Automatic Control Systems Chapter-1 Basics of Control Systems

1.1 System: A system is an arrangement Generally the IR is written in time domain.

of components that act together to perform TF = L[IR]
the desired task. IR =L-1[TF]
input System output
r(t) c(t)
1.6 Classification of Control System
 Open loop
1.2 Control System: It is that means by  Closed loop (or) feedback
which the quantity of interest in a machine 1) Positive feedback
or mechanism is controlled according to 2) Negative feedback
the desired/required manner. Control
means to regulate, direct or command the 1.6.1 Open-loop (or) non feedback (or)
system so as to obtain the desired manual Control System
objective.
The Open-loop control system can be
Reference input Control Controlled output
system
described by a block diagram as shown in
r(t) c(t) figure below.
1.3 Plant: It is defined as the portion of a
Reference
system which is to be controlled or Input Controller Process Output

regulated. It is also called as a process

1.4 Controller: It is the element of the

system itself, or may be external to the These are systems in which the control
system. It controls the plant or the process. action is independent of output.
Examples:- traffic lights, washing
1.5 Transfer (or) System Function (TF): machine and bread toaster etc.(system
having no sensors).
Input = r(t) Linear Time Output = c(t)
L[r(t) ]= R(S) Invariant System L[c(t)] = C(S) 1.6.1.1 Advantages
 Simple in construction and design.
 Low cost.
 Easy to maintain.
Laplace transform of Output
TF =  Usually not much troubled with the
Laplace transform of Input Initial conditions = 0
problems of instability.
 These systems are convenient to
C(S)
TF = use when output is difficult to
R(S)
measure.

1.6.1.2 Disadvantages
Let R(S) = 1, ie. Unit Impulse Input r(t) =  These are less accurate and their
δ(t), L[r(t)] = L[δ(t)] = 1 accuracy depends on the
Hence TF = C(S), therefore TF is also calibration.
called as the Impulse Response (IR) of the
system.

Unit-I 1 CBIT
 Automatic Control Systems Chapter-1 Basics of Control Systems

 Inaccurate results are obtained with

parameter variations with in the + For positive feedback
system. - For negative feedback
 Recalibration of the controller is
required from time to time for Where
maintaining accuracy R(S) = Reference input (or) Desired output
(or) Input
1.6.2 Closed-loop (or) Feedback (or) C(S) = Actual Output (or) Output
Automatic Control Systems E(S) = Actuating error signal
These are systems in which the control G(S) = Forward TF
action depends on the output. H(S) = Feedback TF
G(S)H(S) = Loop TF or Open Loop TF
(OLTF) (generally H(s) is taken as unity
Reference e(t)
Input r(t) + Controller Process Output for
_ c(t)
simplicity
C(S)
= Closed Loop TF (CLTF)
Feedback network R (S)

Examples: Temperature controllers, Speed C(S) G(S)

 for negative
control of a motor etc.. (system having R (S) 1  G(S)H(S)
sensors) feedback
C(S) G(S)
1.6.2.1 Advantages  for positive
R (S) 1  G(S)H(S)
 Accuracy is more. feedback
 Non linear distortions are less.
 Output is less sensitive to
parameter changes with in the 1.7 Effects of feedback
system. 1.7.1 Effect of feedback on overall gain:
 Bandwidth is increased. Feedback affects the gain ‘G’ of a non-
1.6.2.2 Disadvantages feedback system by a factor of 1  GH.
 Complicated design. The general effect of feedback is that it
 More expensive. may increase or decrease the gain. In a
 May become unstable, if there are practical control system, G and H are
malfunctions in the feedback. functions of frequency, so the magnitude
of 1 + GH may be greater than 1 in one
1.6.2.3 TF of a Closed loop Control frequency range, but less than 1 in another.
System Therefore feedback could increase the gain
in one frequency range and decrease it in
E(S) G(S) C(S) another.
R(S) +
 1.7.2 Effect of feedback on Stability:
Stability is a concept whether the output is
H(S) following the input command or not, if it is
following, the system is stable. In other

