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Introduction
T
his chapter deals with basic ideas about the open-loop and closed-loop control systems. The
differential equations describe the dynamic operation of control systems. The Laplace transform
transforms the differential equation into an algebraic equation, the solution is obtained in the transform
domain. The time domain solution is determined by taking the inverse Laplace transform.
CONTENTS
CONTROL SYSTEM
1
2 LINEAR CONTROL SYSTEMS
Input Output
Control
r c
Action
Open-Loop Closed-Loop
σ
ω
z
L ≥
∞
f (t) ⋅ e − st dt
0
L
L
L L L
∞ ∞ 1
L e at ⋅ e − st dt = e( a − s) t dt =
0 0 (s − a)
1
∴ L
(s − a)
L
LM 1 OP
1
N (s − a) Q
(s − a)
L
∴
1
L
(s − 0)
LM 1OP
1
L
N sQ
s
L
ω
ω
ω
∴
ω
L
3
(s − jω)
ω ω
ω
1 s + jω
∴ L ω
ω = 2
(s − jω) (s + ω 2 )
s
L ω
(s + ω 2 )
2
LM OP
ω
L
ω
(s 2 + ω 2 )
N (s Q
LM OP
s
L ω
2
+ ω2)
N (s + ω )Q
ω
L
ω
2 2
α
ω
α
ω
∴
α
ω
INTRODUCTION 5
1
α
ω
1
L =
3
s − (− α + jω) (s + α) − jω
α ω α ω
ω
α
1 (s + α) + jω
∴ L ω
ω =
(s + α) − jω (s + α) 2 + ω 2
α
( s + α)
L ω
(s + α) 2 + ω 2
LM (s + α) OP
α
ω
L
ω
N ( s + α) + ω Q
(s + α) 2 + ω 2
LM ω OP
α
L ω
2 2
N ( s + α) + ω Q
α
L
ω
2 2
∴
1
L
(s − 1)
3
t2 t3
+ 1+ t +
+ ...
∠ 2 ∠3
1 1 1 1 1
+ 2 + 3 + 4 + ...
(s − 1) s s s s
1
s
1 − sT
e
s
1
s2
2 1
t
2 s3
∠
+
1
s+a
1
s−a
6 LINEAR CONTROL SYSTEMS
1
(s + a)2
1
( s − a)2
∠
+
+
ω
ω
s2 + ω 2
s
ω
s2 + ω 2
α
ω ω
( s + α )2 + ω 2
α ω (s + α)
( s + α )2 + ω 2
α
α
s2 − α 2
s
α
s2 − α 2
∴
LM t OP
1 1
L
L 2
N ∠2 Q
s s
L t OP
2
1
L
L M
s2
N ∠n Q
LM ∠n OP
n
1
∠n
L
Ns Q
n+1
s sn + 1
L n+1
df (t)
L
dt
d 2 f (t)
L ′
dt 2
d 3 f (t)
L ′ ″
dt 3
INTRODUCTION 7
z
df (t) d 2 f (t)
′ ″
LM OP
dt dt 2
zz
MN PQ
−
LM OP
+
f (t)
zzz
L +
MN PQ
−
−
LM OP
+ +
z zz zzz
L f (t) + +
MN PQ
−
− −
+ + +
L f (t) + + +
f (t), f (t), f (t)
L
d
L − F (s)
ds
Example 1.6.1.
1 s+6
2
s (s + 1) s (s + 4s + 3)
1 s+ 2
s 2 + 4s + 8 s 2 + 4s + 6
5 + +
+ + +
2
s (s + 4s + 5)
1
Solution.
s (s + 1)
8 LINEAR CONTROL SYSTEMS
k1 k
+ 2
s s+1
1 1
LM 1 − 1 OP
∴ −
s s+1
N s s + 1Q
L L
1 1
L L − L−1
s s+1
∴
Ans.
s+6
s (s 2 + 4 s + 3)
s+6
∴
s (s + 1) (s + 3)
+ +
+
+
1
2
1 1 1 1
∴ 2⋅ − 2.5 ⋅
LM2 ⋅ 1 − 2.5 ⋅ 1 + 1 ⋅ 1 OP
+ ⋅
s s+1 2 s+3
N s s + 1 2 s + 3Q
L L
1 1 1 1
L L−1 2 ⋅ − L−1 2.5 ⋅ + L−1 ⋅
s s+1 2 s+3
∴ Ans.
1
2
s + 4s + 8
∴
+ +
L L
+ +
L L ⋅
+ +
INTRODUCTION 9
1 −2 t
∴ e sin (2t) Ans.
2
s+2
s2 + 4s + 6
[(s + 2) 2 + ( 2 ) 2 ]
s+2
∴
(s + 2) 2 + ( 2 ) 2
s+2
L L
(s + 2) 2 + ( 2 ) 2
∴ 2 Ans.
