UNIT-I Control System

Noida Institute of Engineering and Technology, Greater Noida
Introduction to Control System
Unit: I
Subject Name: Control System

(AEC0501)
Session: 2023-2024 Mr. Devendra Pratap

Course: B. Tech, 5th SEM (Assistant Professor)
(Electronics & Communication Engineering)
Contents
1. Faculty Biography 17. Unit objectives
2. Evaluation Scheme 18. Topic Objective
3. Subject syllabus 19. Lecture contents
4. Branch wise application 20. Daily Quiz
5. Course Objective 21. Weekly Assignment
6. Course Outcomes 22. topic Links
7. Program Outcomes 23. MCQs
8. CO-PO Mapping 24. Glossary Questions
9. Program Specific outcomes 25. Old question Papers
10. CO & PSOs Mapping 26. Expected Questions
11. Program Educational Objectives 27. Recap of Unit
12. Result analysis
13. End semester Question Paper templets
14. Prerequisite & Recap
15. Brief introduction about the subject
16. Unit contents
Mr. Devendra Pratap Control System

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Evaluation scheme
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Syllabus

Syllabus

Text and Reference Books

Branch wise/Industry Application
1. Robot arms used in industrial manufacturing require control of

Application Domains the position of the end piece
2. Conveyor belts usually move at a constant speed, and so you
1. Robotics need a control system to ensure that the desired speed is
2. Space technology always met.
3. Missile Launching System 3. Aircrafts generate forces in flight through controlling the
position of flaps and rudders.
4. Transportation system
4. Reading and writing from hard drives involves controlling
5. Intelligent system position. Essentially, different sectors on the disk containing
6. Speed control of different information needs to be placed below the device that
automobile extracts the information, at different times.
7. Communication System 5. Keeping satellites in place above the earth is an application of
8. Solar tracking control controls.
system 6. Several biological functions are achieved by regulating
9. Quality control of amounts of chemicals in the blood. Insulin injections are a
manufactured products form of feedback control, to control the amount of sugar in the
blood.
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Course Objective
S. No. The intended objectives of this course are given as follows
The basics of control systems along with different types of feedback and its
1
effect. Introduction to block diagram reduction techniques and signal flow graph
Analysis of time domain response for various types of inputs along with the time
2
domain specifications
. 3 Distinguish the concepts of absolute and relative stability for continuous data
3
systems along with different methods and analyze the system stability.
4 The concept the state space analysis of a control system.
5 The digital control system and its analysis.
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Mr. Devendra Pratap Control System UNIT-I
Course Outcome
COURSE OUTCOMES
CO NO.
At the end of the semester, the student will be able to:
Describe the basics of control systems along with different types of feedback and its
effect. Additionally, they will also be able to explain the techniques such as block
1
diagrams reduction, signal flow graph and modelling of various physical systems
along with modelling of DC servomotor
Interpret the time domain response analysis for various types of inputs along with the
2
time domain specifications.
Distinguish the concepts of absolute and relative stability for continuous data systems
3
along with different methods and analyze the system stability
4 Analyze the nonlinear control system using the state space analysis
5 Identify the digital control system and its analysis using z-transform
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Program Outcomes (POs)
PO1: Engineering knowledge

PO2: Problem analysis
PO3: Design/development of solutions
PO4: Conduct investigations of complex problems
PO5: Modern tool usage
PO6: The engineer and society
PO7: Environment and sustainability
PO8: Ethics
PO9: Individual and teamwork
PO10: Communication
PO11: Project management and finance
PO12: Life-long learning

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Program Specific Outcomes (PSOs)
PSO1: To apply the knowledge of mathematics, science and electronics & communication
engineering to work effectively in the industry based on same or related area.
PSO2: To use their skills to work in modern electronics & communication engineering tools,
software and equipment to design solutions for complex problems in the related field
that meet the specified needs of the society.
PSO3: To function effectively as an individual and as a member or leader of a team by

qualifying through examinations like GATE, IES, PSUs, TOEFL, GMAT and GRE etc.

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CO-PO Mapping
Mapping of Course Outcomes and POs & PSOs
Course PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12 PSO1 PSO2 PSO3
Outcomes
1 3 2 2 2 - - - - - - - 1 3 2 2
2 3 3 3 2 - - - - - - - 1 3 2 2
3 3 3 3 2 - - - - - - - 1 3 2 2
4 3 2 3 2 - - - - - - - 1 3 2 2
5 3 2 3 2 - - - - - - - 1 3 2 2

Program Education Objectives (PEOs)
PEO1: To have an excellent scientific and engineering breadth to comprehend, analyze, design
and solve real- life problems using state-of-the-art technology.
PE02: To lead a successful career in industries or to pursue higher studies or to understand

entrepreneurial endeavors.
PEO3: To effectively bridge the gap between industry and academics through effective
communication skill, professional attitude and a desire to learn.

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Result Analysis
Faculty Result
Department Result

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Question Paper templates

Question Paper
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Question Paper
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Prerequisite
Knowledge of Laplace Transform

Basic knowledge of Mechanical systems

Brief Introduction about the subject with Videos
• Control system is an integral part of modern society

which plays a vital role in day-to-day life. In this
subject, the manufacturing process is being controlled
with the help of advance algorithms.
• It also presents the modeling of control systems and

the respective mathematical models derived therein
based on time response and frequency response
analysis.
• The methods of ascertaining stability are dealt with as

Routh-Hurwitz criterion, Nyquist criterion, Bode plot
and Root locus plot. Thus, the subject gives an
overall view regarding various control techniques
used in industries for innovative purposes.
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Brief Introduction of subject with video

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Unit content

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Unit Objective
The intended objectives of this course are given as follows:
1. To describe the basics of control systems along with different types of feedback and its
effect.
2. To learn basics of transfer function.
3. To explain block diagram reduction method and signal flow graph method.
4. To explain the modeling of mechanical systems.
5. To learn sensors and encoders.

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Introduction
Topic objective COs

To understand basics of control system. CO1
To understand basics of transfer function. CO1

To understand poles and zeros of a system CO1

Introduction
System:
•A system is a group of physical components arranged in Control System
such a way that it gives proper input/output relationship. • A control system is an
•The proper output may or may not be the desired output. interconnection of components
. Example:-Lamp (Elements: glass, Filaments) forming a system configuration
that will provide a desired
system response.
• A control system is a system,
which provides the desired
response by controlling the
output.
• The main objective of control
system is to maintain the output
of a system at a desired value.
Physical system Controlled system

Introduction
Control is the process of causing a system variable to

conform to some desired value.
Process – The device, plant, or system under control.
The input and output relationship represents the cause-
and-effect relationship of the process.
• The interaction is defined in terms

of variables.
i. System input
ii. System output
iii. Environmental disturbances

Introduction
Basic Components of a Control System
The basic ingredients of a control system can

be described by
1. Objectives of control.
2. Control-system components.
3. Results or outputs.
• The objectives can be identified with inputs, or actuating signals, u, and the results are
also called outputs, or controlled variables, y.
• In general, the objective of the control system is to control the outputs in some prescribed
manner by the inputs through the elements of the control system.

