Control Electronics GATE PSU Study Materials

Control System-EC Postal Correspondence Course 1
SAMPLE STUDY MATERIAL

Electronics Engineering
EC / E & T
Postal Correspondence Course

GATE, IES & PSUs
Control System
28-B/7, Jia Sarai, Near IIT, Hauz Khas, New Delhi-110016. Ph. 011-26514888. www.engineersinstitute.com
© 2015 ENGINEERS INSTITUTE OF INDIA® . All Rights Reserved
CONTENT
1. LAPLACE TRANSFORM ……………………………………………………. 03-06
2. BASICS OF CONTROL SYSTEM ……………………………………………… 07-16
3. TRANSFER FUNCTION ………………………………………………………… 17-25
4. TIME RESPONSE ANALYSIS OF CONTROL SYSTEM …………………… 26-37
5. ERROR ANALYSIS STEADY STATE ERROR ……………………………….. 38-42
6. STABILITY ANALYSIS ……………………………………………………….. . 43-48
7. ROOT LOCUS ………………………………………………………………….... 49-69
8. NYQUIST STABILITY CRITERION ………………………………………….. 70-75
9. FREQUENCY RESPONSE ……………………………………………………… 76-86
10. COMPENSATOR ……………………………………………………………….. 87-93
11. M-N CIRCLE …………………………………………………………………….. 94-98
12. STATE VARIABLES …………………………………………………………… 99-105
13. CONTROL SYSTEM COMPONENT …………………………………………. 106-114
14. PRACTICE SET WITH (SOLUTIONS) ………………………………………115-124
15. TOPIC WISE QUESTION (GATE, IES, CIVIL SERVICES, PSU’s)……… 125-242
1. Transfer function, 2. Transient response 3. Stability

4. Root locus 5. Nyquist plot 6. Bode plot
7. Compensator 8. State space analysis 9. Miscellaneous
© 2015 ENGINEERS INSTITUTE OF INDIA® . All Rights Reserved
CHAPTER-1
LAPLACE TRANSFORM
Let F be a function it’s Laplace transform is denoted by ( f ) . The Laplace transform f(s) of a
function f(t) is defined by


 ( f )  f ( s )   e ts f (t ) dt
0
The integral is evaluated with respect to t , hence once the limits are substituted what is left are is term
of s.
Derivation of Laplace Transform:

1
(1)  (e )   eat e st dt 
at
0
sa
 1  at
(2)  1  e
 sa
(3) f(t) = eat put a = j
L  e j  
1
s  j
e j  cos t  j sin t
1 s  j
L (cos  t  j sin  t )   2
s  j s   2
s  j
L(cos t  jt ) 
s2   2
s 
L  cos t   L  sin t  
s  2 2
s  2
2
 s    
L1  2 2 
 cos t L1  2 2 
 sin t
 s    s  
(4) In the function f(t) = eat
a    j
e at  e (   j ) t f (t )  e (   j ) t
L  e (   j ) t  
1 1

s  (   j ) ( s   )  j
Postal Course ( GATE & PSUs) © 2015 ENGINEERS INSTITUTE OF INDIA® . All Rights Reserved
e(   j )t  e  t (cos t  j sin t )
1 ( s   )  j
Le  t (cos t  j sin t )  
( s   )  j (s   )2   2
s  
L  e  t cos t   Le  t  sin t  
(s   )   2 (s   )2   2
 s    t     t
L1  2 
 e cos t L1  2 
 e sin t
 (s   )     (s   )   
2 2
(5) In the function f(t) = eat put a = 1

f(t) = et
L  et  
1
s 1
Table of L.T
f(t) f(s) = L{f(t)}
(1) f(t) unit impulse at t = 0 1
1
(2) u(t) unit step at t = 0
s
1  sT
(3) u(t – T) unit step at t = T e
s
1
(4) t
s2
t2 1
(5)
2 s3
n
(6) tn n 1
s
1
(7) eat
sa
1
(8) eat
s a
1
(9) te–at
( s  a)2
1
(10) teat
( s  a)2
n
(11) tne–at
( s  a ) n 1

