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Automatic Control Systems

Presented by
Ijaz Husaain (Gold medalist)

Supervised by
Prof. Xiaoe Ruan
School of Mathematics & Statistics

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 Specific Objectives
 Components of Control System
 Introduction to Control System
 Explain different types of control system
 Laplace Transformation
 Develop transfer function
 Develop and solve block diagram of control system

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 Components of Control system

Input Output
System

Input: The excitation or actual signal applied to the system from an

external source to attain an output is called input signal.
Output: The actual response obtained from a system is called output.

System: A system is a combination of components that act together to

perform a specific goal.

Control: The word control is usually taken to mean regulate, direct or

command a system so that the desired objective is attained.
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 Components of Control system
Process Control: In the system there are some variable at which the
whole system works are controlled automatically. This is
called process control. variables like pressure, temperature can we
change as per the need.
Process Controller: To control the variables of the system the devices
are need to be Incorporated. These devices are called
process controller.
Feedback: This is very important component of automatic control system.
This is the output value of the system which is compared with
the input given the system.
Regulator: When there is a need of keeping the value of variables at a
constant value there is a device name 'regulator' is used.

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 Components of Control system

Error Detector: This is a device which uses differential method to detect

any error in the system. It compares the output value with the
actual desired value of the system. Through this comparison
the error in the automatic control system can be detected.

Lag In Response: As the result obtained from the command given to the
system is called response. In an automatic control system,
when there is a delay to obtain the response from the command
due to some causes, delayed is called lag in response. This delay
causes the difficulty in the measurement of input and output
at the same time.

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 Components of Control system
Amplification: The process of increasing the amplitude of the signal is
called amplification. When there is a need to change the
intensity of the input signal amplification method is used. And there is
an error in the system detected by the error detector. The error
detector is not able to correct that error by itself. Hence the
amplitude of the input signal has to be amplified to eliminate
that error and get the desired output.
Transducer: This is a unit that takes the input and converts it into another
form get to get the desired result. For example there are
Some devices which takes pressure as input and converts it into the
form of distance to indicate the value of the pressure. Other
examples are speedometer, ammeter which converts voltage
into the angular distance.

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 Control System

Input Output
Control System

It is an arrangement of different physical

elements connected in such a manner so as to
regulate, direct or command itself to achieve a
certain objective.
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 Difference between System and Control System

Input Proper
Output
Input
System Control System
Desired

Output
May or may not be
desired

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 Difference between System and Control System

A Fan can be a System:

A Fan without regulator can be a “System” because it can provide a

proper output. i.e. airflow

But it cannot be a “ control system” because it cannot provide desired

output. i.e. controlled airflow

Input Output

230V/50Hz Airflow
AC Supply (Proper Output)

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 Difference between System and Control System

A Fan can be a Control System:

A Fan With regulator can be a “Control system” because it can provide a

desired output. i.e. Controlled airflow

Control Element

Output
Input

230V/50Hz Controlled Airflow

AC Supply (Desired Output)

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 Requirement of good control system

Accuracy: Accuracy is the measurement tolerance of the instrument and

defines the limits of the errors made when the instrument is used in
normal operating conditions. Accuracy can be improved by using
feedback elements. To increase accuracy of any control system error
detector should be present in control system.
Sensitivity: the parameters of control system are always changing with
change in surrounding conditions, internal disturbance or any other
parameters. This change can be expressed in terms of sensitivity. Any
control system should be insensitive to such parameters but sensitive to
input signals only.
Noise: An undesired input signal is known as noise. A good control system
should be able to reduce the noise effect for better performance.

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 Requirement of good control system

Stability: It is an important characteristic of control system. For the

bounded input signal, the output must be bounded and if input is zero
then output must be zero then such a control system is said to be
stable system.
Bandwidth: An operating frequency range decides the bandwidth of
control system. Bandwidth should be large as possible for frequency
response of good control system.
Speed: It is the time taken by control system to achieve its stable output.
A good control system possesses high speed. The transient period for
such system is very small.
Oscillation: A small number of oscillation or constant oscillation of output
tend to system to be stable.

