Control Engineering

Maharaja Education Trust (R), Mysuru
Maharaja Institute of Technology Mysore

Belawadi, Sriranga Pattana Taluk, Mandya – 571 477
Approved by AICTE, New Delhi,

Affiliated to VTU, Belagavi & Recognized by Government of Karnataka
Lecture Notes on
Control Engineering (18ME71)
Prepared by
Dr. Mohamed Khaisar

Prof. Rakesh R
Department of Mechanical Engineering

Maharaja Education Trust (R), Mysuru
Belawadi, Sriranga Pattana Taluk, Mandya – 571 477
Vision/ ಆಶಯ
“To be recognized as a premier technical and management institution promoting extensive

education fostering research, innovation and entrepreneurial attitude"
ಸಂಶೆ ೋಧನೆ, ಆವಿಷ್ಕಾರ ಹಕಗೂ ಉದ್ಯಮಶೋಲತೆಯನ್ನು ಉತೆತೋಜಿಸನವ ಅಗರಮಕನ್ಯ ತಕಂತ್ರರಕ ಮತ್ನತ ಆಡಳಿತ್ ವಿಜ್ಞಕನ್
ಶಕ್ಷಣ ಕೆೋಂದ್ರವಕಗಿ ಗನರನತ್ರಸಿಕೊಳ್ಳುವುದ್ನ.
Mission/ ಧ್ಯೇಯ
➢ To empower students with indispensable knowledge through dedicated teaching and

collaborative learning.
ಸಮರ್ಪಣಕ ಮನೊೋಭಕವದ್ ಬೊೋಧನೆ ಹಕಗೂ ಸಹಭಕಗಿತ್ವದ್ ಕಲಿಕಕಕರಮಗಳಿಂದ್ ವಿದ್ಕಯರ್ಥಪಗಳ್ನ್ನು ಅತ್ಯತ್ೃಷ್ಟ
ಜ್ಞಕನ್ಸಂರ್ನ್ುರಕಗಿಸನವುದ್ನ.
➢ To advance extensive research in science, engineering and management disciplines.

ವೆೈಜ್ಞಕನಿಕ, ತಕಂತ್ರರಕ ಹಕಗೂ ಆಡಳಿತ್ ವಿಜ್ಞಕನ್ ವಿಭಕಗಗಳ್ಲಿಿ ವಿಸೃತ್ ಸಂಶೆ ೋಧನೆಗಳೆೊ ಡನೆ ಬೆಳ್ವಣಿಗೆ
ಹೊಂದ್ನವುದ್ನ.
➢ To facilitate entrepreneurial skills through effective institute - industry collaboration and

interaction with alumni.
ಉದ್ಯಮ ಕ್ೆೋತ್ಗಳೆೊ ಡನೆ ಸಹಯೋಗ, ಸಂಸ್ೆೆಯ ಹಿರಿಯ ವಿದ್ಕಯರ್ಥಪಗಳೆೊ ಂದಿಗೆ ನಿರಂತ್ರ ಸಂವಹನ್ಗಳಿಂದ್
ವಿದ್ಕಯರ್ಥಪಗಳಿಗೆ ಉದ್ಯಮಶೋಲತೆಯ ಕೌಶಲಯ ರ್ಡೆಯಲನ ನೆರವಕಗನವುದ್ನ.
➢ To instill the need to uphold ethics in every aspect.

ಜಿೋವನ್ದ್ಲಿಿ ನೆೈತ್ರಕ ಮೌಲಯಗಳ್ನ್ನು ಅಳ್ವಡಿಸಿಕೊಳ್ಳುವುದ್ರ ಮಹತ್ವದ್ ಕನರಿತ್ನ ಅರಿವು ಮೂಡಿಸನವುದ್ನ.
➢ To mould holistic individuals capable of contributing to the advancement of the society.

