Unit 1 Introduction and modelling of the control system

6 lecture hours

• Brief history of control systems
• Open and closed loop systems- their elements and comparison
• Concept of transfer function
• mathematical modelling of mechanical and electrical systems
• analogous system
• force voltage and force current analogy
• mechanical equivalent network
• transfer function of some basic components like gear trains
• armature and field-controlled DC servomotor, etc
• Concept of block diagram representation
• block diagram reduction techniques and their application
• Signal flow graph representation
• Mason’s gain formula and its application

Unit 2 Feedback Characteristics of Control Systems

7 lecture hours

• Feedback and non-feedback systems
• Effects of feedback on parameter variation reduction
• system dynamics
• disturbance signals
• Linearizing effect of feedback
• Regenerative feedback

Unit 3 Time Response analysis

6 lecture hours

• Introduction to transient and steady state response
• standard test signals
• concept of “Order” and “Type” of system
• time response of first and second order system for standard test input signals
• concept of underdamped
• critically damped and over damped system
• transient response specifications for second order underdamped system such as rise time
• peak time
• settling time
• max overshoot etc, their concept
• derivation and application.Significance of the damping ratio and the undamped natural frequency of oscillation
• Concept of steady state error
• static error constants
• their formulas and determination for Type 0, 1 and 2 systems

Unit 4 Concept of stability and Root Locus Techniques

10 lecture hours

• Concept of BIBO stability
• necessary condition for stability
• Routh stability criterion
• its special cases
• concept of relative stability in reference to Routh criterion
• The root locus concept
• rules to construct root locus plot and its application to sketch root locus plots

Unit 5 Frequency response analysis

• Concept and advantages of frequency response
• frequency domain plots
• procedure to sketch a polar plot
• phase margin
• gain margin from polar plot, and Nyquist stability criterion
• Bode plots of minimum and non-minimum phase systems
• determination of gain margin
• stability and static error constants from Bode plots
• Frequency response of a closed-loop system

Unit 6 Introduction to State Space Analysis

5 lecture hours

• Advantages of state space analysis
• terminology related to state space analysis
• State space representation of basic electrical and mechanical systems
• Correlation of state space with transfer function
• State transition matrix
• its properties and computation methods
• solution of state equations
• basic concept of controllability and observability

Unit 7 Basics of controllers and compensation techniques

5 lecture hours

• Types of compensation techniques, and their effects
• Phase lead and lag compensation
• Integral and Derivative control actions
• effects of P, PI, PD and PID controllers