Unit-I 2 CBIT
Automatic Control Systems Chapter-1 Basics of Control Systems

words a system is said to be stable, if a

bounded output is obtained for an every Noise(N)

bounded input. An unstable system will

give an unbounded output, in the verge of Input
+_ G1 ++ G2 Output

giving unbounded output, the unstable

system may break down. We know that H

C(S) G(S) G2N

 , If there is a The output due to noise = ---
R (S) 1  G(S)H(S) 1  G1G 2 H
malfunction in the feedback the product of (2)
G(S)H(S) may be -1, and the system Comparing equations (1) and (2), it is clear
becomes unstable. But the above system that the feedback control system reduces
may be stabilised by using a proper outer the noise. Further the noise can be reduced
feedback loop as shown in the figure by increasing the value of G1.
below.
1.7.4 Effect of feedback on Sensitivity:
G(S) C(S) G(S)
R(S)
+_ +_ C(S)
Let M  
R (S) 1  G(S)H(S)
H(S)

F(S)
The sensitivity of the of the overall gain
Now the overall TF ‘M’ to the variation in ‘G’ is defined as
C(S) G(S)
becomes 
R (S) 1  G(S)H(S)  G(S)F(S) (M / M)100% % changes in M
M
SG  
(G / G )100% % changes in G
1.7.3 Effect of feedback on Noise:
Let us consider the non feedback control
system as shown in fig below Where δM denotes the incremental change
in M due to the incremental change in G.
Noise(N)

M G 1
M
SG  
Input G1 ++ G2 Output
G M 1  GH

The output due to noise = G2N --- (1) If GH is increased, the variation in M
decreases with respect to parameter
changes with in the system, Therefore
feedback reduces the changes at the
Now let us consider the feedback control output.
system as shown below

Unit-I 3 CBIT
Automatic Control Systems Chapter-1 Basics of Control Systems

Class Work Questions 4. If the TF of a certain system is

1
The IR
1. For the systems shown in figure below, S  3S  2
2

if the G changes by 10%, the % is(a) (e  t  e 2 t ) u(t)

changes in C1 & C2 respectively are (b) (e  t  e 2 t ) u(t)
(c) 2 (e  t  e 2 t ) u(t)
G=10 C1
(d) 2 (e  t  e 2 t ) u(t)
+ _ G=10 C2
5. Input is ( t ) and output is
10e 2t u(t) , The TF of the system is

(a) 10%, 1% (b) 10%, 2%

10 2
(c) 5%, 3% (d) 5%,2% (a) (b)
S 2 S  10
1
2. The measurement system shown the (c) (d) 10
S 2 S2
figure below uses three sub – systems
in cascade whose gains are specified as
6. If the CLTF of a unity feedback system
G1, G2 and 1/G3. The relative small
4
errors associated with each respective is , find the
S  7S  13
2

subsystem G1, G2 and G3 are 1, 2 and corresponding OLTF

3. The error associated with the output
is 7. The unit – impulse response of a unit –
input G1 G2 1/G3 output feedback control system is given by
C1 c(t) = - te-t + 2 e-t, ( t  0 ) the open
loop transfer function is equal to
(a) 1+2+3 (b) 1 + 2 - 3
s 1 2s  1
(c)1 2 (d) 1 + 2 - 3 (a) (b)
3 (s  2) 2 s2
s 1 s 1
(c) (d)
(s  1) 2 s2
3. Consider the following system

R K + - G C Practice Questions
M=C/R
H
1. A closed loop control system is usually
more accurate than the open loop
Find the sensitivity of ‘M’ with respect control system. (T/F)
to changes in i) K ii) H
2. Feedback is some times used to
improve the sensitivity of a control
system. (T/F)

Unit-I 4 CBIT
Automatic Control Systems Chapter-1 Basics of Control Systems

3. If an open loop system is unstable, 11. In a control system the comparator

applying feedback will always improve compares the output response and
its stability. (T/F) reference input and actuates the

4. Feedback can increase the gain of a (a) primary sensing element

system in one frequency range but (b) transducer
decrease it in another. (T/F) (c) signal conditioner
(d) control elements
5. Non linear elements are sometimes
intentionally introduced to a control 12. Transfer function of a control system
system to improve its performance. depends on
(T/F)
(a) nature of output
6. Discrete data control systems are more (b) nature of input
susceptible to noise, due to the nature (c) initial conditions of input and
of their signals. (T/F) output
(d) system parameters only
7. IR of a system is 2t 2e 3t , Find TF of a
system. 13. The open loop control system is one
in which
8. AC control system has the advantage
(s) of (a) output is independent of control
action
(a) availability of rugged high power (b) only system parameters have effect
amplifiers on the control output
(b) smaller frame size of a.c (c) output is dependent on control
components input
(c) both A and B (d) all of the above
(d) none
14. The order of the system is determined
9. The transfer function of a system is the by number of
Laplace transform if its ------- response
(a) ramp (b) impulse (a) poles of the system
(c) squarewave (d) step (b) poles at the origin
(c) stable roots of the system
10. Any physical system which do not (d) none
automatically correct for variation on
its output is called as a/an system 15. The transfer function of a system is
defined as the
(a) unstable (b) open loop
(c) closed loop (d) none (a) step response
(b) response due to an exponentially
varying input

