Lecture-01 Introduction

EE250: Control Systems

Instructor: Dr. Chayan Bhawal
Tutors: Teaching Assistants:
Group 1: Dr. Chayan Bhawal Biswanath (p.biswanath)

Group 2: Dr. Indrani Kar Gangadhari (ganga.varaprasad)
Group 3: Prof. Somanath Majhi Sushovan (schaki)
Paraj (gparaj)
Class Timings: Every Mon, Tues, Wed @ 11:00 am – 11:55 am.

Tutorial Timings: Thurs @ 08:00 am – 08:55 am.
Website: https://chayanbhawal.github.io/EE250/
MS-Teams: Grp_EE250_2023
Office Hours
Book a time of meeting directly over WhatsApp or Mail.

Mobile: +91 887 651 8559
Mail: [email protected]
Modern Control Engineering Feedback Control of Dynamic Systems
Author: K. Ogata Authors: Franklin, Powell, Emami-Naeini
Control Systems Engineering Control Systems Engineering
Author: Norman S. Nise Authors: I.J.Nagrath and M.Gopal
Rules:
1. Attendance: 75% Compulsory for both Class and Tutorial.
2. Relative Grading.
3. No marks for tutorials. However 75% attendance is compulsory.
4. Exams will be closed book.

What is a control system?
“Control system consists of “The control system is that means by
subsystems and processes which any quantity of interest in a
assembled for the purpose of machine, mechanism, or equipment is
obtaining a desired output with a maintained or altered in accordance
desired performance, given a with a desired manner.”
specified input”
Control Systems Engineering
Control Systems Engineering Nagrath and Gopal
Norman S. Nise
Input; Stimulus Output; Response

Control System
Desired Input Actual response

Control System

System

Control System
Elevator system
Desired Input: Floor number
Measures of performance:
(1) Transient Response
Passenger comfort, Passenger patience
(2) Steady state Response
Passenger Safety, Passenger convenience

The Human body
Image credit: Homeostasis: Figure 4 by

OpenStax College, Biology, CC BY 4.0
Water clock
Clypsydra Greeks and

Arabs were
figuring out ways
to keep track of
300 BC to time. Sundial,
1200 AD waterclock, etc.
Water clock
Function: kept time by regulating the water level.
Ktesibios
Greek inventor
Third century B.C.E

The Governor
❏ James Watt: Invention of steam engine – 1769
❏ Problem: Regulating speed of a steam engine.
❏ Invention: Centrifugal flyball governor - 1788.
❏ Working principle: The device employed two pivoted

rotating flyballs which were flung outward by centrifugal
force.
As the speed of rotation increased, the flyweights swung

further out and up, operating a steam flow throttling valve
which slowed the engine down. Thus, a constant speed was
achieved automatically.
The Governor
❏ 75,000 governors were used in Britain during the
Industrial Revolution (around 1868).
❏ Problem: Governor system was discovered to be plagued

by a hunting, or oscillation problem,
❏ Research to address this problem was started at the

University of Cambridge in England
Mathematical Control Theory

Stability Theory
❏ The first mathematical investigation of governor instability was
performed in 1840 by Prof. George Biddell Airy of the University of
Cambridge.
❏ In 1840, the British Astronomer Royal at Greenwich, G.B. Airy,

developed a feedback device for pointing a telescope.
❏ A speed control system which turned the telescope automatically to

compensate for the earth's rotation, affording the ability to study a
given star for an extended time.
❏ Failed attempt: Insolvability of the nonlinear differential

equation of the form
Stability Theory
❏ J.C. Maxwell [1868]: Stability of
Watt's flyball governor.
❏ Linearized the nonlinear differential

equations to find the characteristic equation.
❏ Showed that the system is stable if the roots

of the characteristic equation have negative
real parts.
❏ He presented the stability conditions as:

Stability Theory
❏ Characteristic equation for another type of
governor:
❏ Maxwell was not successful in completely

determining the stability conditions, but he
found two necessary conditions.
❏ He left this unsolved problem to other

mathematicians
Stability Theory
❏ E.J. Routh [1877]: Numerical technique for determining when a characteristic equation has stable.
Stability Theory
❏ Alexandr Mikhailovich Lyapunov, professor of
mechanics at Kharkov University in Russia made a
breakthrough in stability analysis with his doctoral
dissertation, “The General Problem of the Stability of
Motion,” in 1892.
❏ Lyapunov stability theory applicable to nonlinear

systems.
❏ His idea was a generalization of the concept

that a system is stable if the total mechanical energy
of it is decreasing.
❏ Lyapunov was aware of the work by Routh, but

his own work remained largely unknown in the
English speaking world until after World War II.
Stability Theory
Early 20th 1932 1938 1948
Century
Telephones and Harry Nyquist Hendrik Bode Walter Evans developed