(12) sin t
s  2
2
s
(13) cos t
s  2
2

(14) e–t sin t
(s   )2   2
s 
(15) e–t cos t
(s   )2   2

(16) sinh  t
s  2
2
s
(17) cosh  t
s  a2
2
Basic Laplace transform theorems:-
(1) LT of linear combination L  af1 (t )  bf 2 (t )  aF1 ( s )  bF2 ( s )
(2) If the Laplace transform of f(t) is F(s) then
 df (t )  
(i) L    sF ( s)  f (0 )
 dt 
 d 2 f (t )   
  s F ( s )  sf (0 )  f (0 )
2 '
(ii) L  2
 dt 
 d 3 f (t )  3   
  s F ( s )  s f (0 )  sf (0 )  f (0 )
2 1 "
(iii) L  3
 dt 
(3) If the Laplace transform of f(t) is F(s) then
 F (s) f 1 (0 ) 
(i) L  
f (t )  
 s

s 
 F (s) f 1 (0 ) f 2 (0 ) 

(ii) L   
f (t )   2 
 s s2

s 
F ( s ) f 1 (0  ) f 2 (0  ) f 3 (0  )
(iii) L   f (t )   s3

s3

s2

s
(4) If the LT of f(t) is F(s) then Le–atf(t) = F(s + a)
(5) if the LT of f(t) is F(s)
dF ( s)
L  tf (t )   
ds
(6) Initial value theorem
lim f (t )  lim s Lf (t ) lim f (t )  lim sF ( s)
t 0 s  t 0 s 
(7) lim f (t )  lim sLf (t ) lim f (t )  lim sF ( s)

t  s 0 t  s 0
Q.1. Find the invercese LT of the following functions
1
(i) F (s) 
s ( s  1)
 1  1  1  1  1 
L1    L  L  
 s ( s  1)  s  s 1
 1 
L1  t
  (1  e )
 s ( s  1) 
s6 s6
(ii) 
s ( s  4 s  3) s ( s  1)( s  3)
2
 1 
 2 2.5 
L1  F ( s )   L1    2 
 s s 1 s  3 
 
t 3 t
f (t )  2  2.5e  .5e
Q.2. Use the Laplace transform to solve the differential equation
d 2 v(t ) dv(t )
2
6  8v(t )  2u (t )
dt dt
v(o)  1, v '(0)  2
Solution : We take the L.T of each term in given differential equation
2
s 2V ( s)  sV (0)  V '(0)  6  sV ( s)  V (0)   8V ( s) 
S
V (0)  1, V '(0)  2
2
s 2V ( s)  s  2  6  sV ( s)  1  8V ( s) 
s
s 2  4s  2 A B C
V (s)    
s ( s  2)( s  4) s s  2 s  4
1 1 1
A  sV ( s ) / s 0  B  ( s  2)V ( s ) / s 2  C  ( s  4)V ( s ) / s 4 
4 2 4
1 1 1
V ( s)  4  2  4
s s2 s4
by the Inverse L.T
1
V (t )  (1  2e2t  e4t )u (t )
4
Q.3. Solve for the response y(t) in the following integrodifferential equation
t
dy
 5 y (t )  6 y ( )d  u (t )
dt 0
y (0)  2
Solution : Taking the LT of each term, we get
6 1
SY (s)  Y (0)  5Y (s)  Y ( s) 
s s
y (0)  2
Y ( s) s 2  5s  6  1  2s
2s  1
Y (s) 
( s  2)( s  3)
3 5
Y ( s)   
s2 s3
L Y ( s)    3e2t  5e3t  u (t )
1
CHAPTER-2
BASICS OF CONTROL SYSTEM
Open–Loop Control System
Control
Input 
 