Introduction
Transfer Function Then the transfer function G(S) of the plant is given as
It is the ratio of Laplace transform of the output to the G(s)= Y(s) / U(s)
Laplace transform of the input. Considering all initial
conditions to zero.
U(S) G(S) Y(S)

x(t) y(t)
Plant
Polynomial form of transfer function

If L{x(t)}=X(s)
L{y(t)}=Y(s)
Where L is the Laplace operator.

Introduction
• Roots of denominator polynomial of a transfer function are

called ‘poles’.
• And the roots of numerator polynomials of a transfer
function are called ‘zeros’.
Transfer function helps us to check:
• System order is always equal to number of poles of the
1. The stability of the system transfer function.
2. Time domain and frequency
• Poles is also defined as “it is the frequency at which system
domain characteristics of the becomes infinite”. Hence the name pole where field is
system infinite.
3. Response of the system for any
• And zero is the frequency at which system becomes 0.
given input
j
The poles and zeros of the system are plotted LHP RHP
in s-plane to check the stability of the system. 
Mr. Devendra Pratap s-plane

Control System
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Introduction
Time constant form or factorized form of transfer function
r(t) c(t)
Plant
Types gives the no of poles at origin of an Where K=System Gain

open loop transfer function G(s) H(s) of the N=no of poles at origin
system.
Order gives the total no of poles in s-plane or

Highest power of characteristic equation[1+G(s)H(s)=0] gives the order of control system

Introduction
Time constant: It gives the system Dominant pole: The pole that lies very
behavior. If TC is large, then system close or near to the imaginary axis is
response becomes very slow because it called dominant pole. Tc of dominant
takes the large time to reach the steady pole should be very large.
state practically.
Insignificant Pole: The pole that lies in NOTE:

the left most side is called insignificant • Roots of characteristic equation are
pole. Time constant of IP must be less called poles
than or equal to 5 times of dominant • Only poles affect the system response
pole time constant. and stability(not zeros)

Introduction

Introduction

Faculty Video Links, YouTube & NPTEL Video Links
https://youtu.be/Cl23xQrvFhk/
https://youtu.be/RcuGxWc0HyQ
https://youtu.be/PLgxjVQ6sZ8

Daily Quiz
1. What is control system?

2. Explain the concept of dominant pole.

Weekly Assignment
1. .What are the applications of control system in our daily life?.

2. What is transfer function? Define type and order of a given transfer function.

MCQ s
1. If the initial conditions for a system are zero. 1. Consider the function F(s) = 5 / s.(s2 +3s+2),
What does it physically mean? Where F(s) is the Laplace transform of f(t). The
a) The system is at rest but stores energy. initial value of f(t) is:
b) The system is working but does not store energy. a) 5
c) The system is at rest and no energy is stored. b) 5/2
d) The system is working with zero reference c) 5/3
input. d) 0

Recap
• Transfer Function is the ratio of Laplace transform of the output to the Laplace transform of
the input. Considering all initial conditions to zero.
• Roots of denominator polynomial of a transfer function are called ‘poles’.
• And the roots of numerator polynomials of a transfer function are called ‘zeros’.
• The poles and zeros of the system are plotted in s-plane to check the stability of the system.

Classification of Control System
Topic objective COs

To study the feedback and its effect CO1
To understand open loop and closed loop transfer systems. CO1

To derive expression for the transfer function of open loop and closed loop
CO1
transfer systems.
Prerequisite:
1. Basic knowledge of Transfer system.

2. Basic knowledge of Laplace transform.

Feedback
• It is that property of a closed-loop system which permits the output (or some other controlled
variable) to be compared with the input to the system (or an input to some other internally
situated component or subsystem) so that the appropriate control action may be formed as
some function of the output and input.
Feedback System
It play an important role in modern control
engineering practices because of they have
the possibility for being adopted to
perform their assigned task automatically

Types of feedback system
Fig.: Negative feedback Fig.: Positive feedback

Effects of Feedback on control system
1. The controlled variable accurately follows the desired value

2. Feedback in control loop allows control of output even when process or controlled plant
parameters are not known accurately.
3. Feedback in control system highly improve the speed of its response compared to the
response speed capability of plant.
4. Circuit characteristics such as the systems gain, and response can be precisely controlled.
5. Circuit characteristics can be made independent of operating conditions such as supply
voltages or temperature variations.
6. Signal distortion due to the non-linear nature of the components used can be greatly
reduced.
7. The Frequency Response, Gain and Bandwidth of a circuit or system can be easily
controlled to within tight limits

Open-Loop Control Systems: It utilize a
controller or control actuator to obtain the
desired response
A control system in which the control action

is totally independent of the output of the
system then it is called an open-loop control
system. A manual control system is also an
open-loop control system.

Open loop control system
Advantages
1. Simple in construction and design. Examples:
2. Economical. 1. Immersion rod
3. Easy to maintain. 2. Electric bulb
3. Automatic washing machine.
4. Generally stable.
4. Traffic light control
5. Convenient to use as output is difficult to 5. Electric hand drier.
measure. 6. Door lock systems.
7. Servo motors.
Disadvantages 8. Remote control of TV.
1. They are inaccurate. 9. Bread toaster
2. They are unreliable.
3. Any change in output cannot be corrected
automatically.
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Open-Loop Transfer function
Open Loop Transfer function

𝐶(𝑠)
G(s) =
𝑅(𝑠)
C(s) = G(s).R(s)
Reference input r(t) c(t) Desired output

G(s)
R(s) C(s)
Path Gain
Fig.: System without feedback

Closed-Loop Control Systems
It utilizes feedback to compare the actual
output to the desired output response
Control systems in which the output has an

effect on the input quantity in such a
manner that the input quantity will adjust
itself based on the output generated is
called a closed-loop control system.
Note: An open-loop control system can be converted into

a closed loop control system by providing feedback. This
feedback automatically makes suitable changes in the
output due to external disturbance.

Applications od Closed loop control system
Examples
1. Automobile driving system
2. Automatic water tank control system
3. Human Body
4. Automatic aircraft landing system
5. Voltage stabilizer.
6. Missile Launcher.
7. Inverter AC.
8. Refrigerator
9. Automatic Electric Iron

CLCS
Advantages
1. Closed loop control systems are
more accurate even in the presence Disadvantages
of non-linearity. 1. They are costlier.
2. Highly accurate as any error arising 2. They are complicated to design.
is corrected due to the presence of a 3. Required more maintenance.
feedback signal. 4. Feedback leads to an oscillatory response.
3. This system is less affected by noise. 5. Overall gain is reduced due to the presence
of feedback.
6. Stability is the major problem and more
care is needed to design a stable closed
loop system.

