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Passed in BOS meeting held on 21-11-2015 136 Approved in 51st AC meeting held on 20-02-


Preamble This course is to impart in students a good understanding of fundamental principles in

control engineering. The course includes: Mathematical Modelling of Linear Continuous

Time Invariant Single Input - Single Output Dynamical Systems, Transfer Functions and

State Space Models, Performance Specifications, Analysis and Design of Closed Loop

Control Systems.


Linear Algebra, Calculus and Differential Equations, and Laplace Transform.

Course Outcomes On the successful completion of the course, students will be able to:
COs Course outcomes Blooms Level CO1 Explain the needs and effects of feedback in a control system

CO2 Identify the type (Linear, nonlinear) of a given system from mathematical model and input output
characteristics (steady state and transient response)


CO3 Obtain mathematical model of a given Electrical, electromechanical system in transfer functions
and state space models


CO4 Explain mathematical models (transfer functions and state space) of hydraulic, Pneumatic, thermal
and liquid level systems.


CO5 Explain the characteristics and principle of operation of control system components (including final
control elements)


CO6 Analyze the system’s stability and performance (both in time domain and frequency domain) in
terms of the key characteristics of the models.


Mapping with Programme Outcomes COS PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12







S-Strong; M-Medium; L-Low


Category L T P Credit

PC 3 0 0 3

Passed in BOS meeting held on 21-11-2015 137 Approved in 51st AC meeting held on 20-02-

Assessment Pattern

Bloom’s Category

Continuous Assessment Tests

Terminal Examination

1 2 3 Remember 10 10 10 10

Understand 30 30 30 30

Apply 60 60 60 60

Analyse 0 0 0 0

Evaluate 0 0 0 0

Create 0 0 0 0

Note: Analyse level for CO 6 will be tested with assignments/tutorials

Course Level Assessment Questions

Course Outcome 1 (CO1):

1. List the difference between closed loop and open loop systems (K1) 2. Explain the issues with ON/OFF
control in dynamic systems (K2) 3. Explain the effects of feedback (K2)

Course Outcome 2 (CO2): 1. Identify the causality and linearity of the systems modelled with the
differential equations shown below (K3)

a. ) 3(3)(2 )( t uty dt tdy

b. ) 2(3)(2 )( 22 t uty dt tyd

2. I/O characteristics of the system is shown below. Identify the linearity of the system (K3) Input U 0 1
3 4 Output Y -1 2 3.5 4.5

3. Series of step input R(t) is applied to a system and the response C(t) is recorded as below. Identify the
linearity of the system (K3)

Course Outcome 3 (CO3): 1. Define transfer function (K1) 2. Reduce the block diagram and find C(s)/R(s)

Passed in BOS meeting held on 21-11-2015 138 Approved in 51st AC meeting held on 20-02-

3. Develop the transfer function ) (/)( s VsI L (K3)

Course Outcome 4 (CO4): 1. Explain the implementation of PI controller using pneumatic systems. (K2)
2. Derive the transfer function of non-interacting cascaded tank system. (K2) 3. Derive the first order
model of thermometers.(K2)

Course Outcome 5 (CO5): 1. List the unique characteristics of servo motors. (K1) 2. With suitable
diagram explain the principle of operation of tachometers. (K2) 3. Describe the operation of incremental
encoders with neat diagram. (K2)

Course Outcome 6 (CO6): 1. The open loop transfer function of a unity feedback control system is given

)6.0( 14.0



s sG . (K3)

a. Calculate the closed loop transfer function and calculate the response for unit step reference b.
Calculate the maximum peak overshoot

2. Sketch the root locus for



sss K sHsG and find the value of K for damping

ratio 5 .0

3. Sketch the bode plot of the system

)100)(2( 2000


sss sHsG and determine gain

margin and phase margin. (K3)

4. A negative unity feedback system has the forward transfer function



sss K sHsG If K is set to 20, find the changes in closed-loop pole location for a 5% change in K.

Passed in BOS meeting held on 21-11-2015 139 Approved in 51st AC meeting held on 20-02-

Concept Map
Syllabus Basic concepts: Systems- Types of control systems-Notion of feedback- open and closed

loop systems –Fundamental control actions (ON/OFF, Hysteresis control), Problems with

ON OFF control in dynamic systems – Logical Control vs. Continuous control - Effects of


Modelling: Modelling and representations of (electrical, electro-mechanical, hydraulic,

Pneumatic, thermal and liquid level) control systems: Ordinary differential equations -

Transfer functions - Block diagrams - Signal flow graphs - State-space representations.

Control System Components: Potentiometer, Tachometers, Encoders, Servo Motors and

actuators (control valves, solenoids)

Time domain analysis and stability: Test Signals- Unit Step response, Time domain

specifications and Steady state errors- Time response of First order and second order

systems- Effect of addition of poles and Zeros- Dominant poles and zeros of Transfer

function- PID Controllers -Stability and Characteristic equation-Routh-Hurwitz criteria- Root

locus construction, root sensitivity. Solution of state equation

Frequency-domain analysis: Frequency responses and Frequency domain specifications -

Nyquist stability criterion- Relative stability assessment using Bode plot- Nichol’s chart,

Lead-lag compensators

Text Books

1. B.C. Kuo, and F.Golnaraghi, Automatic Control Systems, 9th Edition. Wiley India Pvt

limited 2014. (Student edition)

2. IJ Nagrath and M Gopal, Control Systems engineering, 5th Edition, New Age

International, 2007

Passed in BOS meeting held on 21-11-2015 140 Approved in 51st AC meeting held on 20-02-

Reference Books

1. Katsuhiko Ogata, Modern Control Engineering, 5th edition, PHI, 2010

2. John JD Azzo, Constantine H Houpis, and Stuart N Sheldon, Linear Control Systems: Analysis and
Design with MATLAB, 5th Edition, Taylor and Francis, 2003

3. Norman S. Nise, Control Systems Engineering, 6th edition, John Wiley,

2010. (Indian edition) 4. Robert H Bishop and Richard C Dorf, Modern Control Systems, 12th Edition,

Education, 2010 5. M Gopal, Control Systems-Principles and Design, 4th Edition, McGraw Hill India, 2012

Course Contents and Lecture Schedule Module No. Topic No.of Lecture Hours 1 Systems; Types of
Control systems- Open loop and Feedback Systems 2 2 Effects of feedback 2 3 Differential Equations for
Electrical, Mechanical, Electromechanical, hydraulic, pneumatics, thermal and liquid systems 4 4
Transfer function 1 5 Block Diagram 1 6 Signal flow graph 1 7 State space models 2 8 Control System
Components-Potentiometer, Tachometer, Encoders, Servo Motors and actuators(control valves,
solenoids) 2 9 Test Signals, Unit step response, Time domain Specifications and steady state error 2 10
Time response of First and Second Order systems; Effect of addition of poles and zeros; Dominance of
poles and zeros; PID Controllers; Solution of state equation 5 11 Stability and Routh Hurwitz criterion 2
12 Root locus Construction and Root sensitivity 3 13 Frequency domain specifications and Nyquist
stability criterion 3 14 Relative stability assessment using Bode plots 2 15 Frequency response of closed
loop systems; Nichol’s chart 2 16 Lead-lag compensators 1 Total 36
Course Designers:

1. S.Sivakumar 2. M.Varatharajan