Control Theory EE6201

6th semester, EEE

SP 2016

Instructor: Nirbhar Neogi, Dept. of EEE, BIT, Mesra

Control Theory(EE 6201) - syllabus

MODULE I: Introduction: Examples of control systems and applications, Basic
components of control systems, Open loop and closed loop control systems, Effect of
feedback on overall gain, Stability and external disturbances, Classification of control
system : Linear and nonlinear continuous and digital, Time invariant and time varying,
Minimum phase and non-minimum phase systems etc. Linearization of nonlinear
systems using Taylors series.
MODULE II: Block Diagrams and Signal Flow Graph: Block diagrams of control
systems, Block diagram reduction, Signal Flow Graph (SFG)- Basic properties of SFG,
SFG algebra, Gain formula to SFG, Application of gain formula to block diagrams.
MODULE III: Time Response of Control Systems: Transient and steady state
response, Time response specifications, Typical test signals, Steady state error, and
error constant, Stability- Absolute, relative and conditional stability, Dominant poles of
transfer function.
Root Locus Methods: Root locus concept, Properties and construction of root locus,
Determination of relative stability from root locus, Root sensitivity to parameter
variation, Root contours, Systems with transportation lag and effect of adding poles or
zeros.19
2

Control Theory(EE 6201) - syllabus

MODULE IV: Bode Analysis and Introduction to Design: Frequency response
specifications, Correlation between time and frequency domain Bode plot,
Determination of stability using Bode plot, Introduction to design, lead, lag & leadlag compensation.
MODULE V: Other Frequency Domain Tools: Nyquist stability criterion,
Theory of Magnitude phase plot, Constant M, constant N circle and Nichols chart.
MODULE VI: Control System Components and Basic Control Actions:
Sensors and encoders in control system, Potentiometer, Tachometers, incremental
encoders, Synchros, Operational Amplifiers, Basic control actions: on-off control,
P, PI, PD and PID.
MODULE VIII: Concepts of State, State Variables: Development of statespace models. State and state equations, State equations from transfer function
Transfer function from state equations, State transition matrix.
3

Control Theory(EE 6201) - Books

Text Books:
1. I. J. Nagrath & Gopal, "Control Systems Engineering", New Age
International Publication.
2. K. Ogata, "Modern Control Engineering", Pearson Education.
Reference Books:
1. Norman Nise, "Control System Engineering, Wiley.
2. Graham C. Goodwin, "Control System Design", PHI.
3. B. C. Kuo, "Automatic Control System", PHI.
Need to understand basics of following disciplines:
Signals & systems
Laplace transform
Theory of complex variable
Basic matrix theory
4

Control Theory: Module-1

Control Theory
MODULE I:
Introduction
Examples of control systems and applications,
Basic components of control systems,
Open loop and closed loop control systems,
Effect of feedback on overall gain, Stability and external disturbances,
Classification of control system : Linear and nonlinear continuous and
digital, Time invariant and time varying, Minimum phase and nonminimum phase systems etc.
Linearization of nonlinear systems using Taylors series

Control system: Introduction

Objectives

CONTROL
SYSTEM

Results

Control theories can be broadly classified as:

Control theory (conventional)
Modern control theory
Robust control theory

Control system: Introduction

Historical perspective:
First feedback control system on record:
Ancient water clock of Alexandria,
Egypt
- 3rd Century BC
- Time is kept by regulating water flow
from a vessel (water level control)
- Water clock was still in use in 1258 AD
when Mongols captured the city

Control system: Introduction

First documented automatic control system is the Steam Engine of James Watt
which used centrifugal fly-ball governor for speed control of the engine 1788
AD. About 100 years later, Maxwell analysed the dynamics of the governor.

