Control Systems Engineering

Cover
Contents
Chapter 1: Introductory Concepts
	1.1 Concepts of Plant, System and Control System
		1.1.1 Examples of Control Systems
		1.1.2 Block Diagram Representation of Control Systems
	1.2 Basic Components of a Control System
	1.3 Classification of Control Systems
		1.3.1 Open-loop and Closed-loop Control Systems
		1.3.2 Linear and Non-linear Control Systems
		1.3.3 Time-invariant and Time-varying Control Systems
		1.3.4 Continuous Time and Discrete Control Systems
		1.3.5 Single-Input–single-Output (SISO) and Multi-Input–Multi-Output (MIMO) Control Systems
		1.3.6 Lumped Parameter and Distributed Parameter Control Systems
		1.3.7 Deterministic and Stochastic Control Systems
		1.3.8 Static and Dynamic Systems
	1.4 Servomechanism, Regulator, Process Control and Disturbance Signal
	1.5 Illustrative Examples of Control Systems
	1.6 Feedback in Control System and Effect of Feedback
		1.6.1 Importance of Feedback
		1.6.2 Effects of Feedback
	Review Questions
Chapter 2: Modelling a Control System—Transfer Function Approach
	2.1 Introduction
	2.2 Transfer Function
		2.2.1 Definition of Transfer Function
		2.2.2 Poles and Zeros of a Transfer Function
	2.3 Procedure for Determining the Transfer Function of a Control System
	2.4 Formulation of Equations of Physical Systems and Their Transfer Functions
		2.4.1 Electrical Systems
		2.4.2 Mechanical Systems
		2.4.3 Analogies of Mechanical and Electrical Systems
		2.4.4 Hydraulic System
		2.4.5 Pneumatic System
		2.4.6 Thermal System
	Review Questions
Chapter 3: Modelling a Control System—Block Diagram Representation
	3.1 Introduction
	3.2 Advantages of Block Diagram Representation
	3.3 Block Diagram Representation of an Error Detector
	3.4 Block Diagram of a Closed-Loop System and Its Transfer Function
	3.5 Characteristic Equation of a Control System
	3.6 Rules of Block Diagram Simplification
	3.7 Block Diagram Representation of an Electrical Network
	3.8 Block Diagram Representation of Components of a Servomechanism
		3.8.1 Block diagram of a DC Motor Drive
		3.8.2 Block Diagram Representation of a Gear Train
		3.8.3 Block Diagram of a Servomechanism or a Position Control System
	Review Questions
Chapter 4: Modelling a Control System—Signal Flow Graph
	4.1 Introduction
	4.2 Construction of Signal Flow Graph
		4.2.1 Steps Followed in Drawing SFG
		4.2.2 Mason's Gain Formula
	4.3 SFG for Solution of Differential Equations
	Review Questions
Chapter 5: Feedback Control System and Effect Of Feedback on System Performance
	5.1 Open-Loop and Closed-Loop Control System
	5.2 Feedback Control Systems
		5.2.1 Temperature Control System
		5.2.2 Hydraulic System
		5.2.3 Pneumatic System
		5.2.4 Speed Control System
	5.3 Effect of Feedback
		5.3.1 Effect of Feedback on Parameter Variations
		5.3.2 Effect of Feedback on Transient Response
		5.3.3 Effect of Feedback on Disturbance Signal
		5.3.4 Effect of Feedback on Steady-State Error
		5.3.5 Effect of Feedback on Overall Gain
		5.3.6 Effect of Feedback on Stability
	5.4 The Cost of Feedback
	Review Questions
Chapter 6: Error Analysis
	6.1 Introduction
	6.2 Types of Input Signals
		6.2.1 Standard Test Signals
	6.3 Classification of Control Systems
		6.3.1 Zero Order System
		6.3.2 First Order System
		6.3.3 Second Order System
