INTRODUCTION TO CONTROL SYSTEM disturbance and correct the antenna’s

position.
Control System – consists of subsystems and processes
(or plants) assembled for the purpose of obtaining a Example of disturbances:
desired output with desired performance, given a
• Waves on a ship steering system
specified input.
• Electrical noise in a communication
- In simplest form, provides an output or response • Wind gusts on an antenna or aircraft
for a given input or stimulus. • Changes in road slope in a vehicle
speed control system.

Control System Terminology

• Input – excitation applied to a control

Advantages of Control Systems system from an external source.
- With control system we can move large • Output – the response obtained from a
equipment with precision that would otherwise system.
be impossible. • Feedback – the output of a system that
- We build control system for 4 primary reasons: is returned to modify the input.
• Power amplification • Error – the difference between the
• Remote control reference input and the output.
• Convenience of input form Types of Control Systems
• Compensation for disturbances
1. Open-Loop
• Power Amplification • Simple control system which
- A radar antenna, positioned by the low- performs its function without
power rotation of a knob at the input, concerns for initial conditions or
requires a large amount of power for its external inputs.
output rotation. • Must be closely monitored
• Remote Control • Cannot compensate for any
- CS are useful in remote or dangerous disturbances
locations • Do not correct for disturbances
- A remote-controlled robot arm can be
• Simple commanded by the input
used to pick up material in a radioactive
environment. Example:
• Convenience of Input Form
▪ Toasters – do not measure
• CS can be used to provide convenience
the color of the toast.
by changing the form of the input.
• Temperature control system 2. Closed-Loop (feedback)
o Input: a position on a
• uses the output of the process to
thermostat
modify the process to produce the
o Output: heat
desired result.
• Compensation for Disturbances
• Continually adjusts the process
• System must be able to yield the correct
• Actuating Signal – the signal is
output even with a disturbance.
subtracted from the input signal.
• Antenna system that points in a
commanded position; wind forces the Advantages of a Closed-Loop Feedback System
antenna from its commanded position;
a) Increased Accuracy
system must be able to detect the
 ▪increased ability to TRANSFER FUNCTION
reproduce output with
- Allow separation of the input system and output
varied input.
into 3 separate and distinct parts.
b) Reduced Sensitivity to Disturbance
- Allow us to algebraically combine mathematical
▪ By self-correcting it
representations of subsystems to yield a total
minimizes effects of system
system representation.
changes.
c) Smoothing and Filtering
▪ System induced noise and
distortion are reduced.
d) Increased Bandwidth
▪ Produces saturated
response to increased range - We call this ratio, the transfer function.
of input changes.
Block Diagram
On the other hand, closed-loop systems are more
complex and expensive the open-loop systems.

A control system is DYNAMIC.

It responds to an input by undergoing a transient

response before reaching a steady-state response that Subsystem – represented as a block with an
generally resembles the input. input, an output and a transfer function.

• Transient Response – affects the speed of the Many systems are composed of multiple
system and influences human patience and subsystems.
comfort.
Component parts of a block diagram for linear, time-
• Steady-State response – determines the
invariant system.
accuracy of the control system; it governs how
closely the output matches the desired response. • Signals
• System
3 Major Objectives (design)
• Summing Junction
- producing the desired transient response • Pick-off Point
- reducing steady-state error

- achieving stability

• Steady-state response is an approximation to the

commanded or desired response.
• Steady-state error exist in defective control
systems but it can be tolerated

Summing Junction
LAPLACE TRANSFORM REVIEW

- A system represented by a differential equation

is difficult to model as a block diagram.
- Laplace Transform is used to facilitate and
systematize the solution of ordinary constant-
coefficient differential equations. The output signal is the algebraic sum of input
signals.
Pick-off point Moving Blocks to Create Familiar Forms

Familiar forms: cascade, parallel, feedback

• For summing junctions:

equivalent form for moving a block
a) to the left past a summing junction

Distributes the input signal undiminished to

several output points.

Common Topologies for Interconnecting Subsystems

• Cascade Form – transfer functions connected in

series are combined by multiplication.
Ex: cascade subsystems b) to the right past a summing junction

Equivalent transfer function

• For Pick-off points:

• Parallel Form – have a common input and an equivalent form for moving a block
output formed by the algebraic sum of the
a) to the left past a pick-off point
outputs from all of the subsystem.
Ex:

b) to the right past a pick-off point

Equivalent transfer function

• Feedback Form – block diagram of a feedback

system (negative feedback; closed-loop)
Ex: