Cover
Halftitle Page
Title Page
Copyright Page
Contents
Foreword
Preface
Acknowledgements
Chapter 1 Introduction to Control Systems
Introduction
1.1 Basic Definitions and Terminologies
1.2 Basic Elements of Control System
1.2.1 Generic Control Loop Terminologies
1.3 Open Loop and Closed Loop Systems
1.3.1 Electronic Voltage Regulator—As a Closed Loop System
1.3.2 Advantages and Disadvantages of Open Loop and Closed Loop Systems
1.3.3 Comparison of Closed Loop and Open Loop Systems
1.4 Transfer Functions
1.4.1 Properties of Transfer Functions
1.4.2 Representation of Transfer Functions
1.4.3 Relative Degree of Transfer Functions and its Implications on Performance
1.4.4 Classification of Transfer Functions Based on the Relative Degree
1.5 Introduction to Modeling
1.5.1 Types of Model
1.5.2 Translational Mechanical Systems
1.5.3 D’Alembertls Principle
1.5.4 Procedure for Obtaining Transfer Function for Dynamical Systems
1.5.5 Rotational Mechanical Systems
1.5.6 Modeling of Electrical Systems
1.5.7 Modeling of Electromechanical Systems
1.6 Electrical Analogous of Mechanical Translation System
1.6.1 Force-Voltage Analogy
1.6.2 F-V Analogous Network
1.6.3 F-V Analogous System
1.6.4 Force-current Analogy
1.6.5 Torque Current Analogous Circuit
Exercise
Short Questions and Answers
Chapter 2 Block Diagram Reduction and Signal Flow Graph
2.1 Block Diagram Reduction
Introduction
Diagram Blocks
2.1.1 Block Diagram of Physical Systems
Block Diagram Reduction
2.1.2 Rules of Block Diagram Algebra
2.1.3 Advantages and Disadvantages
Advantages
Disadvantages
2.2 Signal flow graph
Introduction
2.2.1 Definition of Signal Flow Graph
Signal Flow Graph Terminology
2.2.2 Properties of Signal Flow Graph
2.2.3 Signal Flow Graph Algebra
Procedure
2.3 Block Diagram to Signal Flow Graph Conversion
Exercise
Short Questions and Answers
Chapter 3 Time Response Analysis
3.1 Introduction to Timo Response Analysis
System Response
3.1.1 Natural or Unforced Response of the System
3.1.2 Test Signals and Need for Test Signals
Test Signals
3.1.3 Need for Test Signals
3.1.4 Transfer Function of Closed Loop System
3.1.5 Poles & Zeros of Transfer Function
Note
3.1.6 Order and Type of the System
Order of the System
3.1.7 Type of the System
3.2 First Order System Response
3.2.1 Step Response Analysis of First Order System
3.2.2 First Order System Performance Specifications
3.2.3 Ramp Response Analysis of First Order System
3.2.4 Impulse Response Analysis of First Order System
3.3 Second Order System Response
3.3.1 Generic Second Order Transfer Function
3.3.2 Performance of Second Order System
3.3.3 Damping Ratio and System Response
3.3.4 Response of Second Order System for Step Input
3.3.5 Response of Second Order System for Impulse Input
3.4 Transient Response Specifications
3.5 Response with P, PI and PID Controllers
3.5.1 Proportional Mode
3.5.2 Proportional Derivative Mode
3.5.3 Derivative Mode
3.5.4 Proportional Integral Mode
3.5.5 Proportional Integral Derivative Mode
3.6 Steady State Error
3.6.1 Sources of Steady State Errors
3.6.2 Evaluation of Steady State Error for a Given Input
3.7 Static Error Constants
3.8 Generalized Error Coefficient
3.9 Computational Issues and Dynamic Error Coefficients
3.10 Effects of Feedback
Introduction
The Feedback Principle
3.10.1 Effect of Feedback on Noise
3.10.2 Effect of Feedback on Stability
3.11 Response of Higher Order Systems Using Time Response Analysis
Exercise
Short Questions and Answers
Chapter 4 Frequency Response Analysis
4.1 Introduction to Frequency Response
4.1.1 Complex Frequency Approach for Frequency Analysis
4.1.2 Advantages and Disadvantages of Frequency Response Techniques
4.1.3 Frequency Response Characteristics
4.1.4 Frequency Response Specifications of Second Order Systems
4.1.5 Correlation Between Second Order Frequency and Time Response
4.2 Determination of Frequency Response
4.2.1 Analytical Determination of Frequency Response
4.2.2 Graphical Dt termination of Frequency Response
4.2.3 Bode Diagram Approach for Frequency Response Estimation and Stability Determination
4.2.4 Basic Terminologies in Bode Plot Plotting Bode Plots
4.2.5 Determination of Gain Margin and Phase Margin from Bode Plot
Dead Time (or) Transportation Lag Block
4.2.6 Frequency Response of Dead Time Block
4.3 Polar Plots
4.3.1 Procedure Determination of Gain Margin and Phase Margin of System from Polar Plot
