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Control Systems

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Lecture 1 : Course Plan

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Siddhartha Mukhopadhyay

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Professor, Dept. of Electrical Engineering

Indian Institute of Technology Kharagpur
December 2-12, 2014.
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Course Objectives, Overview

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Lecture/Tutorial/Lab Plan

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Course Objectives

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Key Concept Example :

Negative feedback
State variable
X-ability
Compensation
Sampled data model

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The student should be able to state, explain and illustrate a

set of key concepts related to Control Systems qualitatively
in the context of an engineering application.

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Course Objectives

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a) The student should be able to give brief description of a

common practical control system including its components
and qualitatively state the constraints and performance
objectives

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Common Practical Example :

The bathroom cistern

Water temperature/flow control in a hot and cold

mixing faucet

Air temperature/flow control in a room/car

Control of voltage in a power supply

Motion control of a crane

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Course Objectives

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The student should be able to derive mathematical models of

common and simple physical systems stating assumptions .

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Common physical system :

Pendulum with friction

Separately excited dc motor driving a fan

Water tank heated by an electric heater

Active analog filter

A stirred tank chemical reactor

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Course Objectives

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The student should be able to demonstrate key abilities,

related to a control system.

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Key concepts :
Modeling simple physical systems
Computing transient response to standard
inputs
Determining stability
Stating performance specifications in time and
frequency domains
Designing simple compensators
Implementation of the compensator
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Course Objectives

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The student should be able to design numerical or physical

experiments and gather, interpret, analyze resulting data for
design/analysis of a control system.

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Tasks :

Plan experiment to build models

Implement the experiment

Gather and analyse data to build models

Assess, compare and choose specifications of control

system components

Determine
reasonable
closed
loop
system
specifications

Design and implement a simple compensator

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Additional Objectives

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a) Determine related technical specifications of control

applications and their components from performance
requirements and constraints.
b) Design controllers from technical specifications of
control systems.
c) Evaluate and compare different controller designs for the
same system.
d) Validate control system performance by interpreting
system operational data obtained using given controller.
e) Give descriptions of applications of control system
concepts to non-engineering problems.

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Basic Concepts of Control - 4 hours

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Course Overview - 42 hours

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Models and Response of Linear Systems - 14 hours

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Linear Systems Analysis - 8 hours

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Linear Control Design - 12 hours

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Implementation - 4 hours

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Course May Not Discuss

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Industrial Automation and Control

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Multivariable control

Unmodelled dynamics

Nonlinear Models and Response

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Control System Components

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Real-time control software

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Computer aided design of control systems

Optimal /adaptive/robust control

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Basic Concepts of Control : Objectives

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The student should be able to :

a) Define the control problem and give examples
b) State various types of control and give examples
c) State the main advantages of closed loop control over
open loop control and explain why closed loop control is
universally applied for technical systems with examples
d) For some common practical control systems from
common engineering domains,
1) Indicate reference and control inputs, measured and
controlled outputs, sources of disturbance and noise
2) State main objectives, constraints, performance
parameters for the control system
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Basic Concepts of Control : Objectives

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Given a closed loop practical control system, the student

should be able to :
a) Identify the feedback loops and their hierarchy, if any
b) Explain the difference between Servo and Supervisory
Control
c) Give examples of industrial control systems
d) Describe the different levels of a hierarchical control
system and their typical functions, with examples

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Basic Concepts : Overview

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Introduction and significance of Control Systems

Closed and open loop control
A typical feedback control loop
Signals in a control loop : Set point, Control , Disturbance,
Feedback, Feedforward, Output, Noise
Component models and their uncertainties
Typical performance issues and implementation
challenges of practical control systems.
Servo and supervisory control
Multi-level (Levels (0-3)) hierarchical structure of a
practical control application with examples

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Models and Response: Objectives

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a) Compute response to standard inputs with arbitrary initial

conditions. Estimate transient response specifications.
b) Write a program to compute the response to arbitrary
finite inputs numerically with arbitrary initial conditions.