Unit-I 5 CBIT
Automatic Control Systems Chapter-1 Basics of Control Systems

(c) laplace transform of the impulse 20. As compared to closed loop system, an
response open loop is
(d) all of the above
(a) more stable as well as more
16. In a control system an error detector accurate
(b) less stable as well as less accurate
(a) produces an error signal as actual (c) more stable but less accurate
difference of value and desired (d) less stable but more accurate
value of output
(b) detects the system errors Practice Questions Key
(c) detects the error and signals out an
alarm 1. T 2. T 3. F 4. T
(d) none 5. T 6. F 7. 8. b
9. b 10. b 11. d 12. d
17. Potentiometers are used in control 13. a 14. a 15. c 16. a
system 17. c 18. d 19. b 20. c

(a) to improve stability 4

7.Ans
(b) to improve frequency response (s  3) 3
(c) as error sensing transducer
(d) to improve time response
University Examination
18. A control system with excessive noise, Questions
likely to suffer from
1. What is time variant and time-invariant
(a) loss of gain system ? Differentiate with suitable
(b) vibrations examples. (ECE-MAY-2005-OU)
(c) oscillations
(d) saturation is amplifying stages 2. For a feed-back system, prove that

19. In a control system, the use of negative B(s) G (s ) H ( s )


feedback R (s ) 1  G ( s ) H ( s )
(ECE-NOV-2005-OU)
(a) increases the influence of
3. Classify various types of control
variations of component
systems with examples.
parameters on the system
(ECE-NOV-2005-OU)
performance
4. Explain how potentiometers are used
(b) reduces the effects of disturbance
as error sensing devices.
and noise signals in the forward
(ECE-NOV-2005-OU)
path
5. Write short notes on:
(c) increases the reliability
Error sensing devices.
(d) eliminates the chances of
(ECE-MAY-2006-OU)
instability

Unit-I 6 CBIT
Automatic Control Systems Chapter-1 Basics of Control Systems

6. Distinguish between linear and non- 15. List the salient features of closed loop
linear systems. control system (ECE-NOV-2009-OU)
(ECE-NOV/DEC-2006-OU)
16. Write short notes on AC servo motor
7. What is a time invariant system? Give (ECE-NOV-2009-OU)
an example of a time varying system.
(ECE- NOV/DEC-2006-OU) 17. What are the characteristics of negative
feedback? (ECE-JULY-2010-OU)
8. Distinguish between linear and non –
linear systems. 18. Write the comparison between open
(ECE-NOV-2007-OU) loop and closed loop control systems
(ECE-JULY-2010-OU)
9. What are the effects of a control
system? (ECE-NOV-2007-OU) 19. Differentiate the open and closed loop
control systems.
10. Write short notes on the following. (ECE-NOV/DEC-2010-3M)
Error sensing devices.
(ECE-NOV-2007-OU) 20. Write the merits and demerits of open
loop and closed loop system.
11. Match the following: (ECE-DEC-2011OU-M2.5)
1. DC Servo (a) used as a
motors potentiome-ters 21. Why negative Feedback is preferred in
with high control systems ?
accuracy (ECE-JUN-2011OU-M2.5)
2. Synchros (b) used as an
ordinary 22. What are the characteristics of servo
potentiometer motors ? (ECE-JUN-2011OU-M2.5)
3. Open loop (c) used for high
system power 23. What is a synchro ? Write the
applications. applications of synchros.
(d) used for more (ECE-JUN-2011OU-M2.5)
stable.
(ECE-JUNE-2009-OU) 24. Drive an expression for the transfer
function of a single loop control
12. Explain the basic elements of control system. (ECE-JUN-2011OU-M2.5)
systems. (ECE-JUNE-2009-OU)
25. Define transfer function of Linear time
13. Compare AC servo motor and DC invariant system. Derive the transfer
servo motor. (ECE-JUNE-2009-OU) function of armature controlled DC
Motor. (ECE-JUN-2011OU-M10)
14. Derive a transfer function for an AC
servo motor. Draw its corresponding 26. Write the advantages of a synchro..
block diagram(ECE-JUNE-2009-OU) (ECE-JUL-2012OU-M2.5)