Control system received a major boost during 2nd world war (1939-45)

Control system: Introduction

Control is a process of causing a system variable to attain some desired
value called -Reference value
Control methods are deployed whenever some parameter, say,
temperature, altitude, speed etc must be made to behave in some
desirable way over time or with respect to some other parameter
Three types of control systems:
Natural (including biological)
Man made
Combination of the two

10

Control system: Simple examples

Ceiling fan

OPEN LOOP SYSTEM

Output has no effect on control action

11

Control system: Simple examples

Washing machine

OPEN LOOP SYSTEM

Output has no effect on control action

12

Control system: Simple examples

Automatic electric iron

CLOSED LOOP SYSTEM

Output is measured and feedback is used to
modify control action

13

Control system: Simple examples

Driving a car

CLOSED LOOP SYSTEM

Output is measured and feedback is used to
modify control action

14

Control system: Simple examples

Tank level control system

CLOSED LOOP SYSTEM

Output is measured and feedback is used to
modify control action

15

Control system: Simple examples

DC motor: open loop OR closed loop system?

16

Control system: Simple examples

DC motor: open loop OR closed loop system?

Where is the feedback??

17

Answer True/False against following questions:

OLS: Open Loop System, CLS: Closed Loop System, SISO: Single input/Single
output, MIMO: Multiple input/Multiple output
1.

A microwave Oven is a CLS: T/F

2.

Water geyser in bathroom is a CLS: T/F

3.

A simple wrist watch is a OLS: T/F

4.

The timing function in a mobile is a CLS: T/F

5.

A refrigerator is a CLS with MIMO for temp. control: T/F

6.

An elevator is an OLS with MIMO : T/F

7.

Water sprinkling system in a stadium is a multi feedback system: T/F

8.

Walking of a blind person is an example of multi-input CLS: T/F

9.

Movement of earth around sun is an example of a SISO control system: T/F

10. Supply/demand control in an economy is an example of MIMO CLS: T/F

18

Control system: Representation- Open loop

Open-loop control system

19

Control system: Representation- Closed loop

Closed-loop control system of an engine

20

Control system: Representation- Closed loop

Closed-loop control system

r(t)

c(t)

21

Control system: Terminology

Plant or :Process: G, System under control

Reference input or Set point or Desired output: r(t)
System output or Controlled output : c(t)
Error: e(t) Difference of reference and feedback signal
Controller: D, Ensures that appropriate control signal is applied to plant
Feedback element: H, Multiplying factor on output
Feedback signal: Signal produced by feedback element
Control signal or Actuating signal or Control action is applied to plant G
Disturbance or Noise: Signal that enters the system at a point other than
reference input
r(t)

c(t)

22

Open Loop Control System: Advantages & Disadvantages

Reference

Output

Output has no effect

on control action

Advantages:
Simple and easy to maintain
Generally less expensive with less control devices
No instability
Output accuracy depends on calibration
Disadvantages
Internal/external disturbances cause O/p to drift
Calibration change causes error in system: recalibration may be required
High system gain difficult to control sometimes
Example: Fan
23

Closed-Loop Control System: Advantages & Disadvantages

Output is used as feedback to

modify control action

Advantages:
Accurate control possible using less accurate, inexpensive components
Influence of internal/external disturbance on O/P is reduced
Transient response of the system is improved
Steady state error can be reduced
Gain is reduced, bandwidth is increased
Disadvantages
Costlier due to more equipment/component
System oscillation (instability) may occur
24

Closed-Loop Control System: Transfer Function

Unity feedback control system

Non-unity feedback control system

Reference: R(s)
Output: C(s)
Plant: G(s)
Feedback element: H(s) [ = 1 for unity feedback]
Error = Reference Feedback = E(s) = R(s) C(s) For unity feedback
Error = Reference Feedback = E(s) = R(s) C(s).H(s) = R(s) B(s)
Output = C(s) = E(s) . G(s)

25

Closed-Loop Control System: Transfer Function

Unity feedback control system

Non-unity feedback control system

C(s) = E(s) . G(s) = [R(s) B(s)] . G(s) = [R(s) C(s).H(s)] . G(s)

For unity feedback:

E(s) = R(s) C(s) = R(s) G(s).R(s)/[1 + G(s)]

E(s) = R(s)/ [1 + G(s)] For unity feedback
26

Effect of feedback on gain

R(s)

G(s)

C(s)

Open loop system

C(s) = R(s) . G(s)

Unity feedback system

C(s) = R(s) . G(s)/[1 + G(s)]
Normally G(s) 1,
In a closed loop system, C(s) R(s)
Gain of closed loop system is 1/G(s)
times that of open loop system

27