 Output
Action
In an open loop Control System the output is neither measured nor feedback for comparison with input.
Faithfulness of an open loop control system depends on the accuracy of input calibration.
Closed-Loop Control System 
In a closed loop control system the output has an effect on control action through a feedback as shown
figure and hence closed loop control systems are also termed as feedback control systems. The control
action is actuated by an error signal e which is the difference b/w the input signal r and the output
signal c. This process of comparison b/w the output and input maintains the output at a desired level
through control action process.
Open Loop Systems Closed Loop Systems
C (s)
T .F .   G(s)
R( s)
Figure-(a)
1. Automatic coffee server 1. Electric Iron
2. Traffic Signal 2. D.C motor speed control
ADVANTAGES 
3. Simple and economic 3. Accurate and reliable
Disadvantages 
4. Unreliable 4. The system is complex and costly
5. Inaccurate 5. System may become unstable
From Figure-(a)
C (s)  G(s).E (s) …..(i)
E ( s )  R( s )  B( s ) …..(ii)
B( s)  C ( s) H ( s) …..(iii)
From (ii) and (iii) we have
E ( s )  R ( s )  C ( s ).H ( s ) …..(iv)
From (i) and (iv) we have
C (s) 1  G ( s ) H ( s )  C ( s) G( s)
 R( s )  C ( s ).H ( s ) R(s)  C (s)   
G (s)  G (s)  R( s ) 1  G ( s ) H ( s )
Modelling of a Control System

Translational Motion: Motion takes place along the horizontal or straight line to the section is called
translational motion.
FORCES THAT RESIST MOTION
1. Inertia Force:
According to Netwon’s 2nd law
F  ma [In terms of acceleration]
dv
F  m. [In terms of velocity]
dt
d 2x
F  m. [In terms of displacement]
dt
2. Damping Force:
dx
F (t )  B.v(t )  B.
dt
dx
F (t )  B.
dt
Where B = damping coefficient

unit of B = N/m/sec.
3. Spring Force:
The restoring force of a spring is proportional to the displacement.
FK (t )  Kx (t )
F  Kx
Unit of K = N/m
Where K = spring constant or stiffness
Stiffness = Restoring force per unit displacement.
ROTATIONAL SYSTEM:
The rotational motion of a body can be defined as the motion about a fixed point.
Force that resist motion:
1. Inertia Torque:
d 2 (t )
T1  J .
dt 2
 (t )  Angular velocity
J = moment of inertia
2. Damping Torque:
The damping torque TD(t) is the product of damping coefficient B and angular velocity .
TD (t )  B(t )
d
TD (t )  B.  (t )
dt
d
T  B.
dt
3. Spring Torque:
T = K
Unit of K = N.m/rad.
D’Alebert’s Principle:
The principle states that “ for any body the algebraic sum of all forces is equal to zero”
i.e. Applied force + Resisting force = 0
Example 1:
d 2x
Inertia force  F1  M
dt 2
dx
Damping force  F2  f .
dt
Spring force  F3  Kx
From D’Alembert’s principal
F  F1  F2  F3
d 2x dx
F M 2
f  kx ...(1)
dt dt
i.e. Applied force = Resisting force.

Procedure of Writing the Equations for Mechanical Systems:
1. Consider the system is in equilibrium
2. Same arbitrary displacement
3. Draw a free body diagram for each mass.
4. Apply Newton’s law of motion on each diagram
5. Write the equation in suitable form
Force Voltage Analogy:
 Consider the circuit shown below.
 Apply K.V.L.
di 1
vin  iR  L 
dt C
i.d (t ) 
dq
Since i  .
dt
dq d 2q q
 R L   vin
dt dt c
On Rearranging
d 2 q R.dq q
Vin  L   ……(2)
dt dt c
From example-1 on comparing equation (1) and (2) are can write.
Electrical Analogous to Mechanical
L Analogous to M
R Analogous to f
K Analogous to 1/C
Vin Analogous to Force
Q Analogous to Displacement ‘x’
FORCE CURRENT ANALOGY:

 Consider the circuit shown below.
Apply K.C.L.
V 1 dV
i 
R L 
v.dt  C.
dt
d
Since v 
dt
Cd 2 1 d 
i 2
 . 
dt R dt L
On comparing with the equation ( 1 ) of example 1(a) we can write.
Electrical Analogous to Mechanical

C “ M
1/R “ f
1/L “ K
 “ x
I “ force
Note: We can represent any mechanical system to a electrical system or vice-versa by the use of
modelling.
MECHANICAL COUPLING:
 Consider the two wheels are mechanically coupled.
Consider
w1 & w2  Angular velocity
T1 & T2  Torque
r1 & r2  Radius
Q1 & Q2 
Angular displacement
N1 & N2 = No. of teeth on wheels
 Consider ideal case

Work done by wheel ‘a’ = work done by wheel ‘b’
 T1Q1  T2Q2
T1 Q2
 ……(i)
T2 Q1
And linear distance will be
Q1 r2

Q2 r1
T1 Q2 r1
   …..(ii)
T2 Q1 r2
Since the n.o. of teeth is proportional to radius. Thus
N1 r1

N 2 r2
w1 Q2
And 
w2 Q1
T1 Q2 r1 N1 w2
So     …..(iii)
T2 Q1 r2 N2 w1
From force-voltage analogy

Where
V1  is analogous to  T1
V2  is analogous to  T2
I1  is analogous to  w1
I2  is analogous to  w2
r1  is analogous to  N1
r2  is analogous to  N2
 From force-current analogy
Question: Show the electrical connection diagram and model the armature controlled d.c. motor in a
block diagram form. Assume the necessary variables and obtained transfer function for change in
position of armature to the change in armature voltage. Express the transfer function in standard form.
IES-2011-EE
Solutions: Armature Controlled d.c. Motor
Figure
Consider the armature controlled d.c. motor and assume that the demagnetizing effect of
armature reaction is neglected, magnetic circuit is assumed linear and field voltage is constant i.e.
If = constant
Let Ra  Armature resistance
La  Armature self inductance caused by armature flux
if = field current
E = Induced e.m.f in armature
V = Applied voltage
T = Torque developed by the motor
 = Angular displacement of the motor shaft
J = Equivalent moment of inertia of motor shaft & load referred to the motor
B = equivalent coefficient of friction of motor and load referred to the motor
Apply KVL in armature circuit
dia
V  Ra ia  L E …..(1)
dt
Since, field current If Constant, the flux  will be constant
When armature is rotating, an e.m.f is induced
E  
E  Kb
d
or , E  Kb …..(2)
dt
Where   angular velocity
Kb  Back e.m.f constant
Now, the torque T delivered by the motor will be the product of armature current and flux
T ia
T  K ia …..(3)
Where K = motor torque constant

The dynamic equation with moment of inertia & coefficient of friction will be
d 2 d
TJ 2
B …..(4)
dt dt
Take the Laplace transform of equations 1, 2, 3 and 4
V (s)  E(s)  I a (s)(Ra  SLa )
E(s)  Kb S (s)
T ( s)  K I a ( s)
T ( s )  ( s 2 J  sB ) ( s )
T ( s )  ( SJ  B) S ( s )
The block diagram for each equation
Combine all four block diagrams
Figure : Block diagram of armature controlled d.c. motor
Now determine the transfer function by block reduction method.
 (s) K
 ….(5)
V ( s ) ( Ra  sLa )( Js  B) s  KKb s
Equation 5 can be written as
 (s) K

V (s)  L   J
Ra  1  s a  sB  1  s.   KK b s
 Ra   B 
La
Put   a time constant of armature circuit
Ra
J
  m  Mechanical time constant
B
Equation 5 becomes
 (s) K
 …..(6)
V ( s ) sRa B(1  s a )(1  s m )  KKb s
From the block diag. figure it is clear that it is a closed loop system. The effect of the back e.m.f is
represented by the feedback signal proportional to the speed of the motor.
77 Final Selections in Engineering Services 2014.