4.4 Nichols Chart
4.4.1 Closed Loop Frequency Response From Nichols Chart
4.5 M and N Circles (Relate Open Loop and Closed Loop Response)
4.6 Obtaining the Minimum Phase Transfer Function from the Bode Magnitude Plot
4.7 Non minimum Phase and All Pass Systems [jntu - 2007]
Exercise
Short Questions and Answers
Chapter 5 Stability Concepts
5.1 Introduction to Stability
5.1.1 Need for Stability
5.1.2 Stability Definitions
5.2 Routh Hurwitz (or) Algebraic Stability Criterion
5.2.1 Hurwitz Statement
5.2.2 Hurwitz Stability Criterion
5.2.3 Routh Stability Criterion
5.2.4 Relative Stability (Shifting the Origin)
5.2.5 Disadvantages of Routh Stability Criterion
5.3 Root Locus
Introduction
5.3.1 Root Locus Detinition
5.3.2 The Root Locus Concept
5.3.3 Evans Conditions
5.3.4 Rules for Construction of Root Locus
5.3.5 Determination of Open Loop Gain for Specified Damping of Dominant Roots
5.3.6 Step by Step Procedure to Draw Root Locus
5.4 Nyquist Stability Criterion
5.4.1 Basic Definitions
5.4.2 Stability Analysis Using Nyquist Criterion
5.4.3 Stability Analysis of Systems with Dead Time
5.4.4 Relative stability Using the Nyquist Stability Criterion
Exercise
Short Questions and Answers
Chapter 6 Discrete Data Control Systems and State Space Methods
6.1 Introduction
6.1.1 Discrete and Continuous Signals
6.1.2 Z-transforms
6.1.3 Definition of Z-transform
6.1.4 Region of Convergence and its Properties
6.1.5 Properties of Z-transform
6.2 Inverse Z-transform
6.3 Basics of Discretization
6.3.1 Reasons for Sampling
6.3.2 Mathematical Model for Hold Operation
6.3.3 Mathematical Model of Sample and Hold Operation
6.4 Digital vs. Discrete Time Control Systems
6.4.1 Advantages of Digital Control
6.4.2 Sampling Theorem
6.5 Open Loop and Closed Loop Sampled Data Control Systems
6.6 State Space Analysis of Control Systems
6.6.1 Advantages of State Space Formulation Against Transfer Function Approach
6.7 State Space Representation
6.7.1 Generic State Space Representation
6.7.2 Basic Definitions
6.8 State Space Representation of Physical Systems
6.8.1 State Space Models from Transfer Functions
6.8.2 Controller Canonical Form
6.8.3 Observer Canonical Form
6.8.4 Diagonal Form
6.9 Transformation of State Space to Transfer Function
6.9.1 Comments on State Space Realization from a Given Transfer Function
6.9.2 Inverse of t he Matrix Using LU-Decomposition (Gauss-Seidel Method)
6.10 Solution to State Equation
6.10.1 Properties of Matrix Exponential
6.10.2 Computation of Matrix Exponential
6.10.3 Solution of State Equation with Input
6.11 Eigenvalues, Eigenvectors and Jordan Canonical Form
6.11.1 Left and Right Eigen Vector
6.12 Similarity Transfoi mation
6.13 Controllability and Observability
Exercise
Short Questions and Answers
Chapter 7 Control System Components
7.1 Introduction to Control System Components
7.1.1 Sensors
7.1.2 Controllers
7.1.3 Actuators
7.2 Components of Control Systems
7.2.1 Potentiometer
7.2.2 Tacho Generator
7.2.3 Operation of DC Tacho Generator
7.2.4 Transfer Function of DC Tacho Generator
7.2.5 Operation of AC Tacho generator
7.3 Synchros
7.3.1 Classification of Synchros
7.3.2 Synchro Transmitter: (Synchro Generator)
7.3.3 Synchro Control Transformer
7.3.4 Synchro as Error Detector
7.4 Actuators
7.4.1 Stepper Motor
7.4.2 Basic Configuration
7.4.3 Modes of Operation of Stepper Motor
7.4.4 Micro - Stepping Operation
7.4.5 Dc Motors vs. Stepper Motors
7.5 Servomotors
7.5.1 Introduction
7.5.2 DC Servo motors
7.5.3 Armature Controlled DC Servomotor
7.5.4 AC Servomotor
7.6 Gyroscopes
7.6.1 Basic Principle
7.6.2 Application of Gyroscopes in Air Flights
7.7 Controllers
7.7.1 Need for Controller
7.7.2 Digital Controllers
7.7.3 Analog Controllers
7.7.4 Integral Control
7.7.5 Derivative Controllers (D)
7.7.6 Composite Mode Controllers
7.7.7 PID Controller
7.8 Compensators
7.8.1 Advantages and Disadvantages of Compensators
7.8.2 Types of Compensation
7.8.3 Types of Compensators
7.9 Frequency and Time Domain Specification
7.10 Analysis of Cascade Compensators
7.10.1 Frequency Domain Interpretations
7.10.2 Frequency at Which Maximum Phase Lead Occurs
7.10.3 Realization of Lead Compensator
7.11 Design Using Root Locus
7.12 Lag Compensator
7.13 Lag Lead Compensator
7.14 Modulator and Demodulator (Signal Conditioning)
Exercise
Short Questions and Answers
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