AUTOMATIC CONTROL

SYSTEM
SYLLABUS
 Dr. Babasaheb Ambedkar Marathwada University, Aurangabad
Proposed Syllabus Structure of B. E. (Mechanical Engineering) w. e. f. Academic Year 2014-15
Part I
Contact Hours / Week Examination Scheme

Subjec Duration of
Subject L T P Total CT TH TW P Total Remark
t Theory
No. Examinatio
n
MED401 I. C. Engine 4 2 6 20 80 100 3
MED402 Automatic Control System 4 2 6 20 80 100 3
MED403 Metrology and Quality Control 4 2 6 20 80 100 3
MED404 Turbo Machines 4 2 6 20 80 100 3
Elective-I* 4 4 20 80 100 3
MED421 Lab-I I.C. Engine 25 25 50
MED422 Lab-II Automatic Control System 25 25
MED423 Lab-III Metrology and Quality Control 25 25 50
MED424 Lab-IV Turbo Machines 25 25
MED425 Lab-V
Seminar 2 2 50 50
Project-I 2 2 50 50
20 12 32 100 400 125 125 750
Elective-I
MED441 Energy Conservation and Management
MED442 Power Plant Engineering
MED443 Production Planning and Control
MED444 Advanced Materials and Manufacturing
MED445 Modern Management Techniques
MED446 Open Elective
 MED402-AUTOMATIC CONTROL SYSTEM

Teaching Scheme Examination Scheme

Lectures: 4Hrs/week Theory: 80 Marks (3Hrs.)
Class Test: 20 Marks (1Hrs.)

Objectives:
Understand basic control concepts and basic control actions.
Understand simple mathematical modeling and understand the concept of block diagram
and signal flow graph.
Study of system in time & frequency domain and understand concept of stability.

Course Content:

Unit - I (08Hrs)
Introduction: Need of control system, Manual vs. Automatic Control System, Advantages of
Automatic Control System, Open Loop and Closed Loop Control System and their comparison,
Concept of Feedback, Requirements of Ideal Control System, Generalized Control System, and
Definition of Transfer Function.
Representation of Control System Components: Study of various types of control system
components and their mathematical representation used in systems like Mechanical system,
Electrical system, Thermal system, Fluid system, Grounded chair representation, Force-Voltage,
Force-Current Analogy.

Unit - II (06 Hrs)

Block Diagram and Signal Flow Graph: Transfer function definition, Block representation of
System Elements, Block Diagram Reduction, Conversion of Block Diagram to Signal Flow Graph
and vice versa, Masons Gain Formula, Comparison of Block Diagram and Signal Flow Graph,
Finding Transfer Function of Control System by both methods.

Unit - III (06 Hrs)

Control Action and Controllers: Basic types of control action like ON/OFF, Proportional,
Integral, Derivative type and their combinations, Pneumatic and Hydraulic (P, I, PI, PD and PID)
controllers, Comparison of Pneumatic and Hydraulic Control system.
Electrical Systems: Detail study of A.C and D.C Servo Motor, Stepper motor Servomechanism,
Position Control System

Unit - IV (08 Hrs)

Transient and Steady State Response Analysis: Introduction, Various types of standard input
signals, First order response to Step, Ramp and Impulse Input, Response of second order system to
step input, System specifications. Concept of time constant and its importance in speed response,
Effect of Damping ratio on response of Second Order System.
Unit -V (08 Hrs)
Frequency Response Analysis : Stability Analysis, System Stability and Rouths Stability
Criteria, Relative Stability Concepts, Nyquist stability criterion, Polar plots Phase and Gain margin
Bode plot attenuation diagram, Stability Analysis using Bode plots, Simplified Bode plot.

Unit -VI (04 Hrs)

Root Locus Plots: Definition of Root loci, General Rules for constructing Root Locus, Analysis
using Root Locus Plots, Use of MATLAB software in control system.

Section A Unit I, II and III

Section B Unit IV, V and VI

References:
1. Control System Engineering, Ogatta, Prentice Hall of India Pvt. Ltd.
2. Automatic Control Systems, Kuo, Golnaraghi, Kunche, Wiley India.
3. Automatic Control Engineering, Francis H. Raven, McGraw Hill
4. Control Systems- Principles and Design, M.Gopa1,McGraw Hill Education.
5. Feedback Control System, Dr. S.D. Bhide, S. Satyanarayan, N.A. Jalgaonkar: Technova
Pub. [ Pune]Pvt. Ltd.
6. Control System Engineering, I.I Nagrath,M.Gopal, New Age International Publishers.

