Control Systems Engineering : For JNTU

Cover
Contents
Preface
About the Author
Roadmap to the Syllabus
Chapter 1: Introduction
	1.1 Concept of Control System
		1.1.1 More Examples of Control Systems
		1.1.2 Basic Components of a Control System
	1.2 Classification of Control Systems—Open-loop and Closed-loop Control Systems and their Differences
		1.2.1 Open-loop and Closed-loop Control Systems
		1.2.2 Linear and Non-linear Control Systems
		1.2.3 Time-invariant and Time-varying Control Systems
		1.2.4 Continuous Time and Discrete Control Systems
		1.2.5 Single-Input–Single-Output (SISO) and Multi-Input–Multi-Output (MIMO) Control Systems
		1.2.6 Lumped Parameter and Distributed Parameter Control Systems
		1.2.7 Deterministic and Stochastic Control Systems
		1.2.8 Static and Dynamic Systems
		1.2.9 Servomechanism, Regulator, Process Control and Disturbance Signal
	1.3 Different Examples of Control Systems
	1.4 Feedback Characteristics-Effect of Feedback
		1.4.1 Effects of Feedback
	Review Questions
Chapter 2: Mathematical Models
	2.1 Introduction
	2.2 Impulse Response of a System
	2.3 Transfer Function
		2.3.1 Definition of Transfer Function
		2.3.2 Poles and Zeros of a Transfer Function
		2.3.3 Procedure for Determining the Transfer Function of a Control System
	2.4 Differential Equations of Physical System and their Transfer Function—Translations and Rotational Mechanical System
		2.4.1 Electrical System
		2.4.2 Mechanical System
			2.4.2.1 Translational Mechanical System
			2.4.2.2 Rotational Mechanical System
		2.4.3 Analogies of Mechanical and Electrical Systems
			2.4.3.1 Force–Voltage Analogy
			2.4.3.2 Force–Current Analogy
		2.4.4 Hydraulic System
		2.4.5 Pneumatic System
		2.4.6 Thermal System
	2.5 Concept of State-Space Modelling
		2.5.1 Concepts of State, State-Variables and State-Space
		2.5.2 State-Space Equation
		2.5.3 Concepts of Controllability and Observability
	Review Questions
Chapter 3: Modelling a Control System—Block Diagram Representation
	3.1 Block Diagram Representation of Systems Considering Electrical System as Examples
		3.1.1 Advantages of Block Diagram Representation
		3.1.2 Block Diagram Representation of an Error Detector
		3.1.3 Block Diagram of a Closed- loop Control System and Its Transfer Function
		3.1.4 Characteristic Equation of a Control System
		3.1.5 Rules for Block Diagram Simplification
		3.1.6 Block Diagram Representation of an Electrical Network
	3.2 Transfer function of DC synchro motor
		3.2.1 Block Diagram of a DC Motor Drive
		3.2.2 Block Diagram of Gear Trains
		3.2.3 Block Diagram of a Servomechanism or a Position Control System
	3.3 Transfer function of AC synchro motor
		3.3.1 Transfer Function of a Two-phase AC Servo Motor
	3.4 Transfer Function of Synchro Transmitter and Synchro Receiver
	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: Time Response Analysis
	5.1 Time Response of First Systems
		5.1.1 Types of Input Signals
		5.1.2 Classification of Control Systems
		5.1.3 Time Response of First-order System
		5.1.4 Response of First-order System to Step Input
		5.1.5 Response of First-order System to Ramp Input
		5.1.6 Response of First-order System to Impulse Input
	5.2 Characteristics Equation of Feedback Control System
		5.2.1 Transfer Function and Characteristic Equation in Generalized Form
		5.2.2 Positional Servosystem as a Second-order System and Its Analysis
		5.2.3 Characteristic Equation and Position of Roots/Poles
		5.2.4 Classification of Time Response for Second-order Control System
		5.2.5 Time Response of Second-order Control System Subjected to Unit Step Input
	5.3 Transient Response of Second Order System—Time Domain Specifications
		5.3.1 Transient Response of a Second-order System
		5.3.2 Dominant Closed-loop Poles of Higher Order Systems
		5.3.3 Comments on Transient Response Specifications
		5.3.4 Sensitivity of a Control System
	5.4 Steady State-Response-Steady State Error and Error Constants
		5.4.1 Static Position Error Coefficient (Kp)
		5.4.2 Static Velocity Error Coefficient (Kv)
		5.4.3 Static Acceleration Error Coefficient (Ka)
	5.5 Effects of Proportional, Derivative, and Proportional Integral System
		5.5.1 Proportional Control
		5.5.2 Proportional Plus Derivative Control
		5.5.3 Proportional Plus Integral Control (PI Control)