Unit-I 7 CBIT
Automatic Control Systems Chapter-2 Signal Flow Graph and Block Diagram

2.0 SFG & BD are the methods of pictorial representation of a system.

Block Diagram Reduction

S.No. Original BD Equivalent BD Operation

1. Cascading the
G1 G2 G1G2 blocks.

2. R C C Shifting the take

G R G off/ pick off point
after the block
R 1/G R

3. C R G C Shifting the take

R G off/ pick off point
C before the block
G C

4. R C Shifting the
G summing point after
R G C
the block
G
F F
5. Shifting the
R C R summing point
G G C
before the block

1/G
F
F

Unit-I 8 CBIT
Automatic Control Systems Chapter-2 Signal Flow Graph and Block Diagram

6. I2 I2 Equivalence of the
summing point
I1 I I1 I

I3
I3

I3

I1 I

I2
7. Shifting the take off
R C point before the
R C summing point
C
F F

8. Shifting the take off

point after the
R C summing point
R C
F
R
F

R
9. Eliminating the
G feedback loop
R C G
R C
H 1  GH

Construct the SFG of a system described a44

a24
by the following equations.
a12 x3 a34
a23
x2 = a12x1 + a32x3 x1
x4
x2
x3 = a23x2 + a43x4 a32 a43
x4 = a34x3 + a24x2 + a44x4

Unit-I 9 CBIT
Automatic Control Systems Chapter-2 Signal Flow Graph and Block Diagram

2.1 Input or source node: A node having touching Kth forward path
only outgoing branches. ∆ = 1 – (Sum of the loop gains) +
Eg: x1 in the above fig. (sum of the gain product of two
non touching loops) – (Sum of
2.2 Output or sink node: A node having the gain product of three non
only incoming branches. In the above fig. touching loops) + …
x2, x3, x4 can be converted to an output ∆ is also called as determinant.
nodes by connecting a branch gain of unity
as shown below.
a44
a24

a12 x3 a34
a23
x1 1 x4
x2 x4
a32 a43

2.3 Forward path: A path which starts at

the input node and terminates at the output
node along which no node is travelled
more than once.
Let n4 is the output node
Forward path gain
Eg: x1–x2–x3–x4 ---- a12a23a34
x1 – x2 – x4 ---- a12a24

2.3.1 Loop (or) Individual (or)

Feedback loop: A path which starts and
terminates at the same point along which
no node is travelled more than once.

Eg: Loop gain

x2 – x3 –x2…. a23a32
x3 –x4 – x3…. a34a43
x4 – x4 ……. a44
x2 – x4 – x3 – x2……. a24a43a32

2.4 Mason’s gain formula – TF

It is applicable between the output and
input nodes only.

n
 M Δ
Output K 1 K K
TF  
Input Δ

Where n = no. of forward paths

MK = kth forward path gain
∆K = the value of ‘∆’ which not

Unit-I 10 CBIT
 Automatic Control Systems Chapter-2 Signal Flow Graph and Block Diagram

Class Work Questions

1.
-a -b -c 4. Find the TF

-H1

x1 1 x2 d x3 e x4 1 x5 G5
G1 G3
f 1 G8 1
G7
x5 x5
Find 1) 2) G2
x1 x3 G6
G1
G4

x4 x -H2
2. Find and 3
x1 x1 5. Find the TF

a24 5
a44
1 2 3 4 1
a12 a23 a34
R C
x1 x4
-1 -1 -1
a32 a43

6. Find C/R

3. Find the TF 1
S-1
6
S-1
R
c 1 -3
-2
C -4
b
d
e
a f
7.
h i
g
-H1 -H2
k l
x G y
j
Find y/x

Unit-I 11 CBIT
Automatic Control Systems Chapter-2 Signal Flow Graph and Block Diagram

 G1

H1
8. U(s)

H2 Y(s)
H2
R E + C
+ G1 + G2 + G3
- -
 G2
H3

Find 1) C/R 2) E/R Y(S)

Find
U(S)
9.
G3 12.
+ G1
R1 _ C1
R E + C
+ G1 + G2 G2
- -

H2
G3
H1
Find 1) C/R 2) E/R +
+ G4
10. R2 C2

R1 G11  C1 Find C1 & C2

G21 13.

