems - transfer function of armature controlled 3 Hours
dc motor & field controlled dc motor
3 Time domain analysis
3.1 Continuous systems -standard test signals - step, ramp, parabolic, 2 Hours
impulse.
3.2 Transient and steady state response –first order systems - unit 3 Hours
impulse, step responses of first order systems and second order
systems
3.3 Under damped and over damped systems - time domain 2 Hours
specifications - steady state error – static position, velocity &
acceleration error constants
3.4 Control structures: PID control, feed forward, ratio control and 2 Hours
predictive control
4 Stability of control systems and Frequency Domain Analysis
4.1 Concept of stability - stability & location of the poles in S-plane - 2 Hours
Routh-Hurwitz stability criterion MECHATRONICS
4.2 Root Locus Method, Construction of root locus- Effect of poles and 4 Hours
zeros and their location on the root locus.
4.3 Frequency Response representation- Polar Plot- Logarithmic Plots- 3 Hours
Frequency Domain Specifications - Non-Minimum Phase Systems
5 Compensation techniques and Case studies in Mechatronics
5.1 Need for Cascade compensation-Cascade Compensation- PI, PD and 2 Hours
PID controllers
5.2 Tuning of PID Controller- Lead, Lag and Lead- Lag compensation- 3 Hours
5.3 Role of control system in mechatronics-case studies Automatic 3 Hours
temperature control, automatic traffic light control-Automatic street
light control
