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The human body controls a large number of body parameters like body
temperature, pressure& respiration. It would be of great interest to study these
aspects of human body function in order to diagnose, predict & control health.
Health, from this engineering point of view, can be considered as a controlled
process of a biological system.
Study of biological control systems depends to a large extent on the well-
developed field of control systems engineering. Design of control systems is
based on concepts of stability & feedback. A large body of mathematical theory
consisting of Laplace transforms, poles, zeros, stability concept & differential
equations is used for the analysis and design of control systems. So the study &
analysis of biological control systems based on control system concepts would
enable us to design better health systems, drug delivery systems and in turn, help
in improving living conditions.
References
RECOMMENDED WEBSITES:
www.ieeecs.org
www.riken.edu
www.instruments.org
www.ieee.org/web
www.riken.go.jp/engn/r-world
www.addall.com
www.che.psu.edu/control
UNIT-I
DYNAMIC SYSTEMS AND THEIR CONTROL
RECOMMENDED BOOKS:
1. Control Systems------------------- Nagoor. S. Kani
This unit deals with System & its fundamentals, different types of systems,
characteristics and differences of closed loop and open loop systems, block
diagrams, transfer functions, methods for obtaining transfer functions from block
diagrams by Reduction, Signal Flow Graphs & State space representations. It also
deals with the analysis of a First Order and second Order systems in the Time
domain.
At the end of the unit, the student is able to answer these questions:
1. Define the following types of technological control systems:
(i) Open loop and Closed loop systems.
(ii) A Regulator and a Servomechanism.
(iii) Proportional and Proportional plus Derivative control.
Give examples for each.
2. What are type 0, 1 & type 2 systems?
3. Draw the signal flow graph for a given block diagram and obtain the
transfer function.
Explain Mason’s Gain formula for SFG.
B.V.R.I.T. Course File ……………………………………………….. 4
……………………………………………………….. Biological Control Systems
4. Discuss briefly the various positive and negative feedback systems
present in the human body.
5. The open loop transfer function of a servo system with a unity
feedback is given by
G(s)= 1/((1+0.5s)(1+0.2s)).
Determine the damping ratio and percent overshoot to a unit
step.
6. Define static error coefficients, kv, ka and kp. Explain how the steady
state error can be computed using the error coefficients.
7. A feedback system having derivative feedback has the following
block diagram representation.
Find the value of kd so that the damping ratio for the system is 0.65.
Ei(S) E0 (S)
1
∑ 10 ∑ S(S+2)
S Kd
8. Draw the time response curve for a second order system for
0<τ <1.Derive the expression for the same. Define rise time, peak
overshoot, delay time and peak time.
9. Obtain the state space representation of the following control system.
R(S) C(S)
S+4 16
10
S+16 S(S+2)
UNIT-II
FIRST ORDER AND SECOND ORDER SYSTEMS
RECOMMENDED BOOKS:
1. Control Systems------Nagoor S.Kani
Feedback effect of a control system is studied. What is feedback? What are the
different parameters of the system which are being affected by feedback? Time
response analysis: Transient response analysis of first order system and second
order system are studied. Different parameters like rise time, peak time, delay
time, settling time, percentage peak overshoot are calculated here. Responses of a
standard second order system with sinusoidal input for different ranges of ξ are
studied. Steady state analysis: steady state error is found using static error
coefficients and dynamic error coefficients.
At the end of the unit the student is able to answer these questions:
1. A unity feedback system is characterized by an open loop transfer function
G(s)=K/s(s+10). Determine the gain K so that the system will have a
damping ratio of 0.5. For this value of K, determine settling time, peak
overshoot and time to peak overshoot for a unit step input.
2. The open loop transfer function of a unity feedback system is given by
G(s)=K/s(1+sT) where T and K are constants having positive values. By
what factor the amplifier gain be reduced so that (a) the peak overshoot of
unit step response of the system is reduced from 75% to 25%. (b) The
damping ratio increases from 0.1 to 0.6.
3. Determine the error co-efficients and static error for
G(s) =1/s(s+1)(s+10)
H(s) =s+2.
4. In a position control system the forward path transfer function is
100/s(s+1) and the feedback path transfer function is 10. Determine the
UNIT-III
SYSTEM STABILITY AND COMPENSATION
RECOMMENDED BOOKS:
1. Control Systems------Nagoor S.Kani
Stability is an important design aspect of control systems. This unit covers the
stability compensation techniques of closed loop systems like Routh Hurwitz
Criterion & Root Locus plot. The frequency response analysis of first order and
second order systems i.e., Bode plots & Polar plots are also studied. In all these
methods Laplace Transforms are used to represent systems, which are a
prerequisite to the course. Introduction to Non-linear control is also studied in this
unit.
At the end of the unit the student is able to answer these questions:
1. Sketch the Bode plot for the following transfer function and obtain gain and
phase margin.
G(s) = 10(1+0.5s)
s (1+0.1s)(1+0.2s) .