N(s) = Noise
G12 Gc(s)

_
G22  + G1 G2 +
R2 C2 _ +
X(s) Y(s)
Find C1 & C2
11.

Find the condition on Gc(s) in order to

nullify the noise at the O/P.

14.

Unit-I 12 CBIT
 Automatic Control Systems Chapter-2 Signal Flow Graph and Block Diagram

1/ s
_ 1/ s
2
+_ 3 +
X(s) E(s) s2 Y(s)
1 1/ s 1/ s 1/ s 1
R 1/ s 1/ s 1/ s C

-1 -1
Y(S) E (S) Find C/R
Find 1) 2)
X(S) X(S)

15. The electrical n/w and its equivalent Assignment Questions

SFG is given below. The values of x
and y are respectively Find the TF of the following BD’s
1.
R
G2
+ + A +
Vi(s) V0(s) G1 + G2 G3 +
C _ _ _
I(s) V V V H2 V V
2V 2V 2
H1 - V
2 2
-2 -2 - -
2
1/R I(s) x - - -
Vi(s) V0(s)
2.
y
H4
(a) 1/CS, 1/R (b) –1/CS, -1/R _
(c) 1/CS, -1/R (d) -1/CS, 1/R + + +
G1 a G2 G3
+ _V +
16. Find the value of ‘C’ in the following V V 2 H V
1
figure. 2 2 V- 2
V G4 - V
- 2
-
2 2
R2 - -
-
R1 3.
+ G1  G2
_
G4
H2  H1 +
+ +
G1 G2 G3
R3 _
V V
17. V
2
2V H3 2
-2 -
-
- +
H2 H1
+
V
2
V
-
2
-
Unit-I 13 CBIT
Automatic Control Systems Chapter-2 Signal Flow Graph and Block Diagram

the output relationship using Mason’s

University Examination Questions gain formula.
(ECE-NOV/DEC-2006-OU)
1. Find the input-output relation from the
signal flow graph shown: H2
_
(ECE-MAY-2005-OU) R + _ Y
+ + +
∑ ∑ ∑ G3 ∑
G1 G2
_
_
-H1 _ _ +
H1 H3
G2 G6
R G4
G8 C G4

1 G1 1
G3 G7 6. For the block diagram shown the
G5
-H2 function C(s)/R(s) is
(NOV-2008-ECE-OU)
2. Reduce the following block diagram to R(s) + C(s)
G1(s) G2(s) +
openloop form.(ECE-NOV-2005-OU)
+ +

H2

_
R + + + C 7. Discuss the block diagram of linear
G1 G2 G3
_ time invariant multi input and multi
+ +
output system. (NOV-2008-ECE-OU)
H1

8. Draw the block diagram of linear time-

G4
invariant multi input and multi output
system. (ECE-JUNE-2009-OU)
3. Construct the signal flow graph of the
following set of simultaneous 9. Write short notes on the following:
equations taking Y4 as output node. Signal flow graphs.
(ECE-MAY-2006-OU) (ECE-JUNE-2009-OU)
Y2=t21+t23Y3 10. Figure below gives the SFG of a
Y3=t31Y1+t32+t33Y3
Y4=t42Y2+t43Y3. certain system, a) find the output C1
and C2 and b) determine the
4. Explain briefly about Masons gain
formula. (ECE-MAY-2006-OU) condition that makes
C1 independent of R2.
5. Construct the signal flow graph for the
(ECE-NOV-2009-OU-7M)
following control system and find out

Unit-I 14 CBIT
Automatic Control Systems Chapter-2 Signal Flow Graph and Block Diagram

H3
G4
G1 R(s) + C(s)
+- +- G1 +- G2 G3 +
R1 C1
G3 V
VV VV H1 VV V
H2 2

G4
22 22 22 -2
H2
-- -- -- -
H1 14. Find the transfer function for a given
R2
C2 figure using Block diagram reduction
G2
H4 method and verify it using signal flow
graphs.
11. Find the C(S)/R(S) of the block (ECE-DEC-2011OU-M10)
diagram shown in fig below:
(ECE-JULY-2010-OU) H2

R(s) + C(s)
R(S) C(S) G1 G2
+- G1(s) G2(s) _

H1
H(s)

Cs 
12. Find the ratio X2/X1 of the following 15. Find of the block diagram shown
R s 
signal flow graph
(ECE-NOV/DEC-2010-3M) in figure.