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Simulation is a basic requirement for system and

control design
With faster computers advanced simulation tools are
increasingly available. But one has to understand how
to use them
This objective may also be supported through Lab
assignments
Initial conditions may affect transient response
significantly
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Models and Response : Objectives

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a) Sketch Polar/Bode/Nichols plots (magnitude and phase)

for systems with real and complex pole-zeros.
b) Also to estimate a transfer function from a Bode plot
c) Estimate frequency domain properties like margin
bandwidth etc.
d) Relate system frequency domain properties to time
domain response

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Control design is very often done in frequency domain

Therefore one has to develop appreciation of system
properties in terms of gain and phase plots in
One also needs to know how frequency responses can
be obtained experimentally and model built from that
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Models and Response : Objectives

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a) Draw block diagram of the system. Identify inputs,

outputs, state variables of each component block
indicating assumptions involved.
b) Derive linear i/o models for individual blocks. Use
approximations wherever needed
c) From a block diagram representation of a system, derive
transfer functions between signals using block diagram
algebra/Masons gain formula.

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For complex systems involving subsystems modelling

has to be done physical block by block
Often the models need to be simplified through steps
such as linearization, low frequency approximation etc.
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Models and Response : Objectives

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a) Obtain linear state space models of components and from

these obtain linear state space models of the overall
closed loop system.
b) Obtain alternate canonical state space models,
eigenvalues and eigenvectors
c) Relate state variable models with i/o models
d) Obtain time response of state space models to arbitrary
finite inputs with intial conditions.
Physics-based modelling naturally involve state variables
Canonical state space models are easy to develop and
analyse from input-output models
Eigenvalues/vectors help compute transient response
State space models are useful for studying internal
system behaviours
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Models and Response : Overview

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Brief review of differential equations, Laplace transform and

state variable models. Pole-zero, degree, order, type.

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Superposition. Zero state and zero input response.

Response to standard inputs with arbitrary initial conditions.

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Convolution.

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Steady state and transient response specifications

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Numerical computation of response for arbitrary inputs.

Numerical accuracy and stability.

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Models and Response : Overview

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Frequency response. Bode, Polar and Nichols plots.

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Frequency domain specifications. Relationship of time and

frequency domain specifications.

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Building time and frequency domain models from

experiments.

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Models and Response: Overview

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State Space models: Interrelations with input-output

models, similarity transformation, canonical forms.

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Eigenvalues and eigenvectors, Modes of a system. System

response to arbitrary inputs using state space model.

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Modeling
Approximations
of
Practical
Systems:
Linearization, Dominant pole modelling, Switched and PWM
systems, Time delay systems

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System Analysis: Objectives

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Given the system model, the student should be able to:

1) Define and explain the concepts of equilibrium point and
stability.
2) Distinguish between asymptotic/uniform/exponential
local/global stability. Define limit cycles.
3) Describe stability conditions for LTI systems. Internal
stability
4) Explain Routh criterion of stability for LTI systems

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Stability is fundamental concept. But many aspects of

it are missing in LTI systems. A simple general
exposition is therefore to be presented first.
Routh criterion is a standard and useful topic for many
design approaches
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System Analysis : Objectives

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1) State and explain Nyquist criterion of Stability using polar,

Bode and Nichols plots
2) Check for closed loop stability using these criteria.
3) Compute indices of relative stability such gain/phase/disc
margins,
4) Compute stability margins for multi-loop systems and in
presence time delays in the loop

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domain
relative
stability
Meeting
frequency
specifications is a common requirement for control
design.
Many control systems are multi-loop and involve time
delays
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System Analysis : Objectives

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1) Compute root loci for variation in controller gain or some

other parameter.
2) Effects of addition of pole and zeros at selected locations
on the root loci
3) Check for closed loop system specifications with root loci
using dominant pole approximations where applicable

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When system models are available, root loci provide

easy ways to choose compensator structure and
parameters particularly under dominant pole
approximations.

