Control Theory Introduction
Control Theory Introduction
Control Theory Introduction
Control Theory
MODULE I:
Introduction
Examples of control systems and applications,
Basic components of control systems,
Open loop and closed loop control systems,
Effect of feedback on overall gain, Stability and external disturbances,
Classification of control system : Linear and nonlinear continuous and
digital, Time invariant and time varying, Minimum phase and nonminimum phase systems etc.
Linearization of nonlinear systems using Taylors series
Objectives
CONTROL
SYSTEM
Results
Control system received a major boost during 2nd world war (1939-45)
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r(t)
c(t)
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c(t)
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Reference
Output
Advantages:
Simple and easy to maintain
Generally less expensive with less control devices
No instability
Output accuracy depends on calibration
Disadvantages
Internal/external disturbances cause O/p to drift
Calibration change causes error in system: recalibration may be required
High system gain difficult to control sometimes
Example: Fan
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Advantages:
Accurate control possible using less accurate, inexpensive components
Influence of internal/external disturbance on O/P is reduced
Transient response of the system is improved
Steady state error can be reduced
Gain is reduced, bandwidth is increased
Disadvantages
Costlier due to more equipment/component
System oscillation (instability) may occur
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Reference: R(s)
Output: C(s)
Plant: G(s)
Feedback element: H(s) [ = 1 for unity feedback]
Error = Reference Feedback = E(s) = R(s) C(s) For unity feedback
Error = Reference Feedback = E(s) = R(s) C(s).H(s) = R(s) B(s)
Output = C(s) = E(s) . G(s)
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R(s)
G(s)
C(s)
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G(s)
C(s)
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For calculating effect of disturbance R(s), assume D(s) is zero. Let CR(s) is the O/P
corresponding to R(s).
Assuming,
CD(s)/D(s) becomes almost zero
CR(s) becomes almost 1/H(s)
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Linear System
A linear system obeys the principle of superposition
For a function: y = f(x),
If inputs x1(t) y1(t) and x2(t) y2(t), then:
[1x1(t) + 2x2(t)] [1 y1(t) + 2y2(t)] where 1 , 2 are constants
Sinusoidal I/P to a linear system will produce a sinusoidal O/P of same
freq. but with different amplitude and phase shift
Stability is clearly defined in a linear system
Input signals and initial conditions have no effect on stability
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Non-linear System
Does not follow principle of superposition
System response depends on I/P signal
System stability depends both on I/P signal and initial conditions
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Continuous-data System
Various parts of the control system like, input, plant O/P, feedback, error
etc. are all continuous function of time i.e. all signals are continuously
available/measurable over time.
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