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 Classification of Control System
Control System

Open loop Closed loop

Non-linear Linear
Non-linear Linear

Time variant Time invariant

Time variant Time invariant

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 Classification of Control System

Control System

Open loop Closed loop

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 Open Loop Control System

A system in which the control action is totally independent of the output of

the system is called “open loop system”.

Controlled output
Reference Input
Controller Process
R(t) u(t) c(t)

Figure: Block diagram of open loop control system

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 Examples of Open Loop Control System

Electric hand drier: Hot air Automatic Washing machine:

(output) comes out as long as This machine runs
you keep your hand under the according to the pre-set time
machine, irrespective of how irrespective of washing is
much your hand is dried. completed or not.

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 Open Loop Control System
Advantages of OLC system: Disadvantages of OLC System:
 Simple in construction and  Incorrect and unreliable
design.  Affected by system parameter
 Economical variation and external noise
 Easy to maintain  Any change in output cannot be
 Generally Stable corrected automatically.
 Convenient to use as output is
difficult to measure.

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 Closed Loop Control (Feedback Control)

Definition: A system in which the control action is dependent on the

output is called “close loop control system”.
In close loop system current output is taken into consideration
and corrections are made based on feedback. A close loop system is
also called feedback control system.
A feedback control system looks at the output and generates the correct
input to be fed to the system so that the output behaves in some desired
way.

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 Closed-loop Control System
Example: When driving a car, we look at the speedometer, decide if we are
going too fast or slow, and then press either the gas pedal or the brakes
in order to reach the speed we want to get to. So the system is the car,
the input is the gas (controlled by gas pedal) and the resistance at the
wheels (controlled by the brake pedal) and the output is the speed of
the car. The driver is acting as the speed control system.

Other examples:
 Automatic electric Iron
 Missile launched and auto tracked
by Radar
 Water level controller

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 Closed loop Control System

Advantages of CLC System Disadvantages of CLC system

 Accuracy is high  Costly
 Reduced effect of non-linearity  Complicated to design
 High Bandwidth  Required more maintenance
 Facilitates automation  Reduced the gain with negative
 The sensitivity of system may feedback
be made small to make system  Stability is the major problem
more stable and more care is needed to
 Less affected by noise design a stable CLC system

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 Comparison between OLC & CLC System

S.NO Open Loop Control System Closed Loop Control System

1. No feedback Feedback is always present
2. No error detector Error detector is present
3. stable May become stable
4. Easy to construct Complicated to construct
5. Economical Costly
6. Having small bandwidth Having large bandwidth
7. It is inaccurate It is accurate
8. Less maintenance More maintenance
9. Unreliable Reliable
10. e.g. Hand drier, Tea maker Electric Iron, Missile launcher
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 Classification of Control system

Control System

Linear Non-linear

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 Linear Control System

Definition: A system is said to be linear in terms of the system input x(t)

and the system output y(t) if it satisfies the following two properties of
superposition and homogeneity.
Superposition:
x1(t y1(t) x2(t) y2(t)
)
Then x1(t) + x2(t) y1(t) +
y2(t)
Homogeneity:

x1(t) y1(t) ax1(t ay1(t

) )
A control system in which output varies linearly with the input is called a
linear control system.
u(t Process y(t)
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 Non-linear Control System
 Non-linear systems do not obey law of superposition.
 The stability of non-linear systems depend on root location as well as
initial conditions & type of input.
 Non-linear systems exhibit self sustained oscillations of fixed
frequency.

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 Difference between Linear & Non-linear Control System

S.No Linear System Non-linear System

1. Obey superposition & Do not obey superposition &
homogeneity homogeneity
2. Can be analysed by standard Can not be analysed by standard
test signals test signals
3. Stability depends only on root Stability depends on root
location location, initial conditions & type
of input
4. Do not exhibit limit cycles Exhibit limit cycles
5. Do not exhibit jump resonance Exhibit jump resonance
6. Can be analysed by Laplace Can not be analysed by Laplace
transform, z-transform transform, z-transform
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 Classification of Control system

Control System

Time Invariant Time Variant

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 Time invariant vs Time variant Control System

Time invariant Time variant

A time invariant system simply Time Variant System are systems
means the behavior of the system is where the system itself changes
independent of the time you choose over time. This change is reflected
to start `running' the system, given in the differential equation for the
the same initial condition and input system as a parameter that is
profile. varies over time.