G3
-H1 -H2
G R(S) + C(S)
G1 G2
X1 X2 _ +
H1

13. Find the Transfer function C(s)/R(s)

(ECE-JUL-2012OU-M2.5)
of the following block diagramn
(ECE-NOV/DEC-2010-10M)

Unit-I 15 CBIT
Automatic Control Systems Chapter-9 Analogous Systems

9.0 Definition: The systems that are 9.2 Mechanical Systems: These are
similar in function and general in two types
appearance but not in origin are called as 1) Translational mechanical system
analogous systems. Eg: Rotational and 2) Rotational mechanical system
Translations mechanical systems are
analogous to each other. 9.2.1 In translational mechanical
System, three types of forces will resist
9.1 Advantages of converting a the motion of
mechanical system into its electrical the body due to an externally applied
analogus force. They are
system: (a) Inertia Force (FI)
(b) Damping Force (FD)
1) Standard and simple symbols are (c) Spring Force (FK)
available in electrical technology,
making use of which any (a) Inertia Force (FI): By Newton’s
complicated system could be 2nd law of motion, inertia force is
written in a compact way by a mass times acceleration.
circuit diagram. du d2x
FI  ma  m m 2
2) Electrical technology is very well dt dt
established, so that simple laws where a = acceleration
and theorems are available, u = velocity
making use of which it is easier x = displacement
to study as an electrical system,
than as a mechanical system. (b) Damping Force (FD): It is
3) For different values of the input proportional to velocity (u)
parameter for obtaining different dx
FD  Du  D
responses, it is easier to vary dt

electrical parameters like where D = damping coefficient

inductors, capacitors and which is defined as damping force/

resistors than varying mechanical unit velocity.

parameters like mass etc.

Unit-I 78 CBIT
Automatic Control Systems Chapter-9 Analogous Systems

(c) Spring Force (FK): The where D is rotational damping

restoring force of the spring is coefficient.
proportional to displacement x.
t  (c) Spring Torque (TK): It is
FK  k x  k   udt  x (0)
0  proportional to angular

where k is known as spring constant. displacement

t 
TK  k   k    dt  (0)
Compliance  action with respect to 0 
force. where K= torsional spring constant.
Stiffness  Not easily bent or easily
changed in shape. By above analysis it is clear that
translational mechanical systems and
9.2.2 In rotational mechanical system rotational mechanical systems are two
three types of torques will come into analogus systems.
picture that
will resist the rotation of a body due to Translational Rotational
Mechanical System Mechanical
an externally applied torque. They are
System
force (F) torque (T)
(a) Inertia Torque (TI): It is the acceleration (a) angular acceleration
moment of inertia times the ()
angular acceleration. velocity (u) angular velocity ()

dΩ d displacement (x) angular

TI  I θ   I θ  I 2
dt 2
dt displacement ()
mass (m) moment of inertia
Where α= angular acceleration
(I)
 = angular velocity
damping coefficient rotational damping
 = angular displacement (d) coefficient (D)
stiffness(k) torsional
(b) Damping Torque (TD): It is stiffness(K)

proportional to angular velocity

d 9.3 Alembert’s Principle: For
TD = D = D 
dt translational mechanical system it is

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Automatic Control Systems Chapter-9 Analogous Systems

defined as, for any body the algebraic dΩ

TI  I θ TD=D and
sum of the externally applied forces and dt
the forces resisting the motion in any t 
Tk  k    dt  (0)
given direction is zero. It is applicable at 0 
all instants of time. applying the above principle
a, u, x T=TI+TD+Tk
k
M F d t 
T  I  D    k    dt  (0)
….…….D dt 0 
………….(2)
In the figure externally applied force = F
forces resisting the motion are From equation (1) & (2) we can say that
du the translational mechanical system and
FI  M , FD=Du,
dt
rotational mechanical systems are
 t

FK  k   udt  x (0) analogous systems.
0 
applying the above principle 9.4 Mechanical to electrical analogous
F=FI+FD+FK systems:
There are two types of analogies
du t  Force-Voltage analogy (F-v analogy)
FM  Du  k   udt  x (0) ………….(1)
dt 0  Force-current analogy (f-i analogy)

For rotational mechanical system the D 9.4.1 Force-Voltage analogy (F-V

Alemberts principle is defined as, for analogy):

any body algebraic sum of the externally a, u, x

applied torques and torques resisting the M F
rotation about any given axis is zero at ….…….D

any instant of time.