		5.5.4 Proportional Plus Integral Plus Derivative Control (PID Control)
		5.5.5 Derivative Feedback Control
	5.6 Transient Response Analysis Using MATLAB
	Review Questions
Chapter 6: Stability Analysis in S-Domain
	6.1 Concept of Stability
		6.1.1 Pole-Zero Location and Conditions for Stability
		6.1.2 Routh Stability Criterion and Its Application
	6.2 Limitations of Routh’s Stability
	Review Questions
Chapter 7: The Root Locus Technique
	7.1 Introduction
		7.1.1 Root Locus Concept
		7.1.2 Root Locus Construction Procedure
		7.1.3. Root Locus Construction Rules
		7.1.4 Root Locus Construction Rules-Illustrated Through Examples
	7.2 Effect of Adding Poles and Zeros to A(S) H(S) on the Root Loci
	7.7 Root Locus Plot with MATLAB
	Review Questions
Chapter 8: Frequency Response Analysis
	8.1 Introduction
		8.1.1 Polar Plot
	8.2 Frequency Domain Specifications— Bode Diagram, Determination of Frequency Domain
		8.2.1 Correlation Between Time Response and Frequency Response
		8.2.2 Correlation Between Time Domain and Frequency Domain Parameters
		8.2.3 Bandwidth
		8.2.4 Relative and Absolute Stability
		8.2.5 Presentation of Frequency Response in Graphical Form
	8.5 Specifications and Transfer Function for Bode Diagram
		8.5.1 Method of Drawing Bode Plot
		8.5.2 Initial Slope of Bode Plot
		8.5.3 Bode Plot for Quadratic Form of Transfer Function
		8.5.4 Maximum Magnitude of the Second-order Transfer Function
		8.5.5 Determination of Gain Margin and Phase Margin for Stability Analysis
			8.5.5.1 Gain Margin and Phase Crossover Frequency
			8.5.5.2 Phase Margin and Gain Crossover Frequency
			8.5.5.3 Graphical Methods for Obtaining Gain Margin and Phase Margin
		8.5.6 Plotting Bode Diagrams with MATLAB
	8.6 Polar Plot and Nyquist Stability Criterion
		8.6.1 Nyquist Path or Nyquist Contour
			8.6.2.1 Determination of Gain Margin and Phase Margin from the Polar Plot
	8.7 Drawing Nyquist Plots with MATLAB
	8.8 Relative Stability
	8.9 Frequency Response of a Closed-loop System Using M-circle and N-circle
		8.9.1 Constant Magnitude Loci
		8.9.2 Constant N-circles
		8.9.3 Uses of M-circles and N-circles
	Review Questions
Chapter 9: Stability Analysis in Frequency Domain
	9.1 Polar Plots and Nyquist Stability Criterion
		9.1.1 Nyquist Path or Nyquist Contour
			9.1.2.1 Determination of Gain Margin and Phase Margin from the Polar Plot
	9.2 Drawing Nyquist Plots with MATLAB
	Review Questions
Chapter 10: Compensation Techniques
	10.1 Necessity of Compensation
		10.1.1 Effect of Adjustment of Gain
		10.1.2 Compensation by Inserting a Network or Compensator
		10.1.3 Lead Compensator
		10.1.4 Lag Compensator
		10.1.5 Lag–Lead Compensator
		10.1.6 Design Procedure
		10.1.7 Use of MATLAB Programming
	10.2 PID Controllers
		10.2.1 Proportional Controllers
		10.2.2 Proportional Derivative Controllers
		10.2.3 Proportional Integral Controllers
		10.2.4 Basic Elements of a PID Controller
		10.2.5 An Electronic PID Controller
	Review Questions
Chapter 11: State Space Analysis of Continous System
	11.1 Introduction
	11.2 Concepts of State, State Variables and State Model
		11.2.1 State Model of Linear Systems
		11.2.2 State Model of Single-Input Single-Output Linear Systems
	11.3 State Models of Linear Continuous Time Systems
		11.3.1 State Space Representation Using Physical Variables
		11.3.2 State Space Representation Using Phase Variables
		11.3.3 State Space Representation Using Canonical Variables
	11.4 Co-relation Between State Model and Transfer Function
	11.5 Diagonalisation of State Matrix
	11.6 Solution of State Equation
		11.6.1 Computation of State Transition Matrix
		11.6.2 Properties of State Transition Matrix
	11.7 Concept of Controllability and Observability
		11.7.1 Controllability
		11.7.2 Observability
		11.7.3 Principle of Duality
	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 Theorems of Laplace Transform
	A1.6 Laplace Transform of Varions Functions
Appendix 2: MATLAB Fundamentals
	A2.1 Introduction
	A2.2 Statements and Variables
	A2.3 Matrices
	A2.4 Graphics
	A2.5 Scripts
Appendix 3: Key Control Terminologies
Model Question Papers
	Model Question Paper - I
	Model Question Paper - II
	Model Question Paper - III
	Model Question Paper - IV
	Solutions to Model Question Paper - I
	Solutions to Model Question Paper - II
Index