	6.4 Steady-State Error
		6.4.1 Static Position Error Coefficient (Kp)
		6.4.2 Static Velocity Error Coefficient (Kv)
		6.4.3 Static Acceleration Error Coefficient (Ka)
	6.5 Dynamic Error Coefficients
	6.6 Integral Square Error (ISE) and Its Minimisation
	Review Questions
Chapter 7: Time Response Analysis
	7.1 Introduction
	7.2 Time Response of First Order System to Step Input
	7.3 Response of First Order System to Ramp Input
	7.4 Response of First Order System to Impulse Input
	7.5 Time Response of Second Order Systems
		7.5.1 Positional Servo System as a Second Order System and Its Analysis
		7.5.2 Time Response of Second Order Control System Subjected to Unit step Input
		7.5.3 Transient Response Specifications
		7.5.4 Determination of Transient Response Specifications of the second Order system
	7.6 Dominant Closed-Loop Poles of Higher Order Systems
	7.7 Sensitivity of a Control System
	7.8 Control Actions for Desired Output
		7.8.1 Proportional Control
		7.8.2 Proportional Plus Derivative Control
		7.8.3 Proportional Plus Integral Control (PI Control)
		7.8.4 Proportional Plus Integral Plus Derivative Control (PID Control)
		7.8.5 Derivative Feedback Control
	7.9 Transient Response Analysis Using MATLAB
	Review Questions
Chapter 8: Concept Of Stability and Routh-Hurwitz Criterion
	8.1 Concept of Stability
	8.2 Pole-Zero Location and Conditions for Stability
	8.3 Routh's Stability Criterion and Its Application
	Review Questions
Chapter 9: The Root Locus Technique
	9.1 Introduction
	9.2 The Root Locus Concept
	9.3 Root Locus Construction Procedure
	9.4 Root Locus Construction Rules
	9.5 Root Locus Construction Rules—Illustrated Through Examples
		9.5.1 Additional Techniques
	9.6 Effects of Adding Poles and Zeros to G(S) H(S)
	9.7 Root-Locus Plot with MATLAB
	Review Questions
Chapter 10: Frequency Response Analysis
	10.1 Introduction
	10.2 Frequency Response Specifications
	10.3 Correlation Between Time Response and Frequency Response
		10.3.1 Correlation Between time Domain and Frequency Domain Parameters
		10.3.2 Bandwidth
		10.3.3 Relative and Absolute Stability
	10.4 Presentation of Frequency Response in Graphical Form
	10.5 Bode Plot
		10.5.1 Methods of Drawing Bode Plot
		10.5.2 Initial Slope of Bode Plot
		10.5.3 Bode Plot for Quadratic Form of Transfer Function
		10.5.4 Maximum Magnitude of the Second Order Transfer Function
		10.5.5 Determination of Gain Margin and Phase Margin for Stability Analysis
	10.6 Polar Plot and Nyquist Criterion
		10.6.1 Nyquist Path or Nyquist Contour
	10.7 Summary of Nyquist Stability Criterion and More Examples
	10.8 Drawing Nyquist Plots with MATLAB
	10.9 Relative Stability
	10.10 Frequency Response of a Closed-Loop System Using M-Circle and N-Circle
		10.10.1 Constant Magnitude Loci or Constant M-circle
		10.10.2 Constant N-circles
		10.10.3 Uses of M-circles and N-circles
	Review Questions
Chapter 11: Design and Compensation
	11.1 Necessity of Compensation
	11.2 Effect of Adjustment of Gain
	11.3 Compensation by Inserting a Network
	11.4 Lead Compensator
	11.5 Lag Compensator
	11.6 Lag-Lead Compensator
	11.7 Design Procedure
	11.8 PID Controllers
		11.8.1 Proportional Controllers
		11.8.2 Proportional Derivative Controllers
		11.8.3 Proportional Integral Controllers
		11.8.4 Basic elements of a PID Controller