Pattern of the Question Paper:

The units in the syllabus are divided in two equal sections. Question Pattern consist of two sections
A and B. Section A questions shall be set on first 3 units(I, II and III) and sections B questions on
remaining 3 units ( IV, V and VI). Question paper should cover the entire syllabus.

For 80 Marks Paper:

1. Five questions in each section.
2. Attempt any three questions from eachsection.
UNIT I
MED402-AUTOMATIC CONTROL SYSTEM

Unit - I (08Hrs)
Introduction: Need of control system, Manual vs. Automatic Control System,
Advantages of Automatic Control System, Open Loop and Closed Loop Control
System and their comparison, Concept of Feedback, Requirements of Ideal
Control System, Generalized Control System, and Definition of Transfer
Function.
Representation of Control System Components: Study of various types
of control system components and their mathematical representation used in
systems like Mechanical system, Electrical system, Thermal system, Fluid
system, Grounded chair representation, Force-Voltage, Force-Current Analogy.
CONTROL SYSTEM
A control system is a system of devices or set of devices, that manages,
commands, directs or regulates the behavior of other device(s) or system(s)
to achieve desire results.
The input to the system is the reference value, or set point, for the
system output.
The output is the actual response obtained from a system.

.
NEED OF CONTROL SYSTEM
There were several stages in the history of development of technology. After the
invention of steam engine and other machinery, the efficiency and the speed of
production was improved in the era of Industrial Revolution. However, so many
machines claimed to be automatic were those nonstop machines indeed. Owing
to the lack of sensitive sensors and processors, those machines were not
equipped with good control systems, thus they were only categorized as open
loop control system.
To improve the precision of the control systems, operators were engaged to
control the machines. They played an important role as sensors and decision-
makers. They compared the inputs with the status needed, then provided
feedback and made decision (their brains). Afterwards, they adopted some
procedures to stabilize the systems and minimized the errors. Lastly, the outputs
were close to the requirements. Therefore, manual operation in the system is a
kind of closed loop control system.
NEED OF CONTROL SYSTEM
After the trustable sensors, processors and driving devices were well developed,
automatic machinery gradually replaced those manual ones. Under the conditions
of clear and repeated procedures, and those procedures which are operated by
automatic adjustment system instead, automatic control machinery is more
suitable for use. Therefore, those automatic controlled machines are suitable for
boring and repeated works. For example, it is better for a temperature sensor
involved in the control of the switching on or off the compressor of the air
conditioner.
After the emergence of processors and new models of sensors, manual control
systems were gradually and easily replaced by computer control systems.
Therefore, machinery becomes automatically controlled. For example, a newly
developed "internet refrigerator" can automatically order food through internet
when it is empty.
MANUAL VS AUTOMATIC CONTROL SYSTEM
MANUAL VS AUTOMATIC CONTROL SYSTEM
A system that involves:
Manual Control System :
A person controlling a machine is called manual control.
Ex: Driving a car

Automatic Control System:

Machines only is called a automatic control.
Ex: Central AC
ADVANTAGES OF AUTOMATIC CONTROL
SYSTEM
The main advantages of Automatic Control System are:
Increased throughput or productivity.
Improved quality or increased predictability of quality.
Improved robustness (consistency), of processes or product.
Increased consistency of output.
Reduced direct human labor costs and expenses.
OPEN LOOP AND CLOSED LOOP CONTROL
SYSTEM
OPEN LOOP CONTROL SYSTEM

Open Loop Control System :

In an open-loop control, the system does NOT measure the actual output
and there is no correction to make that output conform to the desired
output.
CLOSED LOOP CONTROL SYSTEM

Closed Loop Control System:

In a closed loop control the system includes a sensor to measure the output
and uses feedback of the sensed value to influence the control input variable.
DIFFERENCE BETWEEN OPEN LOOP AND
CLOSED LOOP CONTROL SYSTEM

Sr.no Point of Difference Closed loop control system Open loop control system
Change in output affects No change in input with
1 Definition
input change in output
2 Feedback loop Present Not Present
3 Error Correction Possible Not possible
4 Accuracy Very accurate Inaccurate
5 Stability Stability is a major issue. Most stable
DIFFERENCE BETWEEN OPEN LOOP AND
CLOSED LOOP CONTROL SYSTEM
Sr.no Point of Difference Closed loop control system Open loop control system
6 Construction Complex Simple
7 Sensitivity to noise Less sensitive Highly sensitive
8 Effect of non linearities Effect is reduced Highly affected