2. The open loop transfer function of a unity feedback system is given by
k(s+2)/s2 (s+3) (s+1). Find the restriction on k so that the closed loop system
is absolutely stable.
3. Show that the output of a system to a bounded input is stable if the impulse
response is finite.
4. The open loop transfer function of a unity feedback control system is given by
G(s) = k(s+3)/ s(s2+2s+2)(s+5).Sketch the root locus diagram.
5. Write about the various methods for finding the stability of a system.
6. Find out whether the given system is stable using Routh’s stability criterion.
UNIT-IV
BIOLOGICAL CONTROL SYSTEMS
RECOMMENDED BOOKS:
1. Principles of anatomy & physiology.
Torotora & Grobowski.
2. Biological Control Systems Analysis----Milsum John H
The general engineering principles obtained in the previous chapters are applied
to various biological control systems in this chapter whereby the complex
mechanism called the human body is studied. Various systems like the pupil
control system, the Visual Fixation system, the role of Occulo-Motors in visual
fixation are all analyzed.
At the end of the unit the student is able to answer these questions:
1. Discuss about pupil control system and develop block diagram for the same.
2. Explain convergence and accommodation of the pupil control system.
Explain how illumination is controlled.
3. What is Weber-Fechner law?
The semi-circular canal& free-swinging human limb are studied and their
feedback mechanisms determined. The Thermo-regulation of human body
and the Servomechanism of the Skeletal System are also studied.
UNIT-VI
RESPIRATORY AND OTHER CONTROL SYSTEMS
RECOMMENDED BOOKS:
1. Principles of anatomy & physiology.
Torotora & Grobowski.
2. Biological Control Systems Analysis----Milsum John H
In this unit a few more systems are studied. The feedback control of Respiratory
system, blood pressure control by the Cardio-Vascular system, The roles played
by the endocrine glands in controlling other biological systems are also studied.
An interesting conclusion is that the CPU of all these systems is the Nervous
system-the Hypothalamus to be specific.
At the end of the unit the student is able to answer these questions:
RECOMMENDED BOOKS:
1. Principles of anatomy & physiology.
Torotora & Grobowski.
2. Biological Control Systems Analysis----Milsum John H
Different control systems like the sugar level control mechanism (what are
different factors which helps in maintaining the sugar leveling various fluid of the
body) and the endocrine control system are studied. Here we also study the
excretion control system.
At the end of the unit the student is able to answer these questions:
Discuss about the endocrine control system
1. How is sugar level maintained in a normal person?
Explain the mechanism involved for a diabetic person.
2. Explain the different models of sugar level control system.
UNIT-VIII
HUMAN OPERATOR MODELS AND BIOLOGICAL
RECEPTORS
RECOMMENDED BOOKS:
1. Principles of anatomy & physiology.
Torotora & Grobowski.
2. Biological Control Systems Analysis----Milsum John H
Human operator models and their tracking characteristics deal with the
mechanism involved in any man-machine interaction. That is, how a human
operator deals with the various interactions of the machine. And finally those
involved in the feedback of all the above systems-the biological receptors are
studied.
There are various receptors in the human body like the baro receptors, mechano
receptors, tactile receptors and cold and warm thermo receptors which are
sensitive to various forms of energy like heat, light, chemical, pressure etc. This
chapter deals with the characteristics and transfer functions of such receptors.
At the end of the unit the student is able to answer these questions:
GLOSSARY:
T = 1/∆∑ Pk ∆k
4. The time response of a control system can be divided into two parts,
the transient and steady state response.
a) Step signal
b) Ramp signal
c) Parabolic signal
7. Error constants:
a) Position Error Constant
b) Velocity error constant
c) Acceleration error constant.
10. Root locus is a graphical method to find the position of the roots
of the characteristic equation or the poles of closed loop of transfer
function.
12. Transient response is defined as the part of the time response that
goes to zero as time goes to infinity
13. Steady state response is the part of the total response that remains
after the transient has died out.
14. A minimum phase transfer function does not have poles or zeros
in the right half s-plane or on the jw-axis, except at s=0.
24. Root locus method (determination of roots and finding their loci), introduction to non linear control
Examples of biological control systems, pupil control system, its engineering analogy-aperture control of a
25. III
camera
26. Skeletal muscle servomechanism- reason for being called a servo system
Human thermo regulation- the process of heat generation and storage, human body and its lumps-core
27.
muscle and skin-definitions and equations, the Engg analogy –room temperature control
28 The semicircular canal and free swinging limbs
29 IV Respiratory system-physiology, information flow diagram and control mechanism
Visual fixation system and occulo motor system- types of target for a human eye, the fixing mechanism,
30
muscles involved and response curves for various targets
31 Cardio vascular system-physiology and control system for measurement of blood pressure
Sugar level control mechanism- oral glucose, intravenous tolerance tests, block diagram, equations and
32
graphs
33 Endocrine control system-general function and control of other systems
34 V Models on human operator, human operator tracking characteristics
35 Biological receptors, receptor characteristics, transfer function models of receptors