Rank Roll Name Branch
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6 088542 SUNEET KUMAR TOMAR ECE
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10 207735 VASU HANDA ECE
22 005386 RAN SINGH GODARA ECE
22 032483 PAWAN KUMAR EE
29 070313 SAURABH GOYAL EE
31 214577 PRAMOD RAWANI EE
33 075338 DIPTI RANJAN TRIPATHY ECE
35 003853 SHANKAR GANESH K ECE
35 091781 KOUSHIK PAN EE
36 052187 ANOOP A ECE
37 008233 ARPIT SHUKLA ECE
38 106114 MANISH GUPTA EE
41 018349 VINAY GUPTA ECE
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45 029174 NAVNEET KUMAR KANWAT EE
9 Rank under AIR 100 in GATE 2015 ( Rank 6,8,19,28,41,56,76,91,98)
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Control System-EC Postal Correspondence Course 1

SAMPLE STUDY MATERIAL

Postal Correspondence Course

1. LAPLACE TRANSFORM ……………………………………………………. 03-06

2. BASICS OF CONTROL SYSTEM ……………………………………………… 07-16

3. TRANSFER FUNCTION ………………………………………………………… 17-25

4. TIME RESPONSE ANALYSIS OF CONTROL SYSTEM …………………… 26-37

5. ERROR ANALYSIS STEADY STATE ERROR ……………………………….. 38-42

6. STABILITY ANALYSIS ……………………………………………………….. . 43-48

7. ROOT LOCUS ………………………………………………………………….... 49-69

8. NYQUIST STABILITY CRITERION ………………………………………….. 70-75

9. FREQUENCY RESPONSE ……………………………………………………… 76-86

10. COMPENSATOR ……………………………………………………………….. 87-93

11. M-N CIRCLE …………………………………………………………………….. 94-98

12. STATE VARIABLES …………………………………………………………… 99-105

13. CONTROL SYSTEM COMPONENT …………………………………………. 106-114

14. PRACTICE SET WITH (SOLUTIONS) ………………………………………115-124

1. Transfer function, 2. Transient response 3. Stability

function f(t) is defined by

(5) In the function f(t) = eat put a = 1

(1) f(t) unit impulse at t = 0 1

Basic Laplace transform theorems:-

(1) LT of linear combination L  af1 (t )  bf 2 (t )  aF1 ( s )  bF2 ( s )

(2) If the Laplace transform of f(t) is F(s) then

 F (s) f 1 (0 ) f 2 (0 ) 

(7) lim f (t )  lim sLf (t ) lim f (t )  lim sF ( s)

Q.1. Find the invercese LT of the following functions

Solution : We take the L.T of each term in given differential equation

Open–Loop Control System

Modelling of a Control System

Where B = damping coefficient

From D’Alembert’s principal

i.e. Applied force = Resisting force.

FORCE CURRENT ANALOGY:

On comparing with the equation ( 1 ) of example 1(a) we can write.

Electrical Analogous to Mechanical

w1 & w2  Angular velocity

N1 & N2 = No. of teeth on wheels

 Consider ideal case

And linear distance will be

Since the n.o. of teeth is proportional to radius. Thus

From force-voltage analogy

 From force-current analogy

Let Ra  Armature resistance

La  Armature self inductance caused by armature flux

Kb  Back e.m.f constant

Where K = motor torque constant

Take the Laplace transform of equations 1, 2, 3 and 4

V (s)  E(s)  I a (s)(Ra  SLa )

Combine all four block diagrams

Figure : Block diagram of armature controlled d.c. motor

Now determine the transfer function by block reduction method.

Equation 5 can be written as

77 Final Selections in Engineering Services 2014.

and many more.............................

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