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The basic equations of the system can be written as
Closed-Loop Transfer function
error signal: E ( s) = R( s) − B( s)
G(s)=Forward path gain=C(s)/E(s) feedback signal: B( s) = H ( s)C ( s)

H(s)=Feedback path gain=B(s)/C(s)
output signal: C ( s) = G ( s) E * ( s)
G(s)*H(s)=Loop gain(open loop)
B(s)=H(s) G(s) E(s)
B(s)/E(s)=G(s)*H(s)=OLTF
So we have
C(s) = G(s)[ R(s)- B(s)]
Or C(s) = G(s)[ R(s)- H(s) C(s)]
C(s)= G(s) R(s) – G(s) H(s) C(s)
C(s) + G(s) H(s) C(s) = G(s) R(s)
C(s)[1 + G(s) H(s)] = G(s) R(s)

Control Ratio or Overall transfer Function or Closed loop transfer function
𝐶(𝑠) 𝐺(𝑠)
=
𝑅(𝑠) [1+𝐺 𝑠 𝐻 𝑠 ]
𝐶(𝑠) 𝐺(𝑠) If feedback is unity, then, 𝐶(𝑠) 𝐺(𝑠)

If feedback is positive then, = , =
𝑅(𝑠) [1−𝐺 𝑠 𝐻 𝑠 ] H(s)=1 𝑅(𝑠) [1+𝐺 𝑠 ]
𝐸(𝑠) 𝐵(𝑠)
=Error Ratio =Primary feedback Ratio
𝑅(𝑠) 𝑅(𝑠)

Difference between OLCS & CLCS
Open loop control system Closed loop control system
1. OLCS is simple to construct and cheap 1. It is complicated to construct and costly

2. The accuracy of OLCS depends on the 2. CLCS accuracy depends upon feedback
calibration of input network
3. OLCS is highly sensitive with respect to 3. It is less sensitive with respect to
disturbance noise & environment condition disturbance noise & environment condition
4. Bandwidth is less 4. Bandwidth is large
5. More reliable 5. Less reliable
6. Gain is high 6. Gain is low
7. OLCS is more stable because there is no 7. CLCS is less stable because it depends on
factors to affect the open loop stability loop gain
8. Optimization is not possible 8. Optimization is possible
9. Not necessary to measure the output. 9. Output must be measured. Sensors are
Sensors are not essentials essentials

Examples
Q. Impulse response of a unity feedback control Q. Find OLTF loop DC gain of a unity feedback
system is c(t)= -t 𝑒 −𝑡 +2 𝑒 −𝑡 . Find the open loop system which CLTF is 2
2𝑠+5
transfer function? 𝑠 +6𝑠+13
For Dc gain: DC frequency(ω) is 0. so, s=jω=0
Mr. Devendra Pratap Control System G(s)=5/8

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https://nptel.ac.in/courses/107106081/

Daily Quiz
1. What are the types of control system?

2. Explain pole & zero

Weekly Assignment
1. Distinguish between open loop and closed loop system.

2. Derive the expression for control ratio(CLTF) of a closed loop control system.
3. What are the effects of feedback on closed loop control system?
4. Impulse response of a unity feedback control system is c(t)= -t 𝑒 −𝑡 +2 𝑒 −𝑡 . Find the open loop transfer
function?
2𝑠+5
5. Find OLTF loop DC gain of a unity feedback system which CLTF is
𝑠 2 +6𝑠+13

MCQ s
Assertion (A): Feedback Control system offer more A LTI system is initially at rest when subjected to a unit
accurate control over open loop systems. step input, gives a response of y(t) = t.e-t , t > 0, the
Reason (B): The feedback path establishes a link transfer function of the system is:
a) 1/ (s+1)2
between input and output and subsequent error
b) 1/ s. (s+1)2
correction. c) s/ (s+1)2
a) Both A and B are true, and R is the correct d) 1/ (s+1)
explanation of A.
b) Both A and B are true, and R is not the correct
explanation of A. The closed loop transfer function of a unity negative
c) A is true but R is false. feedback system is 100/ (s2 +8s+100), the open loop
transfer function is
d) R is true but A is false.
a) 100/ (s+8)
b) 1/ (s2 + 8s)
c) 1/ (s2 - 8s)
d) 100/ (s2 + 8s)
Recap
• The open loop transfer function is a system without feedback.

• Its transfer function is C(s) / R(s) = G(s)
• The closed loop system is system with feedback.
• Its transfer function C(s) / R(s) = G(s) / [1 + G(s). H(s)]
Where H(s) is feedback gain.

Block Diagram Reduction(BDR)
Topic objective COs

To represent control system in block diagram. CO1
To calculate transfer function from block diagram reduction method. CO1
Prerequisite:
1. Basic knowledge of Transfer system.

2. Knowledge of open loop and closed loop systems.

Block Diagram Representation
It is used to determined the overall TF of system. A Block Diagram Representation is a symbolic

representation in short form which gives a graphical representation relating output and input of a
control system based on cause-and-effect approach.
Advantages in representing control system in block diagram form
1. It is easy to write down the computational algorithm by inspection.

2. It is easy to analyze the block diagram to determine the explicit relation between input and
output.
3. It is easy to manipulate a block diagram to derive other equivalent block diagrams yielding
different computational algorithms
4. It is easy to determine the hardware requirement.
5. It is easy to develop block diagram representations directly from the transfer function,
thereby directly leading to a variety of equivalent representations.

A complete system can be arranged by

interconnecting individual blocks as per • The interior of the rectangle representing the
requirements of system. In order to obtain the block usually contains a description of or the
overall TF , a procedure called Block name of the element, or the symbol for the
diagram reduction is followed. mathematical operation to be performed on
the input to yield the output.
• The arrows represent the direction of
A complex block diagram configuration can be information or signal flow
simplified by certain rearrangements of block
diagram using the rules of block diagram
algebra. This procedure is known as BDR.
x Block Gain y
All these rules are derived by simple algebraic

manipulation of equation representing the
blocks.
Summing Point: Take off point:

•It represents the summation of two or more • In order to have the same signal or variable
input signals entering in the system. be an input to more than one block or
•The output is the algebraic sum of the inputs. summing point, a takeoff point is used.
• Any number of inputs may enter a summing • This permits the signal to proceed unaltered
point. along several different paths to several
destinations.