		11.8.5 An Electronic PID Controller
	Review Questions
Chapter 12: Concept Of State Variable Modelling
	12.1 Introduction
	12.2 Concepts of State, State Variables and State Model
		12.2.1 State Model of Linear Systems
		12.2.2 State Model of Single-Input Single-Output Linear Systems
	12.3 State Models of Linear Continuous Time Systems
		12.3.1 State Space Representation Using Physical Variables
		12.3.2 State Space Representation Using Phase Variables
		12.3.3 State Space Representation Using Canonical Variables
	12.4 Correlation Between State Model and Transfer Function
	12.5 Diagonalisation Of State Matrix
	12.6 Solution of State Equation
		12.6.1 Computation of State Transition Matrix
		12.6.2 Properties of State Transition Matrix
	12.7 Concept of Controllability and Observability
		12.7.1 Controllability
		12.7.2 Observability
		12.7.3 Principle of Duality
	Review Questions
Chapter 13: Control Components
	13.1 Introduction
	13.2 Error Detectors—Potentiometers and Synchros
		13.2.1 Potentiometer Error Detector
		13.2.2 Synchro Transmitter and Synchro Control Transformer
	13.3 Tachogenerators
		13.3.1 D.C. Tachogenerator
		13.3.2 A.C. Tachogenerator
	13.4 Servo Motors and Gear Trains
		13.4.1 D.C. Servo Motors
		13.4.2 A.C. Servo Motors
		13.4.3 Gear Trains
	13.5 Transducers
		13.5.1 Magnetic Amplifier
		13.5.2 Electronic Amplifiers
		13.5.3 Rotary Amplifiers
	13.6 Stepper Motors
	13.7 Miscellaneous Control Components
	Review Questions
Chapter 14: Matlab Based Problems and Their Solutions
	14.1 Matlab Functions for Control System
	14.2 Assorted Matlab-Based Problems
Chapter 15: Introduction to Digital Control Systems
	15.1 Introduction
	15.2 Configuration of Sampled Data Control System
	15.3 Sampling Process
	15.4 Z-Transform
	15.5 Conversion of Laplace Transform to Z-Transform
	15.6 Inverse Z-Transform
	15.7 Properties of Z-Transform
	15.8 Hold Circuits
		15.8.1 Zero-order Hold (ZOH)
		15.8.2 First-order Hold (FOH)
	15.9 Open Loop Sampled Data Control System
	15.10 Closed Loop Sampled Data Control System
	15.11 State Space Representation of Discrete Time Systems
	15.12 Stability Analysis
	Review Questions
Appendix 1: Laplace Transform
	A1.1 Introduction
	A1.2 Definition of Laplace Transform
	A1.3 Laplace Transform of Some Basic Functions
	A1.4 Standard Test Signals
	A1.5 Translated Functions
	A1.6 Some Laplace Transforms
	A1.7 Theorems of Laplace Transform
Appendix 2: MATLAB Fundamentals
	A2.1 Introduction
	A2.2 Statements and Variables
	A2.3 Matrices
	A2.4 Graphics
	A2.5 Scripts
Appendix 3: Fuzzy Logic
	A3.1 Concept of Fuzzy Logic
	A3.2 Basic Notions of Fuzzy Logic
	A3.3 Linguistic Variables
	A3.4 Fuzzy Control
	A3.5 Comparison of Design Methodologies
	A3.6 Examples of Fuzzy Controllers
Appendix 4: Objective Type Questions
	A4.1 Introduction
	A4.2 Modelling a Control System—Transfer Function Approach and Block Diagram Approach
	A4.3 Modelling a Control System—Signal Flow Graphs
	A4.4 Feedback Control System—Characteristics and Performance
	A4.5 Error Analysis
	A4.6 Time Response Analysis
	A4.7 Concept of Stability and Routh–Hurwitz Criteria
	A4.8 Root Locus Technique
	A4.9 Frequency Response Analysis
	A4.10 Design and Compensation
	A4.11 Concept of State-Variable Modelling
	A4.12 Control Components
Appendix 5: Key Terms
Index