(a) Mechanical System

In the figure the externally applied

Torque = T
The forces resisting the rotation are

Unit-I 80 CBIT
Automatic Control Systems Chapter-9 Analogous Systems

R L Table of F-V analogy

+
Mechanical System Electrical System
V
_+ Force(F) Voltage (v)
C
i Velocity (u) Current (i)
Displacement (x) Charge (q)
Mass (M) Inductance (L)
Damping coefficient (D) Resistance (R)
(b) Electrical System
Spring constant(K) Capacitance (1/c)

For fig (a) writing the dynamic

Q1.Write the differential equations
equations
describing the dynamic behaviour of the
du  t
 mechanical system given fig. below.
FM  Du  k   udt  x (0) ………….(1)
dt 0  Also draw its electrical analogous circuit
based on force-voltage analogy.
for fig(b) writing the dynamic k1
k2
equation M1 M2
F(t)

1 
t
di
v  L  Ri    idt  q(0) ………….(2) B1 B2
dt c 0 

From the above two equations it is For each node write a

clear that mechanical system of fig differential/dynamic equation. In the

(a) and the electrical system of fig given problem two masses

(b) are analogous systems. Since the are there hence write two differential

force of the mechanical system is equations.

made analogous to the voltage of the For node x1/u1/a1:

du1 t 
electrical system, it is called as F( t )  M1  B1u1  B12 (u1  u 2 )  k1   u1dt  x1 (0)
dt 0 
force-voltage analogy (f-v analogy) ……. (1)
For node x2/u2/a2:
du 2 t 
0  M2  B2 u 2  B12 (u 2  u1 )  k 2  u 2dt  x 2 (0)
dt 0 
……. (2)

Unit-I 81 CBIT
Automatic Control Systems Chapter-9 Analogous Systems

for equations (1) and (2) writing the Three nodes hence 3 differential
electrical analogous equations by F- equations.
V analogy gives,
For node x1/u1/a1:
1   t 
t
 k1   (u1  u o )dt  ….(1)
di du1
V  L1  R 1i1  R 12 (i1  i 2 )   i1dt  q1 (0) F  M1
dt C1  0  dt 0 
……. (1)
For node x0/u0/a0:
t
du 0
00  k1  (u 0  u1 )dt  D(d 0  u 2 )dt
1  
t
di 2 dt
0  L2  R 2 i 2  R 12 (i 2  i1 )    i 2 dt  q 2 (0)
0
dt C2  0  t
……. (2) 0  k1  (u 0  u1 )dt  D(d 0  u 2 )dt …….(2)
0
Hence the electrical network is
For node x2/u2/a2:

L R1 L R2 t
du 2
 D(u 2  u 0 )  k 2  u 2dt ….(3)
1
+ 2 0  M2
dt
V 0

_+ R12 C2
i1 i2 Electrical analogous equations are

C1 di1 1 t
dt C1 0
V  L1  (i1  i 0 )dt

Q2.Write the electrical analogous t

1
C1 0
0 (i 0  i1 )dt  R (i 0  i 2 )
network by F-V analogy.

t
di 2 1
C 2 0
0  L2  R (i 2  i 0 ) i 2 dt
dt
K2
Hence the electrical analogous network
M2
2 is
D
L1(M1) L2(M2)
0 K1 +
M1 V R(D)
_+ i1(1) C2(K2)
1 C1(K1) i0(0 i2(2)
F(t) )
C1

Unit-I 82 CBIT
 Automatic Control Systems Chapter-9 Analogous Systems

Class work questions 9.4.2 Force-current analogy (F-I

1. analogy)
M1
K2 M2 K1 x0
F(t) M f
D1 ….…….D
…
…
…. D2
Mechanical System
2. .

i V
K1 K2
B2 F(t)
M2
M
B3 1 M3 Electrical System

du t 
3. f M  Du  k   udt  x (0)
dt 0 
…..(1) For mechanical system
B1 M1 B3 1 
t
dv
iC  GV    Vdt  (0)
dt L 0 
K
B2 …..(2) For electrical system

M1 The above two systems are analogous.