Reduction techniques
1. Combining blocks in cascade
R(s) G1 G2 C(s) R(s)

G1G2 C(s)
2. Combining blocks in parallel
R(s) G1 C(s) R(s)

G1 + G2 C(s)
G2
Block Diagram Reduction
3. Shifting a summing point from the position before a block to a position after the block
R(s)
R(s) C(s) G C(s)
G
X(s) G X(s)
4. Shifting a summing point from the position after a block to a position before a block
R(s)
R(s) G C(s) C(s)
G
1
G X(s)
X(s)

5. Shifting a take off point from the position before a block to a position after the block
C(s) R(s)
R(s) G G C(s)
R(s) 1
G
R(s)
6. Shifting a take off point from the position after a block to a position before the block
R(s) C(s) R(s) G C(s)

G
C(s) C(s) G

7. Eliminating a feedback loop
C(s) R(s)
R(s) G
G C(s)
1 + GH
H
C(s)
R(s) R(s) G
G C(s)
1+ G
H =1

8. Swapping two neighboring summing points
R(s)
R(s) C(s) C(s)
A B B A

Summary of BDR

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Q:Find transfer function using block diagram reduction technique
Solution:
K
s +1

K
s +1
𝐶 𝑠
=K/(s+1)+K(s+0.1)
𝑅 𝑠

Q:Find transfer function using block diagram
reduction technique
H2
𝑅 _ C
+_ + G1 + G2 G3
+
H1

H2
G1
R _ C
+_ + + G1 G2 G3
+
H1

H2
G1
R _ C
+_ + + G1G2 G3
+
H1

H2
G1
_ C
R
+_ + + G1G2 G3
+
H1

H2
G1
R _ G1G2 C
+_ + G3
1 − G1G2 H1

H2
G1
R _ G1G2G3 C
+_ +
1 − G1G2 H1

G1G2G3 C
R
+_ 1 − G1G2 H1 + G2G3 H 2
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R G1G2G3 C
1 − G1G2 H1 + G2G3 H 2 + G1G2G3
𝐶 𝑠 G1G2G3
=
𝑅 𝑠 1 − G1G2 H1 + G2G3 H 2 + G1G2G3

Q. Find transfer function using block diagram reduction technique
Solution:

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Q.Find transfer function using block diagram reduction technique
Solution:

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Example: Find the transfer function of the following block diagrams
G4
R(s) Y (s )
G1 G2 G3
H2
H1

I BDR
G4
R(s ) B A
Y (s )
G1 G2 G3
H2
H1 G2
Solution:
1. Moving pickoff point A ahead of block G2

2. Eliminate loop I & simplify
B
G4 + G2G3

G4 BDR
R(s )
GG4 +
B A G2 G3
Y (s )
G1 2 G 3
H2
H 1G2
3. Moving pickoff point B behind block G4 + G2G3

II
R(s ) B C
Y (s )
G1 G4 + G2G3
H2
H 1G2 1 /(G4 + G2G3 )
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4. Eliminate loop III
R(s ) Y (s )
G1 GG4 4++GG2G2G3 3
C C
1 + H 2 (GH4 2+ G2G3 )
G2 H1
G4 + G2G3
R(s ) G1 (G4 + G2G3 ) Y (s )

1 + G1G 2 H1 + H 2 (G4 + G2G3 )
Y (s) G1 (G4 + G2G3 )

T ( s) = =
R ( s ) 1 + G1G 2 H1 + H 2 (G4 + G2G3 ) + G1 (G4 + G2G3 )
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R(s ) Y (s )
G1 G2
H1 H2
H3

Solution:
1. Eliminate loop I
R(s ) A
G2 I
B
Y (s )
G1 G2
H1
1 + GH2 H
2
2
H3
G2
2. Moving pickoff point A behind block
1 + G2 H 2
R(s ) A G2 B
Y (s )
G1
1 + G2 H 2
1 + G2 H 2 II
H1 1 + G2 H 2
G2 H 3 + H1 ( )
G2
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3. Eliminate loop II
R(s ) G1G2 Y (s )
1 + G2 H 2
H 1 (1 + G2 H 2 )
H3 +
G2
Y (s) G1G2
T ( s) = =
R( s) 1 + G2 H 2 + G1G2 H 3 + G1 H1 + G1G2 H1 H 2

H4
R(s ) Y (s )
G1 G2 G3 G4
H3
H2
H1

Solution:
1. Moving pickoff point A behind block G4

I
H4
R(s ) Y (s )
A B
G1 G2 G3 G4
H3 1
H3 G4 G
4
H2 1
H2 G4 G4
H1

2. Eliminate loop I and Simplify
R(s ) II Y (s )
G2G3G4
B
G1 1 + G3G4 H 4
H3
G4
H2
G4 III
H1
II feedback III Not feedback
G2G3G4 H 2 − G4 H 1
1 + G3G4 HMr.
4 + G2GPratap
Devendra 3H3 Control System
G4
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3. Eliminate loop II & IIII
R(s ) G1G2G3G4 Y (s )
1 + G3G4 H 4 + G2G3 H 3
H 2 − G4 H 1
G4
Using rule 6
Y ( s) G1G2G3G4
T ( s) = =
R( s ) 1 + G2G3 H 3 + G3G4 H 4 + G1G2G3 H 2 − G1G2G3G4 H1
H2
R(s ) A Y (s )
G1 G2 G3
B
H1
G4

Solution:
1. Moving pickoff point A behind block G3

I
H2
R(s ) A B Y (s )
G1 G2 G3
1
H1 G3
1
H1 G3
G4
2. Eliminate loop I & Simplify
H2
B
G2 G3 B G2G3
1 H1
+ H2
H1 G3 G3
II
R(s ) G2G3 Y (s )
G1
1 + G2 H1 + G2G3 H 2
H1
G3
G4
3. Eliminate loop II
R(s ) G1G2G3 Y (s )
1 + G2 H1 + G2G3 H 2 + G1G2 H1
G4
Y (s) G1G2G3
T (s) = = G4 +
R( s) 1 + G2 H1 + G2G3 H 2 + G1G2 H1
Example: Determine the effect of R and N on Y in the following diagram
N Input-2
G4
Input-1
R Y
G1 G2
H1
G3

In this linear system, the output Y contains two parts, one part is related to R and the other is caused by N:
Y = Y1 + Y2 = T1R + T2 N
If we set N=0, then we can get Y1:
Y1 = YN =0 = T1 R
The same, we set R=0 and Y2 is also obtained:
Y2 = YR =0 = T2 N
Thus, the output Y is given as follows:
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Y = Y1 + Y2 = YN =0 + YR =0 Mr. Devendra Pratap Control System 104 UNIT-I
Solution:
1. Swap the summing points A and B

N
G4
II
R G2 Y
G1
1 + G2 H 1
B A
G3
2. Eliminate loop II & simplify

N
G4
R G1G2 Y
G1G3 +
1 + G2 H1
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Rewrite the diagram: BDR
N
G4
R o G1G2 o Y
G1G3 +
1 + G2 H1
3. Let N=0
R G1G2 Y
G1G3 +
1 + G2 H1
We can easily get Y1

G1G2 + G1G3 + G1G2G3 H1
Y1 = R
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2 H 1 + G1GUNIT-I
Pratap
2 + G1G3 + G1G2 G3 H 1
Control System
106
4. Let R=0, we can get:
N Y
G1G2
G1G3 +
1 + G2 H1
G4
M
5. Break down the summing point M:
N Y
G1G2G4 G1G2
G1G3G4 + G1G3 +
1 + G2 H1 1 + G2 H1
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6. Eliminate above loops: BDR
1
G1G2G4
1 + G1G3G4 + G1G2
N 1 + G2 H1 1 + G1G3 + Y
1 + G2 H 1
1 + G2 H1 + G1G2G4 + G1G3G4 + G1G2G3G4 H1

Y2 = N
1 + G2 H1 + G1G2 + G1G3 + G1G2G3 H1
7. According to the principle of superposition, Y1 and Y2 can be combined, So:
Y = Y1 + Y2
1
= [(G1G2 + G1G3 + G1G2G3 H1 ) R
1 + G2 H1 + G1G2 + G1G3 + G1G2G3 H1
+ (1 + G2 H1 + G1G2G4 + G1G3G4 + G1G2G3G4 H1 ) N ]
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https://nptel.ac.in/courses/108/106/108106098/

Daily Quiz
1. What is summing point?