ಸಮಕಜದ್ ಬೆಳ್ವಣಿಗೆಗೆ ಗಣನಿೋಯ ಕೊಡನಗೆ ನಿೋಡಬಲಿ ರ್ರಿರ್ೂಣಪ ವಯಕ್ತತತ್ವವುಳ್ು ಸಮರ್ಪ ನಕಗರಿೋಕರನ್ನು
ರೂಪಿಸನವುದ್ನ.
Vision / ಆಶಯ
“To excel in technical education by producing Mechanical Engineers who are

competitive, contributing and sustainable in the global socio technological front.”
“ಜಾಗತಿಕ ಸಾಮಾಜಿಕ ತಾಾಂತಿಿಕ ರಾಂಗದಲ್ಲಿ ಸ್ಪರ್ಾಾತ್ಮಕ ಕೆೊಡುಗೆ ಮತ್ುು ಸ್ುಸ್ಥಿರ ಮೆಕಾಾನಿಕಲ್
ಎಾಂಜಿನಿಯರ್‌ಗಳನ್ುು ಕೆೊಡುವ ಮೊಲಕ ತಾಾಂತಿಿಕ ಶಿಕ್ಷಣದಲ್ಲಿ ಉತ್ುಮ ಸಾಧನೆ ಮಾಡುವುದು”
Mission / ಧ್ಯೇಯ
1. To enrich teaching-learning experience through distinguished practices

and ever improving infrastructure
ವಿಶಿಷ್ಟ ಅಭ್ಾಾಸ್ಗಳ ಮೊಲಕ ಬೆೊೋಧನೆ-ಕಲ್ಲಕೆಯ ಅನ್ುಭವವನ್ುು ಉತ್ೃಷ್ಟಗೆೊಳಿಸ್ುವುದು ಮತ್ುು
ಮೊಲಸೌಕಯಾವನ್ುು ಸ್ದಾ ಸ್ುರ್ಾರಿಸ್ುವುದು
2. To enhance student performance through consistent guidance, motivation

and mentoring
ಸ್ಥಿರಮಾಗಾದರ್ಾನ್, ಪೆಿೋರಣೆ ಮತ್ುು ಮಾಗಾದರ್ಾನ್ದ ಮೊಲಕ ವಿದಾಾರ್ಥಾಗಳ ಕಾಯಾಕ್ಷಮತೆಯನ್ುು
ಹೆಚ್ಚಿಸ್ುವುದು
3. To develop distinct skills, leadership qualities and creative thinking among

the learners through sensible endeavors
ಸ್ಾಂವೆೋದನಾಶಿೋಲ ಪ್ಿಯತ್ುಗಳ ಮೊಲಕ ಕಲ್ಲಯುವವರಲ್ಲಿ ವಿಭಿನ್ು ಕೌರ್ಲಾಗಳು, ನಾಯಕತ್ವದ
ಗುಣಗಳು ಮತ್ುು ಸ್ೃಜನ್ಶಿೋಲ ಚ್ಚಾಂತ್ನೆಯನ್ುು ಬೆಳೆಸ್ುವುದು
Program Outcomes
1. Engineering knowledge: Apply the knowledge of mathematics, science, engineering