Feedback Amplifier proposed Nyquist introduced Bode Plot, the root-locus method,
invented in Bell Labs, stability criterion. Gain margin, Phase using the transfer function
US. margin. of a feedback
control system.
World-War: Ship control
In 1910, E.A. Sperry invented the gyroscope that was N. Minorsky [1922] introduced his three-term
used for stabilization and steering of ships, and later controller for the steering of ships, thereby
in aircraft control. becoming the first to use the proportional-
integral-derivative (PID) controller.
In 1947 Minorsky published a book of new Russian

developments titled "Introduction to non-linear
mechanics: Topological methods, analytical
methods, non-linear resonance, relaxation
oscillations".
World-War: Control had a go.
Weapons Development and Gun Pointing: A main M.I.T. Radiation Laboratory [1941] A.C. Hall
problem during the period of the World Wars recognized the deleterious effects of ignoring
was that of the accurate pointing of guns aboard noise in control system design. Used
moving ship and aircraft – Solution was frequency-domain technology to confront
Servomechanisms - H.L. Házen [1934]. noise effects. This led to design of control
system for an airborne radar.
Image credit:
Brian Douglas
Image credit:
Brian Douglas
Video credit: Boston Dynamics (Do You Love Me?: https://www.youtube.com/watch?v=fn3KWM1kuAw)
Video credit: Bloomberg Technology (SpaceX Nails Landing of Reusable Rocket on Land: https://www.youtube.com/watch?v=Aq7rDQx 9jns)
Video credit: Tesla (Full Self-Driving: https://www.youtube.com/watch?v=tlThdr3O5Qo)
Video credit: Insider Tech (https://www.youtube.com/watch?v=zj33WAODsJg)
Video credit: Fei Gao (Ego-Swarm: https://www.youtube.com/watch?v=K5WKg8meb94)
Video credit: TheSonichedgehog8 (https://www.youtube.com/watch?v=Z97Db1X99wA)
Rocket Auto-landing
Dancing Bots Autonomous Driving
Pursuit-evasion
Noise-cancelling
headphones
Drones and UAVs
Car suspension
systems Smart grids
Control Systems

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EE250: Control Systems

EE250: Control Systems

Tutors: Teaching Assistants:

Group 1: Dr. Chayan Bhawal Biswanath (p.biswanath)

Class Timings: Every Mon, Tues, Wed @ 11:00 am – 11:55 am.

Book a time of meeting directly over WhatsApp or Mail.

1. Attendance: 75% Compulsory for both Class and Tutorial.

3. No marks for tutorials. However 75% attendance is compulsory.

4. Exams will be closed book.

Input; Stimulus Output; Response

Input; Stimulus Output; Response

Input; Stimulus Output; Response

Input; Stimulus Output; Response

(1) Transient Response

Passenger comfort, Passenger patience

(2) Steady state Response

Passenger Safety, Passenger convenience

Image credit: Homeostasis: Figure 4 by

Clypsydra Greeks and

Third century B.C.E

❏ Problem: Regulating speed of a steam engine.

❏ Invention: Centrifugal flyball governor - 1788.

❏ Working principle: The device employed two pivoted

As the speed of rotation increased, the flyweights swung

❏ Problem: Governor system was discovered to be plagued

❏ Research to address this problem was started at the

Mathematical Control Theory

❏ In 1840, the British Astronomer Royal at Greenwich, G.B. Airy,

❏ A speed control system which turned the telescope automatically to

❏ Failed attempt: Insolvability of the nonlinear differential

❏ Linearized the nonlinear differential

❏ Showed that the system is stable if the roots

❏ He presented the stability conditions as:

❏ Maxwell was not successful in completely

❏ He left this unsolved problem to other

❏ Lyapunov stability theory applicable to nonlinear

❏ His idea was a generalization of the concept

❏ Lyapunov was aware of the work by Routh, but

Telephones and Harry Nyquist Hendrik Bode Walter Evans developed

In 1947 Minorsky published a book of new Russian

Dancing Bots Autonomous Driving

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