2. What is need of block diagram reduction?

Weekly Assignment
1.Define the phenomenon of block diagram 3.Reduce the block diagram show in figure using block
reduction? What are the advantages to represent a diagram algebra and obtain system transfer function
system in block diagram form? C/R.
2.Reduce the block diagram show in figure using
block diagram algebra and obtain system transfer
function C/R.

MCQs
Q:In the following block diagram, G1=10/s Q:For the given system, the transfer function is given
G2=10/s+1 H1=s+3, H2=1. The overall transfer by
function is given by :
a) 10/11s2+31s+10
b) 100/11s2+31s+100 a) G1G2/(1+G1G2H2+G2H1)
c) 100/11s2+31s+10 b) G1G2/(1-G1G2H2-G2H1)
d) 100/11s2+31s c) G1G2/(1+G1H1+G2H2+G1G2H1H2)
G1G2/(1-G1H1-G2H2-G1G2H1H2)

Recap
• A Block Diagram is a shorthand pictorial representation of the cause-and-effect relationship

of a system.
• The arrows represent the direction of information or signal flow.
• Block diagram reduction technique is used to find the transfer function of system.

Signal Flow Graph
Topic objective COs
•To draw signal flow graph for control system. CO1
To calculate transfer function using Mason’s gain formula CO1
Prerequisite:
• Basic knowledge of Transfer system.

• Knowledge of open loop and closed loop systems.

Signal Flow Graph
Why SFG: Signal Flow Graph:
1. To find the overall TF 1. It is a graphical representation of set of linear algebraic equation
of the system between input and output.
2. To avoid complex 2. It was introduced by S.J. Mason for cause-and-effect representation
mathematical of linear system that are modelled by algebraic equation.
calculation 3. It gives a pictorial way of a control system by way of eliminating
summing symbol, takeoff point and block.
4. This elimination is achieved by representing variables by nodes and
transfer function (transmittance) by line or branch

Signal Flow Graph
Basic elements of Signal Flow Graph
Node:
Transmittance
• Nodes are used to represent variables Gain
• Every variable in a SFG is designed by a node
Branches: Input Output

• The nodes are connected by line segments
called branches according to cause-and-effect X2=Ax1
equation.
• The branches have associated branch gain and
directions. Every transmission function in a
SFG is designed by a branch.
Note: A signal can transmit only through branch only in the direction of arrow.
Basic terminologies of Signal Flow Graph
• An input node or source contain only the outgoing branches. i.e., X1
• An output node or sink contain only the incoming branches. i.e., X4
• A path is a continuous, unidirectional succession of branches along which no node is passed more than
once. i.e.,
• X1 to X2 to X3 to X4 X1 to X2 to X4
A forward path is a path from the input node to the output node. i.e.,
X1 to X2 to X3 to X4 , and X1 to X2 to X4 , are forward paths.
• A feedback path or feedback loop is a path which originates and terminates on the same node. i.e.; X2
to X3 and back to X2 is a feedback path.

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Signal Flow Graph
• A self-loop is a feedback loop consisting of a single branch. i.e.; A33 is a self loop.
• The gain of a branch is the transmission function of that branch.
• The path gain is the product of branch gains encountered in traversing a path. i.e. the gain of
forwards path X1 to X2 to X3 to X4 is A21A32A43
• The loop gain is the product of the branch gains of the loop. i.e., the loop gain of the feedback loop
from X2 to X3 and back to X2 is A32A23.
• Two parts of a SFG are non-touching if they do not share a common node. If there is no common
node btw two or more loops then it is called non touching loops.
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Signal Flow Graph
Basic terminologies of Signal Flow Graph:
Dummy Node: If incoming and outgoing branches exist at the first & last node representing
input and output variable, then as per definition, these node can't be called input and output
node. In such case, separate input and output nodes are created by adding branch with unit
gain 1. these nodes are called dummy node

Signal Flow Graph
Example: Construct the signal flow graph for the following set of simultaneous equations .
Y2 = a12 y1 + a42 y4
Y3 = a23 y2 +a53 y5
Y4 = a34 y3
Y5 = a45 y4 +a35 y3
Y6 = a56 y5
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UNIT-I
Signal Flow Graph
Example: Consider the signal flow graph below and identify the following
a) Input node.
b) Output node.
c) Forward paths.
d) Feedback paths (loops).
e) Determine the loop gains of
the feedback loops.
f) Determine the path gains of
the forward paths.
g) Non-touching loops

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Signal Flow Graph
• There are two forward path

gains;

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Signal Flow Graph
• There are four loops

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Signal Flow Graph
• Nontouching loop
gains;

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Signal Flow Graph
Example: Consider the signal flow graph below and identify the following
a) Input node.
b) Output node.
c) Forward paths.
d) Feedback paths.
e) Self loop.
f) Determine the loop gains of the
feedback loops.
g) Determine the path gains of the
forward paths.

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Signal Flow Graph
a) Input node
b) Output node

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Signal Flow Graph
(c) Forward Paths

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Signal Flow Graph
(d) Feedback Paths or Loops

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Signal Flow Graph

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Signal Flow Graph

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Signal Flow Graph

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Signal Flow Graph
(e) Self Loop(s)

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Signal Flow Graph
(f) Loop Gains of the
Feedback Loops

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Signal Flow Graph
(g) Path Gains of the Forward Paths

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Signal Flow Graph
SFG algebra Interconnection of systems and signals
Alternative method to block diagrams.

Consists of
(a) Branches
• Represents systems
(b) Nodes
• Represent signals
Example
V(s)=R1(s)G1(s)-R2(s)G2(s)+R3(s)G3(s)

Signal Flow Graph
Parallel system
Cascaded system

Signal Flow Graph
Feedback system:
Fig. Block Diagram
Fig. Signal Flow Graph

Signal Flow Graph
Construction of SFG from block diagram
Rule -1: All variables, summing points and take off points are represented by nodes and block
transfer function is represented by branch transmittance.

Signal Flow Graph
Rule 2:
If a summing point is placed
before a take off point in the
direction of signal flow, in such
Rule 3:
case represent the summing
If a summing point is placed after a take off point
point & take off point by a
in the direction of signal flow, in such case
single node.
represent the summing point & take off point by a
separate node connecting by a branch having
transmittance unity.