fundamentals, and an engineering specialization to the solution of complex engineering
problems.
2. Problem analysis: Identify, formulate, review research literature, and analyze complex
engineering problems reaching substantiated conclusions using first principles of
mathematics, natural sciences, and engineering sciences.
3. Design/development of solutions: Design solutions for complex engineering problems
and design system components or processes that meet the specified needs with appropriate
consideration for the public health and safety, and the cultural, societal, and environmental
considerations.
4. Conduct investigations of complex problems: Use research-based knowledge and
research methods including design of experiments, analysis and interpretation of data, and
synthesis of the information to provide valid conclusions.
5. Modern tool usage: Create, select, and apply appropriate techniques, resources, and
modern engineering and IT tools including prediction and modeling to complex engineering
activities with an understanding of the limitations.
6. The engineer and society: Apply reasoning informed by the contextual knowledge to
assess societal, health, safety, legal and cultural issues and the consequent responsibilities
relevant to the professional engineering practice.
7. Environment and sustainability: Understand the impact of the professional engineering
solutions in societal and environmental contexts, and demonstrate the knowledge of, and need
for sustainable development.
8. Ethics: Apply ethical principles and commit to professional ethics and responsibilities and
norms of the engineering practice.
9. Individual and team work: Function effectively as an individual, and as a member or
leader in diverse teams, and in multidisciplinary settings.
10. Communication: Communicate effectively on complex engineering activities with the
engineering community and with society at large, such as, being able to comprehend and
write effective reports and design documentation, make effective presentations, and give and
receive clear instructions.
11. Project management and finance: Demonstrate knowledge and understanding of the
engineering and management principles and apply these to one’s own work, as a member and
leader in a team, to manage projects and in multidisciplinary environments.
12. Life-long learning: Recognize the need for, and have the preparation and ability to
engage in independent and life-long learning in the broadest context of technological change.
CONTROL ENGINEERING
Course Code 18ME71 CIE Marks 40
Teaching Hours/Week (L:T:P) 3:0:0 SEE Marks 60
Credits 03 Exam hours 03
Course Overview
Control engineering is based on the foundations of feedback theory and linear system analysis, and it
integrates the concepts of network theory and communication theory. Therefore control engineering is not limited
to any engineering discipline but is equally applicable to aeronautical, chemical, mechanical, environmental, civil,
and electrical engineering. Modern control engineering practice includes the use of control design strategies for
improving manufacturing processes, the efficiency of energy use, and advanced automobile control etc
The present challenge to control engineers is the modeling and control of modern, complex, interrelated
systems such as traffic control systems, chemical processes, and robotic systems. It provides students with the
fundamental knowledge of controller design for automatic control systems with many controllers. This includes
mathematical modeling of various systems using analytical methods like using differential equations, block
diagram algebra etc and graphical methods like signal flow graphs. It consists of stability analysis using Routh’s
Hurwitz criterion, time and frequency response analysis. It also develops state space models if it contains many
interactions. The present world demands qualitative work with less human intervention and more accuracy. This
can be accomplished using an automation technology interfaced with control systems in manufacturing process.
Course Objectives
The course enable the students:
1. To develop comprehensive knowledge and understanding of modern control theory, industrial
automation, and systems analysis.
2. To model mechanical, hydraulic, pneumatic and electrical systems.
3. To represent system elements by blocks and its reduction techniques.
4. To understand transient and steady state response analysis of a system.
5. To carry out frequency response analysis using polar plot, Bode plot.
6. To analyze a system using root locus plots.
7. To study different system compensators and characteristics of linear systems
Course Outcomes
At the end of the course, the student will be able to:
CO’s DESCRIPTION OF THE OUTCOMES
18ME71.1 Identify the type of control systems and controllers
18ME71.2 Develop the mathematical model of the physical systems.
18ME71.3 Solve the complex physical system using block diagram algebra and signal flow graph and
obtain transfer function.
18ME71.4 Analyze a linear feedback control system for stability using time response analysis,
Hurwitz criterion, Root locus technique and State space approach.
18ME71.5 Determine the stability of linear feedback control systems in frequency domain using polar
plots, Nyquist and Bode plots.
18ME71.6 Construct frequency plots for linear feedback control systems using MAT LAB.
SYLLABUS
CONTROL ENGINEERING
Course Code 18ME71 CIE Marks 40
Teaching Hours/Week (L:T:P) 3:0:0 SEE Marks 60
Credits 03 Exam hours 03
SYLLABUS:
Module 1
Introduction: Components of a control system, Open loop and closed loop systems.
Types of controllers: Proportional, Integral, Differential, Proportional-Integral, and
12 Hours
Proportional- Integral- Differential controllers.
Modelling of Physical Systems: Mathematical Models of Mechanical, Electrical, Thermal,
Hydraulic Systems.
Pedagogy Chalk and talk, Power point presentation, Real time examples
Module 2
Time domain performance of control systems: Typical test signal, Unit step response and time 10 Hours
domain specifications of first order, second order system. Steady state error, error constants.
Pedagogy Chalk and talk, Power point presentation, Real time examples
Module 3
Block diagram algebra, Reduction of block diagram, Signal flow graphs, Gain formula for
10 Hours
signal flow graphs,
State diagram from differential equations.
Pedagogy Chalk and talk
Module 4
Stability of linear control systems: Routh’s criterion, Root locus, Determination of phase 08 Hours
margin and gain margin using root locus.
Pedagogy Chalk and talk, MATLAB
Module 5
Stability analysis using Polar plot, Nyquist plot, Bode plot, Determination of phase margin and 14 Hours
gain margin using Bode plot.
Pedagogy Chalk and talk, MATLAB
Text Books:
1. Automatic Control Systems Farid G., Kuo B. C McGraw Hill Education 10th Edition,2018
2. Control systems Manik D. N Cengage 2017
Reference Books:
1. Modern control Engineering K. Ogeta Pearson 5th Edition, 2010
2. Control Systems Engineering Norman S Nice Fourth Edition, 2007
3. Modern control Systems Richard C Dorf Pearson 2017
4. Control Systems Engineering IjNagrath, M Gopal New Age International (P) Ltd 2018
5. Control Systems Engineering S Palani Tata McGraw Hill Publishing Co Ltd ISBN-13
9780070671935
Index
Subject: Control Engineering Subject Code: 18ME71
SL. No. Contents Page No.