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System Analysis: Objectives

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1) Define controllability, give examples of controllable and

uncontrollable systems, check for controllability.
2) Relate uncontrollable modes with pole-zero cancellations
in transfer functions.
3) Similarly for observability.
Important for understanding the feasibility of reaching
chosen states, avoiding internal instability, estimating
state vectors from a given set of measurements
Planning for sensors and actuators
Understanding the internal realization of a system with
a given transfer function
Recognising a reasonable specification from one that is
not
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System Analysis: Overview

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Concept of stability, equilibrium points, types of stability

(local/global,
asymptotic/uniform/exponential)
with
examples.
LTI system stability
Routh criterion of stability and its application to determine
ranges of controller parameters
Nyquist criterion of stability
Achieving stability margins using Nyquist, Bode and
Nichols plot.
Stability margins for multi-loop systems. Relation with
transient response.

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System Analysis: Overview

Stability, controllability, observability of state variable
models.

Realizations for pole-zero cancellations in transfer

functions

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Control Design: Objectives

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Given the model of a practical plants along with those of

sensors and actuators, the student should be able to :
1) Choose reasonable steady state and transient response
specifications with justification
2) Model disturbance and noise for control system design
3) Select a control structure from available sensors and
actuators and required performance specifications
Steady state specifications are the first to meet.
Asymptotic tracking of reference and disturbance
rejection is to be attempted. Check actuator range.
Transient specifications limits to be established. Check
noise bandwidth
Open loop zeros, relative degree must be retained.
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Control Design: Objectives

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1) Select a control structure from available sensors and

actuators and required performance specifications
2) Determine PID/Lag/Lead Compensator parameters using
a)model matching b) root loci c) bode plots d) pole
placement
3) Verify robust performance after nominal design by
simulation

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Methods of determination of control structure and

parameters can be selected from root loci or bode
plots of uncompensated and desired loop gains or
reference models, depending on the available design
specs
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Overview: Control Design

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Performance specifications, steady state, transient,

frequency domain, stability margins, sensitivity and
complementary sensitivity. Specifications for typical
applications
Internal Model Principle for asymptotic tracking and
disturbance rejection
Model matching and pole placement using output
feedback
Root locus design with time domain specifications
Loop shaping: Lead/Lag compensation with frequency
domain specifications
PID control tuning.

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Pole placement with state feedback

Specialised loop structures

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Overview: Control Design

2 dof control loop

Cascade and Feedforward

Smith Predictor

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Objectives : Implementation

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The student should be able to :

1) List the set of components to implement a control system
for common practical plants
2) Choose a sampling rate of signals. Discretize the
controller
3) Implement the digital controller including input-out
interfacing and programming
4) Assess the effect of the computational delay and
numerical approximation error of the digital
implementation

Critical to understand this for implementation of

control
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Overview: Controller Implementation

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Sampling of signals, Slow and fast sampling effects,

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Discretization of continuous time dynamic models

Numerical issues and Computational delay

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Digital implementation: Digital processor, Data acquisition,

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Programming, tools, software validation

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MIL/SIL/PIL/HIL Testing

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Lecture

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Approximately 20 mins of instructional discussions

including
Objectives
Introduction, motivation, significance
Scope
Presentation structuring and highlights
Evaluation
Approximately 50 minutes of class room lecture including
Theory, examples, experience sharing, application facts,
references etc.
Approximately 20 minutes of Q&A
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Tutorial

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Practice Questions from standard sources for

Skill building
Evaluation
To be referred to
Conceptual numericals to
Support theory
Demonstrate practical application
Assignment
To be provided earlier day
To be discussed during Tutorial
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Laboratory

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Optional but recommended to

provide an exposure to practice of control systems
design and implementation
be able to illustrate essential part of the course with
simple inexpensive equipment
experience problems not thoroughly dealt with in the
course such as nonlinearities
In self or team learning modes gain hands-on experience to
innovate on resource limitations
select components, instruments
interpret technical literature
plan experiments
document results and draw inferences
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Morals of the Story

you feedback is what you control
When you cannot actuate you cannot control
What you can measure/estimate you can compensate for
Models are always approximate
Model accuracy in the control bandwidth is critical
Stability is barely basic performance
Instability decides limiting performance
One cannot reduce tracking errors in all frequency bands
One cannot reject disturbances in the control bandwidth
Linear Control can work for Nonlinear Plants
SISO control can work for MIMO plants

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What

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Thanks for your attention.

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Any feedback ?

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