Signal Flow Graph
The transfer function, T, of a system represented by a signal-
Mason’s Gain Formula: flow graph is;
• It is a technique for
reducing signal-flow σ𝑛𝑘=1 𝑃𝑘 ∆𝑘
graphs to single transfer 𝑇=
function that relate the ∆
output of system to its Where,
input. n = Number of forward paths.
• SFG gain formulas can 𝑃𝑘 = Forward-path gain of k th path from a specified input node
only be applied between to an output node.
an input and output node, ∆ = Determinant of the system
∆𝑘 = Determinant of the kth forward path
∆ is called the signal flow graph determinant or characteristic

function. Since ∆=0 is the system characteristic equation.

Signal Flow Graph
∆ = 1- (sum of all individual loop gains) + (sum

of the products of the gains of all possible two Systematic approach
loops that do not touch each other) – (sum of the 1. Calculate forward path gain Pk for each
products of the gains of all possible three loops forward path k.
that do not touch each other) + … and so forth 2. Calculate all loop transfer functions
with sums of higher number of non-touching loop 3. Consider non-touching loops 2 at a time
gains
4. Consider non-touching loops 3 at a time
5. Calculate Δ from steps 2,3,4 and 5
∆k = It is the path factor associated with
concerned path and involves all closed loop in 6. Calculate Δk as portion of Δ not touching
graph which are isolated from forward path forward path k
under consideration.
It is equal to value of graph determinant of a
SFG which exists after erasing the kth path
from the graph.
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Signal Flow Graph
Q. Apply Mason’s Rule to calculate the transfer function of the system represented by following Signal
Flow Graph
Therefore, C P11 + P2  2
=
R 
There are three feedback loops
L1 = G1G4 H1 , L2 = −G1G2G4 H 2 , L3 = −G1G3G4 H 2

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Signal Flow Graph
There are no non-touching loops, therefore
∆ = 1- (sum of all individual loop gains)
 = 1 − (L1 + L2 + L3 )
 = 1 − (G1G4 H1 − G1G2G4 H 2 − G1G3G4 H 2 )

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Signal Flow Graph
Eliminate forward path-1
∆1 = 1- (sum of all individual loop gains)+...

∆1 = 1
Eliminate forward path-2
∆2 = 1- (sum of all individual loop gains)+...

∆2 = 1
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Signal Flow Graph

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Signal Flow Graph
Q: Determine the overall transfer function C(s)/ R(s) of a given block diagram using SFG

Signal Flow Graph
The loop L2=-fg is not touching the forward path P1,
There are 6 forward paths therefore path factor associated with P1 is
The individual loops are

The loop L1=-bc is not touching the forward path
P2, therefore path factor associated with P2 is
All the loops are touching the forward paths

p3,p4,p5 and p6. therefor respective path factors The two non touching loops are

Signal Flow Graph
Graph determinant is

Signal Flow Graph
Q: Find the control ratio C/R for

the system given below.
Solution:
The signal flow graph is shown in the
figure.

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• The two forward path gains are • There are no non-touching loops, hence
• The five feedback loop gains are

• Hence the control ratio T
• All feedback loops touches the two

forward paths, hence

Signal Flow Graph
Q.Determine the transfer function

C/R for the block diagram below by
signal flow graph techniques.
Solution:
• The signal flow graph
of the above block
diagram is shown
below.

Signal Flow Graph
There are two forward paths. The path gains are Because the loops touch the nodes of P1, hence
Since no loops touch the nodes of P2, therefore

The three feedback loop gains are
Hence the control ratio T = C/R is
No loops are non-touching, hence

Signal Flow Graph
Q. Using Mason’s rule, find the transfer function of the following SFG


Daily Quiz
1. What are the essential characteristics of Signal Flow Graphs?

2. Explain self loop.
3. Write down mason’ gain formula for calculating overall transfer function
4. Loop which do not possess any common node are said to be ___________ loops.
5. Signal flow graphs:
a) They apply to linear systems
b) The equation obtained may or may not be in the form of cause or effect
c) Arrows are not important in the graph
d) They cannot be converted back to block diagram

Weekly Assignment
Q1:Determine the overall transfer function C(s)/ R(s) of a given block diagram using SFG

Weekly Assignment
Q2:Determine the overall transfer function C(s)/ R(s) of a given block diagram using SFG

MCQs
Use mason’s gain formula to find the transfer Use mason’s gain formula to find the transfer
function of the given signal flow graph function of the following signal flow graph
a) abd/1-(ac)
b) abdeg/1-(bc+ef)+bcef
c) abd/1-(bc+ef)+bcef
d) adcdef/1-(bc+ef)+bcef
a) abcd+efg/1-cd-fg-cdfg
The relationship between an input and output b) acdfg+bcefg/1-cd-fg-cdfg
variable of a signal flow graph is given by the net c) abef+bcd/1-cd-fg-cdfg
gain between the input and output node is known d) adcdefg/1-cd-fg-cdfg
as the overall______________
Answer: Overall gain of the system
Recap
• Signal flow graph is used to find the transfer function of a control system.
• Mason’s rule: It is a technique for reducing signal-flow graphs to single transfer function that
relate the output of system to its input.
σ𝑛𝑘=1 𝑃𝑘 ∆𝑘
𝑇=
∆
k = number of forward path

Pk = the kth forward - path gain

Modeling of Physical systems
Topic objective COs
• To study the mathematical modeling of electrical network CO1
• To study the mathematical modeling of Mechanical system CO1
• To understand the concept of analogous system CO1
• To study the mathematical modeling of field and armature -controlled DC servo

CO1
motor
Prerequisite:
• Basic knowledge of Transfer system.
• Knowledge of mechanical systems..

Modelling of Physical systems
Physical system modelling provides insight, not only in the behavior of systems that an engineer
working on multidisciplinary problems wishes to design, build, troubleshoot or modify, but also
in the behavior of the environment of that system.
Methods of system modelling
Transfer function method State variable method

(For LTI system) (for both linear and nonlinear
system)

Modelling of Electrical network
Using KVL


Modelling of Mechanical systems
Classification of Mechanical System
1.Translational Mechanical Systems

-Linear Motion
Translation motion is defined as a motion that

takes place along a straight line. The variable that
are used to describe TM are acceleration, velocity
and displacement.
According to newton’s law

of motion
෍ 𝐹𝑜𝑟𝑐𝑒 = 𝑀𝑎

Basic Elements of Translational Mechanical Systems 2.Translational Mass:

• Translational Mass is an inertia element.
• A mechanical system without mass does
1.Translational Spring
not exist.
• A translational spring is a mechanical element that • If a force F is applied to a mass and it is
can be deformed by an external force such that the
displaced to x meters, then the relation b/w
deformation is directly proportional to the force
applied to it. force and displacements is given by
Newton’s law.
• If F is the applied force
x1
x2
x(t )
• Then x1 is the deformation if x2 = 0
• Or (x1-x2) is the deformation. The equation of motion
F (t )
is given as F= k.(x1-x2) M
• Where k is stiffness of spring expressed in N/m

3.Translational Damper:
• When the viscosity or drag is not negligible in a system, we often model them with the damping
force.
• All the materials exhibit the property of damping to some extent.
• If damping in the system is not enough then extra elements (e.g., Dashpot) are added to increase
damping.
• B is damping coefficient (N/ms-1).
B
B
𝐹 = 𝐵. 𝑑𝑥/𝑑𝑡 𝐹 = 𝐵𝑑(𝑥1 − 𝑥2 )/𝑑𝑡

Example-1: Example-2:
Consider a simple horizontal spring-mass system Consider the following system (friction is
on a frictionless surface, as shown in figure negligible)
below.
k
x
F
M
Solution:
fk
Free Body
M fM
mx = −kx Diagram F
mx + kx = 0 Where fk and fM are force applied by the spring

and inertial force respectively.