If input u(t) generates output y(t), For example:

then if you fed in the input w(t) = u(t- As the rocket burns
T) instead (this is like a delayed tremendous amount of fuel the
input) , you get an output h(t) with mass reduces quickly over short
the property that h(t) = y(t-T). periods of time. This is an example
of a time varying system..
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 Difference between Time variant & Time invariant Control System

To demonstrate how to determine if a system is time-invariant, consider the two systems:

System A: y(t)= t x(t) System B: y(t)=10x(t)
Since system A explicitly depends on t outside of x(t) and y(t), so it is time variant. System B,
however, does not depend explicitly on t so it is time-invariant.
System A:
Start with a delay of the input xd(t) = x(t + k)
y(t) = t x(t) y1(t) = t xd(t) = t x(t + k)
Now delay the output by “k”
y(t) = t x(t) y2(t) = y(t + k) = (t + k)(x(t + k))
Hence y1(t)  y2(t) Therefore the system is Time variant.
System B:
Start with a delay of the input xd(t) = x(t + k)
y(t) = 10x(t) y1(t) = 10xd(t) = 10x(t + k)
Now delay the output by “k”
y(t) = 10x(t) y2(t) = y(t + k) = 10x(t + k)
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 Laplace Transform

Why Laplace is important?

 In order to compute the time response of a dynamic system, it is
necessary to solve the differential equations (system mathematical
model) for given input. Laplace transform converts the problem from
the time domain to the Laplace domain. i.e. converts the differential
equation into an algebraic equation in “s”.
 To evaluate the performance of an automatic control system
commonly used mathematical tool is “Laplace Transform”.
 Laplace Transform exist for almost all signals of practical interest.

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 Laplace Transform & Inverse Laplace Transform

Laplace Transform: It transform a time domain function f(t) into an “s”

domain function F(s), where “s” is a complex variable such that s=a+ib.
The Laplace transform of a function f(t) is defined as

L[ f (t )]  
0
f (t )e  st dt  F ( s )

Inverse Laplace transform: Inverse transformation is easily achieved by

using partial fraction to break down “s” domain function to standard
components and then use Laplace transform pairs
1 a  ib

1
f (t )  L [ F ( s )]  F ( s )e st ds
2 i a ib
Derivatives: The Laplace transform of a derivative is
d n f (t )  s n F ( s )  s n 1 f (0)  s n  2 f ' (0)  .......
dt n
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 Laplace Transform

Example: Find Laplace transform for f(t) = 1 and f(t) = e-at


1 (e  st )]
0
 st
1. L[ f (t )]  1 e dt  [ 
s 0

 [  1 (0  1)]  1  F ( s )
s s

 
 dt   e  ( s  a )t dt
 at  st
2. L[ f (t )]  e e
0 0

 [ 1 (e  ( s  a ) t )]
sa 0

 [  1 (0  1)]  1  F ( s )
sa sa
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 Common Laplace Transform Pairs

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 Inverse Laplace Transform

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 Derivative Laplace Transform

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 Transfer Function

Definition: The ratio of Laplace transform of the output to the Laplace

transform of the input assuming all initial conditions to be zero is
defined as “Transfer Function”.

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 Transfer Function of Close Loop System

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 Methods to obtain Transfer Function

Block Diagram Method: It is a pictorial representation of the cause and

effect relationship between input and output of a physical system.
Input Output
Block
 If the system is simple & has limited parameters then it is easy to
analyse such system using the method discussed earlier. i.e.
“Transfer Function”
 If the system is complicated and also have number of parameters then
it is very difficult to analyse it.
 To overcome this problem block diagram method is used. It is a simple
way to represent any practically complicated system. In this each
component of the system is represented by a separate block known as
functional block.
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 Block Diagram Fundamentals

Output: The value of the input is multiplied to the value of block gain to get
the output. X(s) Y(s)
3s
So output is
Y(s)= 3s.X(s)
Summing Point: A circle with a cross is the symbol of summing operation.
The plus or minus sign at each arowhead indicates whether that signal is
to be added or subtracted. Two or more signals can be added or
subtracted at summing point.
a a-b
+ - Output= a - b

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 Block Diagram Fundamentals

Take off point: The output signal can be applied to two or more points
from a take off point. Z

Z Z

Take off point

Z
Forward path: The direction of flow of signal is from input to output.
Feedback path: The direction of flow of signal is from output to input.

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 Block Diagram Reduction Rules

Rule 1: For blocks in cascade

Gain of blocks connected in cascade gets multiplied with each other.

R1(s)=G1.R(s) and C(s)=G2.R1(s) C(s)=G1G2R(s)

So C(s)=G1G2R(s)

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 Block Diagram Reduction Rules

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 Block Diagram Reduction Rules

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 Block Diagram Reduction Rules

From shown figure

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 Block Diagram Reduction Rules

From shown figure

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 Block Diagram Reduction Rules

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 Block Diagram Reduction Rules

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 Block Diagram Reduction Rules

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 Block Diagram Reduction Rules

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 Block Diagram Reduction Rules

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 Block Diagram Reduction Rules

 While solving block diagram for getting single block equivalent, the
said rules need to be applied. After each simplification a decision
needs to be taken. For each decision we suggest preferences as:
First choice
First preference: Rule 1 (For series)
Second preference: Rule 2 (For parallel)
Third preference: Rule 3 (For FB loop)
Second choice (Equal preference)
Rule 4 (Adjusting summing order)
Rule 5/6 (Shifting summing point before/after block)
Rule 7/8 (Shifting take off point before/after block)

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 Example 1

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 Example 1 (Continuous)

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 Example 1 (Continuous)

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 Example 1 (Continuous)

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 Example 1 (Continuous)

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 Example 1 (Continuous)

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 Example 1 (Continuous)

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 Example 1 (Finished)

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 Example 2

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 Example 2

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 Example 2

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 Example 2

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 Example 2

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 Example 2

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 Example 2

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 Example 2

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 Example 2

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 Example 2

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 THE DESIGN PROCESS

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 Summary
 There is a common theory that applies to ALL control systems.
 "Open loop" control systems do not check the outcome to see whether it
corresponds to the expected effect.
 "Closed loop" control systems compare the current output with some
reference value (which is not necessarily constant) in order to calculate
an error signal. The error is used to adjust the flow of energy into the
controlled system in order to bring the output closer to the target value.
 Control systems differ considerably in their performance. Poor design or
execution will impair accuracy, stability, resilience and speed.
 Signals varying at different frequencies traverse the feedback loop at
different speeds. This means that the output is delayed (i.e. phase-
shifted) with respect to the input, and these delays vary with the signal
frequency.

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 Summary
 The greatest initial accuracy and resilience in the face of varying loads is
achieved with a high gain error amplifier, and a large amount of negative
feedback. Such systems are invariably unstable unless the negative feed
back is very quick. Delayed feedback arrives late (i.e. phase-shifted) whe
n the situation has already changed. This causes the feedback to be appli
ed in the wrong direction, making the position worse instead of better.
 If the feedback is inherently slow then the resulting phase shifts limit the
maximum usable gain and reduce the performance of the control system.
High frequency gain and phase shifts must be correctly optimized for
success.
 Very simple control systems operate by on/off control, but most effective
control systems operate with smooth feedback that is proportional to the
magnitude of the error.

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 Conclusion

Automatic control system is a wide subject. Lot of

development has happened and lot of development is still
going on. In coming days, this will prove a great boon to the
world, since it will save a lot of electricity of power plants as
well as time. This article is just an introduction to the automatic
control system and I will write some application part to the
automatic control in future.

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