Since force of the mechanical system is
F made analogous to current of the
electrical system, this analogy is known
4. as force-current analogy.
K2 K3
M2 M3 B3
Table of F-I analogy
B2
F(t Mechanical Electrical System
M1
)) K1 System
B3 Force(F) Current(I)
Velocity (u) Voltage(v)
Displacement (x) flux (  )

Unit-I 83 CBIT
Automatic Control Systems Chapter-9 Analogous Systems

Mass (M) Capacitance (c) two equations gives two loops.

Damping Conductance(G)
Remembers this difference between
coefficient (D)
f-v and F-I analogy).
Spring constant(K) Inductance (1/L)

electrical network
Ex1:
L2
M2
y V1 V2
B2 K2
G
M1 x i
C1 L1 C2
2K1 2K1

Let y and x are the velocities

dx t  t 
F  M1  B2 ( x  y)  k 2   ( x  y)dt   k1   xdt 
dt 0  0 

dy t 
0  M2  B2 ( y  x )  k 2   ( y  x )dt 
dt 0 

Converting the above two equations

into its electrical analogous
equations using FI analogy.

t t
dv1 1 1
i  C1
dt
 G ( v1  v 2 )  
L2 0
( v1  v 2 )dt  
L1 0
v1dt

t
dv 2 1
0  C2
dt
 G ( v 2  v1 ) 
L2  (v
0
2  v1 )dt

Here two equations are there hence

we have to assume two nodes to
write the electrical analogous
network. (where as in F-v analogy

Unit-I 84 CBIT
Automatic Control Systems Chapter-9 Analogous Systems

Assignment questions stiffness resistance

(E) Inductance
1. (F) Reciprocal of
capacitance

K1 D1
(ECE-MAY-2005-OU)

M1 2. Draw the free body diagram of the

1 mechanical system shown:
Y1(t) Y2(t)
V1(t) V2(t)
M2
2 k1 k2
F(t)
M1 M2
f2
M3 f1
3
No friction
f (ECE-MAY-2005-OU)
3. Define Force-Current analogy for
2.
electrical and mechanical
(translational and rotational)
D2 K systems. (ECE-NOV-2005-OU)

M2 4. Draw the classical and mobility

a2, x2, 2
analogies of the mechanical system
D1 shown in fig. Also write the
equilibrium equations of the
M1 mechanical systems
a1, x1, 1 (ECE-MAY-2006-OU)
f y2 y1
k2
k1
M2 M1

f
University Examination B2 B1
Questions

1. Match the pairs:

5. If current is the electrical equivalent
(a) Mass (A) Voltage
quantity of force, draw an electrical
(b) Force (B) Charge
(c) Viscous (C) Resistance equivalent system for the following
friction mechanical system:
co-efficient (ECE-NOV/DEC-2006-OU)
(d) Spring (D) Resiprocal of

Unit-I 85 CBIT
Automatic Control Systems Chapter-9 Analogous Systems

9. Find the transfer function Y(s)/X(s)

of the following mechanical network
M Force (ECE-NOV-2009-OU)
K

Coefficient of friction is given by µ. K X(S)

Y(S)
6. Write the equations describing the
D
motion of the mechanical system
shone in fig. and obtain the classical
and mobility analogies.
(ECE-NOV-2007-OU)
10. Explain Force-Voltage analogy and
Force current analogy.
(ECE-JULY-2010-OU)

11. For mechanical system given below

find its transfer function and also
find its equivalent electrical circuit
using Force-Voltage analogy.
(ECE-JULY-2010-OU)

k1
k2
7. Explain force-voltage and force- f(t)
f1 M1 M2
current analogy.
(NOV-2008-ECE-OU)
x1 x2
8. For a mechanical system given
below find its Transfer function and
find its equivalent electrical 12. write short notes on the following
equivalent circuit using force-current a) Force-Voltage analogy
analog (NOV-2008-ECE-OU) (ECE-NOV/DEC-2010-3M)

13. Differentiate between force voltage

k analogy and force current analogy.
(ECE-DEC-2011OU-M2.5)

14. For mechanical system given below

find its transfer function and also
B

Unit-I 86 CBIT
Automatic Control Systems Chapter-9 Analogous Systems

find its equivalent electrical circuit

using force-voltage analogy.
K1 x1(t) x2(t)
K2
M1 M2 f(t)
f1 f2
(ECE-JUL-2012OU-M10)

Unit-I 87 CBIT