9 Block Diagram

Missile launching system, Water sprinkler, Traffic light

10 Examples
Voltage stabilizer controller.
FEEDBACK CONTROL SYSTEM
Closed Loop Control Systems utilizes feed back to compare the actual
output to the desired output response.
A system that maintains a prescribed relationship between the output and
some reference input by comparing them and using the difference (i.e.
error) as a means of control is called a feedback control system.
FEEDBACK CONTROL SYSTEM
Main feature : Feedback and Comparison
Sensor measures the system output and feeds it back
Comparator computes the difference between the reference signal and
the sensor output to give the controller a measure of the system error
 FEEDBACK CONTROL SYSTEM

Automobile Cruise Control

THE EFFECTS OF FEEDBACK
Reduce the error between the actual and the desired value
Change the stability of the system
Change the overall system gain
Change the sensitivity of the system gain
Change the bandwidth of the system
Reduce the effect of external disturbances and noise
Reduce the effect of variations of system parameters
REQUIREMENT OF IDEAL CONTROL SYSTEM
REQUIREMENT OF IDEAL CONTROL SYSTEM
REQUIREMENT OF IDEAL CONTROL SYSTEM
REQUIREMENT OF IDEAL CONTROL SYSTEM
TRANSFER FUNCTION
A control system consists of an output as well as an input signal. The
output is related to the input through a function call transfer function. This
function is represented by a block and the complete diagram of control
system using these blocks which represent transfer function and arrows
which represent various signals, is collectively known as block diagram of
a control system.
TRANSFER FUNCTION
For any control system there exists a reference input termed as excitation
or cause which operates through a transfer operation termed as transfer
function and produces an effect resulting in controlled output or response.
Thus the cause and effect relationship between the output and input is
related to each other through a transfer function.
In Laplace Transform, if the input is represented by R(s) and output is
represented by C(s), then the transfer function will be
()
G(s) = . = ()
()
That is, transfer function of the system multiplied by input function gives
the output function of the system.
WHY INPUT, OUTPUT AND OTHER SIGNALS ARE
REPRESENTED IN LAPLACE FORM IN A CONTROL
SYSTEM?
It is not necessary that output and input of a control system are of same
category. For example, in electric motors the input is electrical signal
whereas the output is mechanical signal since electrical energy required to
rotate the motors. Similarly in an electric generator, the input is mechanical
signal and the output is electrical signal, since mechanical energy is
required to produce electricity in a generator. But for mathematical
analysis, of a system all kinds of signals should be represented in a similar
form. This is done by transforming all kinds of signal to their Laplace form.
Also the transfer function of a system is represented by Laplace form by
dividing output Laplace transfer function to input Laplace transfer function.
WHY INPUT, OUTPUT AND OTHER SIGNALS ARE
REPRESENTED IN LAPLACE FORM IN A CONTROL
SYSTEM?
Hence a basic block diagram of a control system can be represented as

[ ]
Where R(s) = L[r(t)], C(s) = L[c(t)] and G(s) =
[()]

Where, r(t) and c(t) are time domain function of input and output signal
respectively.
DEFINITION OF TRANSFER FUNCTION
The transfer function of a control system is defined as the
ratio of the Laplace transform of the output variable to
Laplace transform of the input variable assuming all initial
conditions to be zero.

()
G(s) =
()
ELECTRICAL SYSTEM
Let us consider a system consists of a series connected resistance (R) and
inductance (L) across a voltage source (V).

In this circuit, the current 'i' is the response due to applied voltage (V) as cause.
Hence the voltage and current of the circuit can be considered as input and output
of the system respectively.
ELECTRICAL SYSTEM
From the circuit, we get,

Now applying Laplace Transform, we get,

Transfer Function G(s)

ELECTRICAL SYSTEM
MECHANICAL SYSTEM
MECHANICAL SYSTEM
MECHANICAL SYSTEM
MECHANICAL SYSTEM
MECHANICAL SYSTEM
MECHANICAL SYSTEM
MECHANICAL SYSTEM

We now write the differential equation of motion using Newtons law,

MECHANICAL SYSTEM
Taking the Laplace transform, assuming zero initial conditions

Solving for transfer function yields

THERMAL SYSTEM
THERMAL SYSTEM
THERMAL SYSTEM
THERMAL SYSTEM
FLUID SYSTEM
FLUID SYSTEM
FLUID SYSTEM
FLUID SYSTEM
FLUID SYSTEM
FLUID SYSTEM
FLUID SYSTEM
FLUID SYSTEM
FLUID SYSTEM
FLUID SYSTEM
PNEUMATIC SYSTEM HYDRAULIC SYSTEM
FLUID SYSTEM
ANALOGUS SYSTMS
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Thank You