5
s (s 2 + 4 s + 5)
5 k1 k s + k3
+ 22
2
s (s + 4 s + 5) s s + 4s + 5
1 s+4
∴ − 2
s s + 4s + 5
1 s+4
∴ −
s [(s + 2) 2 + (1) 2 ]
1 s+2 1
− −2
LM 1 − s + 2 OP
2 2
s [(s + 2) + (1) ] [(s + 2) 2 + (1) 2 ]
N s (s + 2) + (1) Q
1
L L −2
2 2 2 2
(s + 2) + (1)
1 s+2 1
L L −1 − L −1 − L −1 2
2 2
s [(s + 2) + (1) ] [(s + 2) + (1) 2 ]
2
∴
Ans.
s2 + 2s + 3
s + 6 s 2 + 12s + 8
3
s 2 + 2s + 3
∴
(s + 2) 3
k1 k2 k3
+ +
2
(s + 2) (s + 2) (s + 2) 3
10 LINEAR CONTROL SYSTEMS
1 2 3
∴ − +
LM 1 − 2 OP
2
s + 2 (s + 2) (s + 2) 3
N s + 2 (s + 2) Q
3
L L −1 +
2
(s + 2) 3
1 2 3
L L −1 − L −1 + L −1
2
s+2 (s + 2) (s + 2) 3
3
∴ 2
Example 1.6.2.
dx
2 + 8x
LM OP LM OP
dt
N Q N Q
Solution.
dx dx
L 2 + 8x L
+ L [8 x] L
L 2
dt dt
10
∴
s
10
s
2s + 5
s (s + 4)
k1 k
+ 2
s s+4
1.25 0.75
∴ +
s s+4
Ans.
Example 1.6.3.
d2x dx
+2 + 2x
′
LM OP + L L
2
dt dt
OP + L
MN PQ MN
Solution.
Q
L
′
INTRODUCTION 11
1
2
(s + 2s + 2)
1
∴
LM 1 OP
[(s + 1) 2 + (1) 2 ]
N (s + 1) + (1) Q
L L −1 2 2
∴
Ans.
Example 1.6.4.
LM d y OP + L L5 dy O + L [6 y]
Solution.
N dt Q MN dt PQ
2
L L
2
∴
′
12
(s − 1)
′
12
(s − 1)
12
(s − 1)
6s + 6
(s − 1)(s 2 + 5s + 6)
6s + 6
∴
(s − 1)(s + 2)(s + 3)
k1 k k
+ 2 + 3
s−1 s+2 s+3
1 2 3
LM 1 + 2 − 3 OP
∴ + −
s−1 s+2 s+3
N s − 1 s + 2 s + 3Q
L L−1
12 LINEAR CONTROL SYSTEMS
1 2 3
L L−1 + L−1 − L−1
s−1 s+2 s+3
∴ Ans.
Example 1.6.5.
⋅
+
Ω
µ
100
Solution.
∴
s
1 × 10 −6 s
100
⋅
6 −6
[(2 × 10 × 1 × 10 s) + 1] s
⋅
= µ Ans.
→∞
×
×
+
×
−
Example 1.6.6.
Solution.
di(t)
dt
3
∴
E E
∴ ∴
s s
1 E
⋅
R + Ls s
100
s 2 + 2s + 50
→ ∞
Solution.
1 1 100
∴ ∴ ⋅ 2
s s (s + 2 s + 50)
1 100 100
lim s =
Ans.
2
s→0 s (s + 2 s + 50) 50
Example 1.6.8.
+ +
Solution.
1 1 s
∴ ∴ ⋅
s2 s 2 (s 2 + 6 s + 25)
1 s
lim lim s
s→0 s→0 s 2 (s 2 + 6 s + 25)
1
Ans.
→ + + 25
Example 1.6.9. ′ ″
4s + 1
s(s 2 + 2)
Solution.
∴ Ans.
14 LINEAR CONTROL SYSTEMS
+
+
+
=
=
+
→∞ →∞ →∞
+ +
∴
′ Ans.
FG 1 − 8 IJ
″ lim ″ lim L ″
H sK
t→0 s→∞
FG s + 2 IJ FG 1 + 2 IJ
H sK H sK
(s − 8) (s − 8)
lim s . = lim lim
2
s→∞ (s + 2) s→∞ s→∞
2
″ Ans.
4
s(s + 2)
=
→
→∞
4 4
lim s lim
s→0 [ s (s + 2)] s → 0 (s + 2)
4
s (s + 2)
k1 k
+ 2
s s+2
2 2
∴ −
s s+2
LM 2 − 2 OP
INTRODUCTION 15
N s s + 2Q
LM 2 − 2 OP
L L
N s s + 2Q
L L
∴
PROBLEMS
+
+ + +
+
+
+ +
+
+
1.2.
+ +
′
+ +
′
θ
+ θ +
θ θ′ θ
∫θ
+
1.3.
+ +
1.4.
+ α +
+ α + ω + +
1.5.
+ α +
α£
+ α + ω + +