DIPLOMA IN ELECTRICAL AND ELECTRONICS- MODULE II

UNIT: CONTROL SYSTEMS- JAN – JULY 2016

INTRODUCTION-TERMS USED IN CONTROL SYSTEMS
Books:
1. Control Systems Engineering: A Practical Approach. by Frank Owen, PhD, P.E.

Introduction

(c) control systems whose components are both man-made and natural.
DEFINITION OF TERMS
Control: Control is the process of causing a system variable (e. temperature, position) to conform to some
desired value or trajectory . Example: driving a car implies controlling the vehicle to follow the desired path and
arrive safely at a planned destination
System An interconnection of elements and devices for a desired purpose.
Or a group of elements working together to achieve some function..
Control System – An interconnection of components forming a system configuration that will provide a
desired response.

A plant performs a particular operation. It is the physical object to be controlled

A process is any operation to be controlled. Processes can be chemical, economic, biological, etc.
A system is a combination of components that act together and perform a certain objective. Examples:
Electrical, Mechanical, Hydraulic, Pneumatic, Biological, Thermal, etc…
A disturbance is a signal that adversely affects the value of the output of a system. May be internal or external.
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Feedback control refers to an operation that, in the presence of disturbances, tends to reduce the difference
between the output of a system and some reference input and does so on the basis of the difference.
Man made system refers to something that was created by humans, as opposed to by God or nature. E.g
education system, metric system, railways, electrical system, computer system
Natural Systems: digestive system, immune system, nitrogen cycle, water cycle, reproductive system
Process The device, plant, or system under control.
A hybrid system is a dynamic system that exhibits both continuous and discrete dynamic behavior
Automation The control of a process by automatic means.
Feedback signal A measure of the output of the system used for feedback to control the system.
Feedback Element is the component required to establish the functional relationship between
the primary feedback signal and the controlled output .
Negative feedback The output signal is fed back so that it subtracts from the input signal.
Positive feedback The output signal is fed back so that it adds to the input signal.
Control Element also called the controller, are the components required to generate the appropriate control
signal applied to the plant.in short a mechanism, circuit or algorithm that Provides required input for a
desired output
Reference Input is an external signal applied to a feedback control system in order to command a specified
action of the plant. It often represents ideal plant output behavior.
Controlled variables -these are the variables which quantify the performance or quality of the final
product.Also called output variables.
Manipulated variables -these input variables are adjusted dynamically to keep the controlled variables at their
set-points.
Disturbance variables -represent input variables that can cause the controlled variables to deviate from their
respective set points. Also called "load" variables. DV are not adjusted.DV may or may not be measured
Set Point signal = desired level of a controlled variable.To implement a change in the operating conditions, the
set-point signal is changed and the manipulated variable is adjusted appropriately to achieve the new operating
conditions.
Example. TubularHeat exchanger

Process fluid is cooled by cooling water

CV: (or output variable) - exit temperature of process fluid
MV: (or input variable) - flow rate of cooling water
DV: (or load variable)- inlet temperature, inlet flow rate

Manual and Automatic Control

• If you drive the car yourself, you are performing a manual control of the car. If you design a machine (or use
a computer) to do it, then you build an automatic control system. Therefore, Automation is the control of the
industrial process autmatically rather than by human (without interference of human)
Components in a typical control system:
Control systems are made up of components each of which
• Have input and output signal(s) (Examples of signals: position, velocity, acceleration, temperature,
voltage, current, concentration, etc.)
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• Process their inputs to produce their outputs (outputs are caused by the interaction of the input and the
component)
• Are described by differential equations
• Engineers produce mathematical models of the components so they can design controllers.

Control System Components

• System, plant or process (to be controlled)
• Actuators (converts the control signal to a power signal)
• Sensors (provides measurement of the system output)
• Reference input (represents the desired output)
• Error detection (forms the control error)
• Controller (operates on the control error to form the control signal, sometimes called compensators)
Note: a transducer is a device that converts one energy form into another.
Open and Closed loop systems.
Open-loop control system A system that utilizes a device to control the process without using feedback. Thus
the output has no effect upon the signal to the process. Open loop system which is also called as Manual control
system. Most automatic toasters are open loop systems because they are controlled by a timer.

Example: Open-loop Drying System

Main characteristics of an “Open-loop system” as being:

• There is no comparison between actual and desired values.
• An open-loop system has no self-regulation or control action over the output value.
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• Each input setting determines a fixed operating position for the controller.
• Changes or disturbances in external conditions does not result in a direct output change.
(unless the controller setting is altered manually)

Advantages:
1. Simplicity and stability: they are simpler in their layout and hence are economical and stable too due to
their simplicity.
2. Construction: Since these are having a simple layout so are easier to construct.
Disadvantages:
1. Accuracy and Reliability: since these systems do not have a feedback mechanism, so they are very
inaccurate in terms of result output and hence they are unreliable too.
2. Due to the absence of a feedback mechanism, they are unable to remove the disturbances occurring from
external sources.

Closed-loop feedback control system A closed-loop control system uses a measurement of

the output and feedback of this signal to compare it with the desired output. Closed loop system which is also
named as automatic control system

main characteristics of Closed-loop Control (feedback)

• To reduce errors by automatically adjusting the systems input.
• To improve stability of an unstable system.
• To increase or reduce the systems sensitivity.
• To enhance robustness against external disturbances to the process.
• To produce a reliable and repeatable performance.

