Vision and Mission

• Vision
– Be a centre of excellence and higher learning in
Electrical Engineering and allied areas.
• Mission
– Mould professionally competent, ethically sound
and service oriented Electrical Engineers with
leadership qualities, aptitude for higher studies
and research.

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 Course Outcomes
• Design of classical controllers and compensators

• To model dynamic systems in alternate form- State

space model and its analysis.

• Design of Controllers in state space domain- state

feedback controller

• To analyse Sampled data Control Systems.

• To analyse nonlinear Systems

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Syllabus

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 Feedback control System
• Feedback control measures the output of a
process, calculates the error in the process and then
adjusts one or more inputs to get the desired output
value.
• The feedback control reacts only to the process error
(the deviation between the measured output value
and set point). So, it is called as REACTIVE CONTROL.

• Feedback control measures the output and verifies

with the reference. Hence called CLOSED LOOP
CONTROL

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 Feedback control System
• The output of the process is measured with the help of a sensor
and the sensor value is given to the controller to take a proper
controlling action.
• A controller compares this sensor signal with a set point and
generates a control signal.
• Actuators are the controlling devices used in a process so that the
controller output is the actuator input signal.
• Actuators effect the plant directly by varying the manipulating
variable.
• Controller action will be zero until the process variable meets set
point.
• In a feedback control system controller takes control action only
after the process variables and disturbance effects the process and
the control action is also given to the process directly, which is
different in feed forward control.

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 Feed forward control
• A feed forward controller avoids the slowness of the
feedback control.
• It measures one or more inputs of a process, calculates
the required value of the other inputs and then adjusts it
(measures disturbance variables or other input variables and take
corrective action before they upset the process)
• It has to predict the output as it does not measure
output. So, it is sometimes called as PREDICTIVE
CONTROL.
• It does not check how the adjustments of inputs worked
in the process. Hence referred as OPEN LOOP CONTROL.

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Feed forward vs feed back System

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 Feed forward Control
• Can think in terms of the past and the future.
• Conventional feedback is past focused.
• It provides information about past activity and
performance.
• Feed-forward on the other hand is future focussed.
• It provides information about what a system could
do differently in the future.

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Feed back and feed forward control

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 Feed back and feed forward control
• In other words, where the feedback control action
starts after the disturbance is “felt” through the
changes in process output, the feed forward control
action starts immediately after the disturbance is
“measured” directly.
• Hence, feedback controller acts in
compensatory manner whereas the feed forward
controller acts in an anticipatory manner.

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 PID Control
• Imagine you’re in your car on a long deserted road
and you suddenly need to some note-taking
• For this to happen successfully, your car needs to
move at a constant speed and you need to take your
hands off the steering wheel.
• The normal way to do this is to turn on the cruise
controller in your car but imagine your car doesn’t
have one, how do you achieve this?

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 What if we use these sets of rules
• v = current speed of car
x = required speed

start loop:
if v greater than x, reduce v (i.e. decelerate)
else if v less than x, increase v (i.e. accelerate)
and probably
if v is equal to x, do nothing

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What if we use these sets of rules

When it gets to 20 speed units, it oscillates a little but the oscillations are
so small you won’t even notice. 14
What if we use these sets of rules

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What if we use these sets of rules

Can cause damage of our actuators 16

 PID controller
• A proportional–integral–derivative controller (PID
controller) is a control loop feedback mechanism
(controller) commonly used in industrial control
systems.
• A PID controller continuously calculates an error
value as the difference between a measured process
variable and a desired set point.

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 P controller
• The P controller
It applies measured input proportional to the error (i.e.
deviation of the actual output from required output) to
the system. = ( )

• Where Pout= output of P controller

• If x = required speed
cs = current speed
e = error (i.e. deviation from the required speed)
f= Force applied to pedal
K = proportionality gain constant

• Start loop
• e=x-cs; f=-Ke. 18
 P controller

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Steady state error…How to eliminate
 PI Controller
• The PI controller consists of a Proportional part and an Integral
part.
• The Integral part continuously gathers the errors in our system
over time and feeds a force that makes up for it back into the
system = ∫
• x = required speed
cs = current speed
e = error (i.e. deviation from the required speed)
ae = accumulated error
f= Force applied to pedal
Kp = proportionality gain constant
KI = integral gain constant
• start loop
e=x-cs; ae=ae+e (integration equivalent to summation)
• F=Kp*e+KI * ae
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 PI Controller

Integral controller eliminates steady state error 21

 PID Controller
• In certain systems, using a P — only controller or a PI
doesn’t help achieve the needed tracking or stability.
• In some cases, they produce an undesirable
overshoot which needs to eliminated. This can be
eliminated by using derivative controller
• Integral control improves steady state performance
and derivative control improves transient response
• Tuning of Kp, KI, KD done by Ziegler-Nichols method
(finding the optimum or best)

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PID Controller

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