Module 1 Introduction, Types of Controllers, Modelling of
1 1-44
Physical Systems
2 Module 2 Time domain performance of control systems 45-66
Module 3 Block diagram algebra, Signal Flow graphs, State
3 67-105
diagram from Differential equation
Module 4 Stability of linear control systems using Routh’s
4 106-131
criterion, Root locus
Module 5 Stability analysis using polar plots, Nyquist plots,
5 132-182
Bode plots
MODULE 1
Introduction, Types of Controllers, Modeling
of Physical systems
Introduction: Components of a control system, Open loop and closed loop systems.
Types of controllers: Proportional, Integral, Differential, Proportional-Integral, and Proportional-
Integral- Differential controllers.
Modelling of Physical Systems: Mathematical Models of Mechanical, Electrical, Thermal, Hydraulic
Systems.
Control Engineering (18ME71) Module 1 Introduction and Mathematical modelling of physical systems
Rakesh R, Assistant Professor, Department of Mechanical Engineering, MIT Mysore Page 1












































MODULE 2
Time Domain analysis
Time domain performance of control systems: Typical test signal, Unit step response and time domain
specifications of first order, second order system. Steady state error, error constants.
Control Engineering (18ME71) Module 2 : Time domain performance of Control systems






















MODULE 3
Block diagram algebra, Signal flow graphs,
State diagram from differential equation
Block diagram algebra, Reduction of block diagram, Signal flow graphs, Gain formula for signal flow
graphs,
State diagram from differential equations.
Control Engineering (18ME71) Module 3 Block diagram, SFG and State Variable from Differential Equation
































Control Engineering (18ME71) Module 3: Block diagrams & SFG & State diagram from DE

MODULE 4
Stability of linear control systems
Stability of linear control systems: Routh’s criterion, Root locus, Determination of phase margin and
gain margin using root locus.
Control Engineering (18ME71) Module 4 Stability of linear Control systems
MODULE 5
Stability analysis using polar plots, Nyquist plots
and Bode plots
Stability analysis using Polar plot, Nyquist plot, Bode plot, Determination of phase margin and gain
margin using Bode plot.
Control Engineering(18ME71) Module 5 Stability analysis using polar plots, Nyquist plots, Bode plots

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Maharaja Education Trust (R), Mysuru

Maharaja Institute of Technology Mysore

Approved by AICTE, New Delhi,

Dr. Mohamed Khaisar

Department of Mechanical Engineering

“To be recognized as a premier technical and management institution promoting extensive

ಶಕ್ಷಣ ಕೆೋಂದ್ರವಕಗಿ ಗನರನತ್ರಸಿಕೊಳ್ಳುವುದ್ನ.

➢ To empower students with indispensable knowledge through dedicated teaching and

➢ To advance extensive research in science, engineering and management disciplines.

➢ To facilitate entrepreneurial skills through effective institute - industry collaboration and

ವಿದ್ಕಯರ್ಥಪಗಳಿಗೆ ಉದ್ಯಮಶೋಲತೆಯ ಕೌಶಲಯ ರ್ಡೆಯಲನ ನೆರವಕಗನವುದ್ನ.

➢ To instill the need to uphold ethics in every aspect.

➢ To mould holistic individuals capable of contributing to the advancement of the society.

“To excel in technical education by producing Mechanical Engineers who are

“ಜಾಗತಿಕ ಸಾಮಾಜಿಕ ತಾಾಂತಿಿಕ ರಾಂಗದಲ್ಲಿ ಸ್ಪರ್ಾಾತ್ಮಕ ಕೆೊಡುಗೆ ಮತ್ುು ಸ್ುಸ್ಥಿರ ಮೆಕಾಾನಿಕಲ್

ಎಾಂಜಿನಿಯರ್‌ಗಳನ್ುು ಕೆೊಡುವ ಮೊಲಕ ತಾಾಂತಿಿಕ ಶಿಕ್ಷಣದಲ್ಲಿ ಉತ್ುಮ ಸಾಧನೆ ಮಾಡುವುದು”

1. To enrich teaching-learning experience through distinguished practices

2. To enhance student performance through consistent guidance, motivation

3. To develop distinct skills, leadership qualities and creative thinking among

1. Engineering knowledge: Apply the knowledge of mathematics, science, engineering

Subject: Control Engineering Subject Code: 18ME71

SL. No. Contents Page No.

Rakesh R, Assistant Professor, Department of Mechanical Engineering, MIT Mysore Page 1

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