38
+ - G H Control Systems
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+
-G
HContro
l Syste
ms
Books
• Modern Control Engineering By Katsuhiko Ogata
• Control Systems Engineering By I. J. Nagrath and M. Gopal
CONTROL PROBLEMCONTROL PROBLEM
Driving Control System
Input Output Configuration
Input Output Configuration of a Control System
Some examples of control systems
• Liquid Level• Temperature• Position• Speed
Manual feedback control
of a thermal system
Steam
Drain
Thermometer
R
Hotwater
Cold water
Automatic feedback control
of a thermal system
RSteam
Controlvalve
Automaticcontroller
Temperaturemeasuring device
Hotwater
DrainColdwater
Components of a control system
PlantTransducerControllerAmplifierActuator
Liquid - level control system
---------------------------------------------------------------------------------------------------------
---
ControllerPneumatic
valve
Inflow
Outflow
Open Loop and Closed Loopcontrol system
Open Loop Thermal System
Open Loop Thermal System
Closed Loop Thermal System
Closed Loop Thermal System
Classification of control systems
• Open Loop / Closed Loop
• Linear/ Non Linear
• Time Invariant Parameter / Time Variant Parameter
• Lumped Parameter / Distributed Parameter
• Continuous time / Discrete time
• Analog / Digital
Systems involved
Electrical
Mechanical
Electromechanical
Hydraulic
Pneumatic
Thermal
Chemical
Non – Engineering
Mathematical Modeling
• Understand the concept
• Verbal description
• Physical diagram
• Block diagram or Signal flow graph
• Mathematical equations
• Transfer Function (Laplace Transforms)
• Measurement of parameters
SISO System in Transform Domain
A Transfer Function is the ratio of the output of a system to the input of a system, in the Laplace domain considering its initial conditions and equilibrium point to be zero.
)(
)()(
sR
sYsG
Electrical Systems
Elements
• R L C
Input
• Voltage (e) Current (i)
Output
• Voltage (e) Current (i)
Mechanical Systems
Elements
• M K B
Input
• force ( f )
Output
• Position (x) velocity ( v)
An Inertia Damper Model of Load
D C Motor
Armature Controlled D C Motor With Load
Block Diagram of Armature Controlled D C Motor
Single-Input Single-Output (SISO) System
Multi-Input Multi-Output (MIMO) System
Cascaded Non-loading Subsystems
Elements of a Block Diagram
General Linear Feedback System
Rules of Block Diagram Algebra
Rules of Block Diagram Algebra
An Example
Problem-1
Determine Y(s)/R(s)