Advantages:
1. Accuracy: They are more accurate than open loop system due to their complex construction.
They are equally accurate and are not disturbed in the presence of non-linearities.
2. Noise reduction ability: Since they are composed of a feedback mechanism, so they clear out
the errors between input and output signals, and hence remain unaffected to the external noise sources.
Disadvantages:
1. Construction: They are relatively more complex in construction and hence it adds up to the cost
making it costlier than open loop system.
2. Since it consists of feedback loop, it may create oscillatory response of the system and it also
reduces the overall gain of the system.
3. Stability: It is less stable than open loop system but this disadvantage can be striked off since
we can make the sensitivity of the system very small so as to make the system as stable as possible.

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EXAMPLES OF CONTROL SYSTEMS

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Illustrative Example: stirred tank Blending system

Notation:
• w1, w2 and w are mass flow rates
• x1, x2 and x are mass fractions of component A
Assumptions:
1. w1 is constant
2. x2 = constant = 1 (stream 2 is pure A)
3. Perfect mixing in the tank
Control Objective:
Keep x at a desired value (or “set point”) xsp, despite variations in x1(t). Flow rate w2 can be adjusted for this
purpose.
Terminology:
• Controlled variable (or “output variable”): x
• Manipulated variable (or “input variable”): w2
• Disturbance variable (or “load variable”): x1
EXAMPLES OF MODERN CONTROL SYSTEMS
TEMPERATURE CONTROL SYSTEMS
The Figure below shows a diagram of temperature control of an electric furnace. The temperature in the electric
furnace is measured by a thermometer, which is an analog device. The analog temperature is converted to a
digital temperature by an A/D converter. The digital temperature is fed to a controller through an interface. This
digital temperature is compared with the programmed input temperature, and if there is any error, the controller
sends out a signal to the heater, through an interface, amplifier, and relay, to bring the furnace temperature to a
desired value.

2. Automobile steering control system.

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 The driver uses the difference between the actual and the desired direction of travel to generate a controlled
adjustment of the steering wheel.

• Objective function: To control the direction and speed of the car

• Outputs: actual direction and speed of the car
• Control inputs: road markings and speed signs
• Disturbances: road surface and grade, wind, obstacle

3. A manual control system for regulating the level of fluid

A manual control system for regulating the level of fluid in a tank by adjusting the output valve. The operator
views the level of fluid through a port in the side of the tank.

CLASSES OF CONTROL SYSTEMS

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CONTROL SYSTEMS CONFIGURATION

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CONTROL SYSTEM MODELS OR REPRESENTATIONS.

Block Diagrams
Block diagrams are ways of representing relationships between signals in a system. Or it is a Pictorial
representation of functions performed by each component of a system and that of flow of signals.
Terminologies used in block diagrams include:

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Example 1
Consider the following equations in which x1, x2, x3, are variables, and a1, a2 are general coefficients or
mathematical operators.

x 3 = a 1 x1 + a 2 x 2 − 5
The above then can give the following

EXAMPLE 2
Consider the following equations in which x1, x2,. . . , xn, are variables, and a1, a2,. . . , an , are general
coefficients or mathematical operators.

x n = a 1 x1 + a 2 x 2 + a n − 1 x n − 1

Advantages of block diagrams

1. Very simple to construct block diagrams for very complicated systems

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Simple or Canonical Form of A Feedback Control System

Definitions
The Transfer Function of any electrical or electronic control system is the mathematical relationship between
the systems input and its output, and hence describes the behaviour of the system.

Characteristic Equation
• The control ratio is the closed loop transfer function of the system.
C ( s) G (s)
=
R(s) 1 ± G (s) H ( s)
• The denominator of closed loop transfer function determines the characteristic equation of the system.
• Which is usually determined as:
1 ± G (s) H ( s) = 0

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PROOF
For the system shown above, the output C(s) and input R(s) (input and output)are related as follows:
C (s ) = G (s )E (s )
where
E (s ) = R (s ) − B (s ) = R (s ) − H (s )C (s )
Eliminating E (s ) from these equations gives
C (s ) = G (s )[R (s ) − H (s )C (s )]
This can be written in the form
[1 +G (s )H (s )]C (s ) = G (s )R (s )

The Characteristic equation of the system is defined as an equation obtained by setting the
denominator polynomial of the transfer function to zero. The Characteristic equation for the above
system is 1+G(s)H(s)=0 .
EXAMPLE1
Determine the characteristic equation for the system in the figure below

for closed loop, transfer function is C(s)/R(s)= G(s)/1

+G(s)H(s)

EXAMPLE 2
For the system in the given figure, determine the characteristic equation

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Transfer function to inner loop = .

Then .

The characteristic equation is s2 + 3s + 6as + 6 = 0.

Closed-loop System Transfer Function

The Transfer Function of any electrical or electronic control system is the mathematical relationship between
the systems input and its output, and hence describes the behaviour of the system.
EXAMPLE

For the given figure, determine the transfer function

For the inner loop, transfer function =

Then

EXAMPLE 2
For the system in the given figure, determine the transfer function C(s)/R(s)

G1 G2 + G3

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Explanation:G1 and G2 are cascaded.

Example 3 For the given figure

4. For the circuit given below, determine the transfer function =

, E0(s) = [I(s)][Z2(s)] or .

For the circuit given below, determine the transfer function V2(s)/V1(s) =

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Block Diagram Algebra(Block diagram reduction)

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EXAMPLES
Reduce the Block Diagram to Canonical Form

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Example: Simplify the block diagram shown in Figure below.

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Example: Obtain the transfer function C/R of the block diagram shown in Figure below.

[Ans]

Example: Derive the transfer function of the sys

system shown below.

(a) (b)

[Answer]

Example: Derive the transfer function of the system shown below.

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Example: Find the transfer function of the following system.

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 {Answer}

Example: Find the output of the system shown below.

For Input R1:

……………………………………………. (1)

For input R2:

……………………………………………. (2)

{Answer}

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