Example-3:Consider the following system.

F = fk + fM
• Then the differential equation of the system is: k
x
F = Mx + kx F
M
C
• Taking the Laplace Transform of both sides and
ignoring initial conditions we get
Solution:
F ( s ) = Ms 2 X ( s ) + kX ( s )
Free Body Diagram
• The transfer function of the system is
fk fC
X (s) 1 M
= F fM
F(s) Ms 2 + k

Example: Obtain the differential equation
governing the mechanical system shown in the
Differential equation of the system is: figure. Find out the transfer function(s)/F(s) for the
system
F = Mx + Cx + kx
Taking the Laplace Transform of both sides and
ignoring Initial conditions we get
F ( s ) = Ms 2 X ( s ) + CsX ( s ) + kX ( s )
X (s) 1
=
F(s) Ms 2 + Cs + k

Rotational Mechanical Systems :
It can be defined as a motion about a fixed axis. The

extension of newton's law of motion for rotational
motion states the algebraic sum of torque about a
fixed axis is equal to the product of inertia and
angular acceleration about the axis.
According to newton’s law of motion

෍ 𝑇𝑜𝑟𝑞𝑢𝑒 = 𝐽α
Where J=Inertia , α=angular acceleration

Basic Elements of Rotational Mechanical 2.Rotational Damper

Systems
1.Rotational Spring
1
2 𝑇 = 𝐵(𝜃ሶ1 − 𝜃ሶ 2 )
T = k (1 −  2 )
3.Moment of Inertia
T = J

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B1
1 k1 2 3 k2
T J1 J2
Equivalent mechanical system
1 k1 2 B1 3
T ↑ J1 J2 k2

Example: For a Translational motion shown in the
According to newton’s law of motion
figure, obtain the differential equation and transfer
function ෍ 𝐹𝑜𝑟𝑐𝑒 = 𝑀𝑎
Taking Laplace transform of eq.(i)

Solution: Free body diagram

Example: For a rotational motion shown in the According newton’s law of motion
figure, obtain the differential equation and
transfer function
Free body diagram

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Analogous Systems
In between electrical and mechanical There are two analogy that are used to
system, there exist a fixed analogy. Due to go between electrical and mechanical
this, it is possible to draw a system which systems. The analogous quantities are
behaves exactly like the give mechanical given below. and mechanical system
system. This is called electrical analogous will have differential equation
to given mechanical system.
E.g. Transducer design
Two systems are said to be analogous to

each other if the following two conditions Force-Voltage Force-Current
are satisfied. analogy analogy
1. The two systems are physically
different
2. Differential equation modelling of
these two systems are same

Analogous Systems
Force Voltage Analogy : Force balance equation for the translational

mechanical system is
In force voltage analogy, the mathematical equations

of translational mechanical system are compared
with mesh equations of the electrical system. (i)
Consider the following translational mechanical
Consider the following electrical system as shown in
system as shown in the following figure: the following figure.

Analogous Systems
Comparing Eq.(i),(iii) and (iv),we get
(ii) Mechanical Mechanical Electrical System

translational Rotational
system system
Force(F) Torque (T) Voltage (V)
Mass (M) Inertia (J) Inductance (L)
Viscous friction Viscous friction Resistance ®
coefficient(B) coefficient(B)
(iii)
Spring Constant(k) Torsional Spring Reciprocal of
Constant(k) capacitance (1/C)
Basic Equation for rotational mechanical system
Displacement(x) Angular Charge (q)
displacement(θ
(iv)
Velocity(v) Angular Current(i)
velocity(ω)
Analogous Systems
Force Current Analogy As we know that voltage v=dϕ/dt where ϕ=flux linkage
In force current analogy, the mathematical

(vi)
equations of the translational mechanical
system are compared with the nodal equations of
the electrical system.
(v)
Analogous Systems
F-I analogy:
Nodal method for obtaining differential
equation for mechanical system
Mechanical Mechanical Electrical System
translational Rotational
1. Identify the no of nodes (Equal to the no of
system system
displacements)
Force(F) Torque (T) Current(i) 2. Take one reference node which is
Mass (M) Inertia (J) Capacitance (C) independent of main node
3. The mass and inertia elements are connected
Viscous friction Viscous friction Reciprocal of
coefficient(B) coefficient(B) Resistance(1/R)
between main node and reference node
irrespective their position or placement.
Spring Constant(k) Torsional Spring Reciprocal of 4. Spring and damper elements are connected to
Constant(k) Inductance (1/L) the main node or reference node depends on
Displacement(x) Angular Magnetic flux the position & placement of given
displacement(θ linkage (ϕ) mechanical system
Velocity(v) Angular Voltage(V)
5. Driving force and torque are connected at
velocity(ω) appropriate main node.

Analogous Systems
Example: Draw the equivalent mechanical system of Solution: Free body diagram
the givens control system then write the set of
equilibrium equation.(i) obtain electrical analogous
circuit by using F-V analogy (ii) Obtain electrical
analogous circuit by using F-I analogy
Equivalent mechanical system

Analogous Systems

Analogous Systems

Mathematical Modelling of DC servomotor
DC motor:
Fig: torque production in dc motor

Basic operational principle of dc servo motor:
DC motor is basically a torque transducer that covert EE to ME. The torque developed on motor
shaft is directly proportional to field flux and armature current

When conductor moves in magnetic field, a voltage is generated across its terminal. This
voltage is known as back emf, which is directly proportional to shaft velocity ( opposite to
current flow)
Servomotors are used in feedback control system. Theses motors should have linear
relationship between electrical a control signal and rotor speed.
DC motor + control circuit= Servomotor

Field Controlled DC motor
In field-controlled DC motor the armature voltage is kept

constant, and the speed is varied by varying the flux of
the machine. Since flux is directly proportional to field
current, the flux is varied by varying field current. Here
we will learn derivation of transfer function of field-
controlled dc motor.
Rf = Field resistance
Since the armature current is kept constant, Lf = Field inductance
relationship between developed torque and field if = Field current
current is given by Vf = Field voltage
T = Torque developed by motor
Kt = Torque constant
(i) Jm = Moment of inertia of rotor and load
Bm = Frictional coefficient of rotor and load
Where Kf is motor torque constant
Dynamic equation of motor are Corresponding Laplace transformed equation are
(ii)
(iii)
(iv)
(v)

From Eq (ii) to (iv),block diagram relating the output 𝜃𝑚 and input 𝑉𝑓 (s) is drawn and shown in the below
figure which considers 𝜃𝑚 (s) as output
Hence, the transfer function relating the output and input is given by

Armature Controlled DC motor:
The armature-controlled DC motor speed control

system is shown in the below figure. The input voltage
Va is applied to armature winding which has a
resistance Ra and inductance La.In this case, field
current is kept constant so that armature voltage will
control the motor shaft output.
Let Ra = Armature resistance,
La = Armature inductance
Since the field current is kept constant, Ia = Armature current
relationship between developed torque Tm and Va = Armature voltage
armature current is given by eb = Back emf
Kt = Torque constant
T = Torque developed by motor
(i)

The applied input voltage Va is opposed by the back emf eb developed in the armature. The relationship
between eb and motor speed is given by
(ii)
Dynamic equation and their Laplace equations of motor
(iii)
(iv)
(v)
(vi)
(vii)
(viii)

From Eq (iii) to (vii) the block diagram relating output and input is drawn

Overall transfer function relating the output and input If armature inductance neglected, then
is given by modified TF

Relationship between Kt and Kb
Block diagram representation of above TF

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emyNesoAcademyVerified

Daily Quiz
1. What are the physical significance of mathematical modeling of a physical system?

2. What are the differences between translational & rotational motion?
3. What is servo mechanism?
4. What is analogous system?
5. Write down the Force balanced equation and torque balanced equation for a mechanical system.
6. When a human being tries to approach an object, his brain acts as
a) An error measuring device.
b) A controller
c) An actuator
d) An amplifier

Weekly Assignment
1. Drive the expression of transfer function of armature and field control DC servo
motor
2. Explain F-V and F-I analogy in brief.
3. Determine the transfer function Y2 (s)/ F(s) of the system

Weekly Assignment
Draw the mechanical equivalent circuit for Draw the mechanical equivalent circuit diagram of a
the system shown below. Use F-V and F-I given system shown in the figure and write system
analogy. All the symbols have usual equation. Also find X2(s)/F(s).
meaning.

MCQs
Q. In force-current analogy, mass is

analogous to
a) Inductance
b) Current
c) Voltage
d) Capacitance
Q. Which of these systems can be modelled

by the given differential equation
a) 1 and 2
b) 1 and 3
c) 2 and 4
d) 1, 2 and 4

Recap
1. There are two methods of system moiling (i) transfer function method (ii) State variable
method
2. In between electrical and mechanical system, there exist a fixed analogy. Due to this, it is
possible to draw a system which behaves exactly like the give mechanical system. This is
called electrical analogous to given mechanical system.
3. Servomotors are used in feedback control system. Theses motors should have linear
relationship between electrical a control signal and rotor sped.

Glossary Questions (CO2)
Q. Pick the correct answer from given glossary
(a). Input signal (b) Take-off (c). Automatic (d) Summing point in
electric iron series with take-off
point
Q.1. Which terminology deals with the excitation or stimulus applied to the system from an
external source for the generation of an output?
Q.2. Which among the following represents an illustration of closed loop system?
Q.3. The output signal is fed back at the input side from the _____point.
Q.4. While shifting a take-off point after the summing point, which among the following should
be added?

8/12/2023 200
UNIT-I
Match the following (CO2)
Q. Match the following:
List-1 List-2
A major part of the automatic control Open-loop system
theory applies to the
Traffic light system is the example of Linear Time invariant systems
The Static system can be defined as Product of all branch gains while
traversing the forward path
Loop gain is equal to Output of the system depends only on
the present input.

8/12/2023 201
UNIT-I
Match the following (CO2)
Q. Match the following:
List-1 List-2
In a signal flow graph, nodes are represented by small _____ Branch
According to signal flow graph, which among the following Circles

represents the relationship between nodes by drawing a line between
them?
Which type of node comprises incoming as well as outgoing At input &
branches? output nodes
Where are the dummy nodes added in the branch with unity gain? Chain node

8/12/2023 202
UNIT-I
Old Question Papers
2018-19
2017-18
2016-17
2015-16
2014-15

Expected Questions for University Exam
1. What are the necessary components of the 1. What is meant by analogous System?
feedback control system? 2. Find the transfer function
2. Find transfer function using block diagram
reduction technique.

References
[1]. B.C.Kuo & Farid Golnaraghi, “Automatic Control Systems”, 10th Edition, John Wiley
India, 2008.
[2]. J. Nagrath & M. Gopal, “Control System Engineering”, NewAge International
Publishers.
[3]. A. Ambikapathy, “Control Systems”, Khanna Publishing House, Delhi.
[4]. Joseph J. Distefano III, Allen R. Stubberud, Ivan J. Williams, “Control Systems” Schaums
Outlines Series, 3rd Edition, Tata McGraw Hill, Special Indian Edition 2010.
[5]. William A. Wolovich, “Automatic Control Systems”, Oxford University Press, 2010.

Thank You
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Noida Institute of Engineering and Technology, Greater Noida

Introduction to Control System

Subject Name: Control System

Session: 2023-2024 Mr. Devendra Pratap

Mr. Devendra Pratap Control System

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1. Robot arms used in industrial manufacturing require control of

S. No. The intended objectives of this course are given as follows

4 The concept the state space analysis of a control system.

5 The digital control system and its analysis.

PO1: Engineering knowledge

Mr. Devendra Pratap Control System

PSO3: To function effectively as an individual and as a member or leader of a team by

Mr. Devendra Pratap Control System

Mapping of Course Outcomes and POs & PSOs

8/12/2023 Mr. Devendra Pratap Control System UNIT-I 12

PE02: To lead a successful career in industries or to pursue higher studies or to understand

Mr. Devendra Pratap Control System

Mr. Devendra Pratap Control System

8/12/2023 Mr. Devendra Pratap Control System UNIT-I 15

Knowledge of Laplace Transform

8/12/2023 Mr. Devendra Pratap Control System UNIT-I 18

• Control system is an integral part of modern society

• It also presents the modeling of control systems and

• The methods of ascertaining stability are dealt with as

Mr. Devendra Pratap Control System

Mr. Devendra Pratap Control System

The intended objectives of this course are given as follows:

Mr. Devendra Pratap Control System

Topic objective COs

To understand basics of transfer function. CO1

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Control is the process of causing a system variable to

• The interaction is defined in terms

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Basic Components of a Control System

The basic ingredients of a control system can

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U(S) G(S) Y(S)

Polynomial form of transfer function

Where L is the Laplace operator.

8/12/2023 Mr. Devendra Pratap Control System UNIT-I 27

• Roots of denominator polynomial of a transfer function are

Mr. Devendra Pratap s-plane

Time constant form or factorized form of transfer function

Types gives the no of poles at origin of an Where K=System Gain

Order gives the total no of poles in s-plane or

8/12/2023 Mr. Devendra Pratap Control System UNIT-I 29

Insignificant Pole: The pole that lies in NOTE:

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1. What is control system?

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1. .What are the applications of control system in our daily life?.