Control System

Course Learning Objectives

Develop models of electrical and mechanical systems using the fundamentals of laws
CLO1 governing these systems

CLO2 Analyze the time domain response of systems

CLO3 Interpret the stability of systems using their frequency domain response

CLO4 Design controllers to meet the given specifications

Some important definitions
• System

An interconnection of elements and devices for a desired purpose.

• Control

Is the process of causing a system variable to conform to some desired value.

It is the action to command, direct or regulate. There are 2 types of control

• Manual

• Automatic
Some important definitions (Contd..)
• Control System
An interconnection of components forming a system configuration that
will provide a desired response. It is an interconnection of system that
command, directs or regulates itself or another system to produce a
desired output.
Some important definitions (Contd..)

• Plant/Process
The device, plant, or system under control. The input and output
relationship represents the cause-and-effect relationship of the
process.
Some important definitions (Contd..)
• Input
Is the signal or excitation provided to a control system
• Output
Is the actual response obtained from the control system
• Controller
Is the part or component that controls the plant/process
• Disturbance
Is signal/input that adversely affects the performance of the system.
Can be of 2 types: internal disturbances (generated within the system)
and external disturbances (generated outside the system).
Some important definitions (Contd..)
• Actuator
Is the device that causes the process to produce the desired output.
Some important definitions (Contd..)

• Controlled variable

Is the variable that is measured and controlled. Normally it is the output of the
control system. Eg: room temperature

• Manipulated variable

Is the variable that is changed by the controller to get the controlled variable
(desired response). Normally it is the output of the control system. Eg: air flow
from the ac unit
 Classification of
control system

Based on presence/absence of Based on presence/absence of

Based on origin Based on purpose From engineering point of view
human beings feedback system

Natural Manual Open Loop Position Control system Time-varying and invariant

Man made Automatic Closed loop Velocity control system Linear and non-linear

Combinational Process Control System Continuous and discrete

Temperature control system Deterministic and Stochastic

Lumped parameter and discrete

Traffic Control System
parameter

SISO and MIMO

Open loop and closed loop

Classification of control
system
I: Natural control system and
Man-made control system:
• Natural control system:
It is a control system that is created by nature, i.e.
solar system, nervous system/ digestive system
e.t.c. of any animal, etc.
Classification of control system
I: Natural control system and Man-made
control system:

• Man made system:

It is a control system that is created by
human beings eg: automobiles, fluid level
controlling system, power plants etc .
 Classification of control system
II. Automatic and Combinational control system:
• Automatic control system:
• Combinational control system:
 It is a control system that is made by using
It is a control system that is a
basic theories from mathematics and
combination of natural and man-made
engineering. This system mainly has sensors,
control systems, i.e. driving a car etc.
actuators and responders.
Classification of control system
III. Time variant and time invariant control system:

• Time variant control system: • Time invariant control system:

It is a control system where any one It is a control system where none of

or more parameters of the control its parameters vary with time eg: a

system vary with time i.e. rocket moving car, bicycle et

system. Y(t)=2u(t)+1

The coefficients of the differential The coefficients of the differential

equations representing such equations representing such systems

systems are variables are constants

Classification of control system
IV. Linear and Non-linear control system:

• Linear control system: • Non-Linear control system:

 It is a control system that satisfies
 It is a control system that do
properties of homogeneity and
additive. not follow the property of
 Additive property(Obeys
homogenity and additive
principle of supreposition):
property

Homogenous property
Classification of control system
V. Continuous and Discrete time control system:

• Continuous time control system: • Discrete Time control system:

It is a control system where It is a control system where

performances of all of its performances of all of its

parameters are function of parameters are function of

discrete time i.e. microprocessor
time, i.e. armature type speed
type speed control of motor.
control of motor.
Classification of control system
VI. Deterministic and Stochastic control system:

• Deterministic control system: • Stochastic control system:

It is a control system where It is a control system where
its output is predictable or its output is unpredictable or
repetitive for certain input non-repetitive for certain
signal or disturbance signal. input signal or disturbance
signal.
Classification of control system
VII. Lumped parameter and Distributed parameter control system:

• Lumped parameter control • Distributed parameter control

system: system:
It is a control system where It is a control system where its
mathematical model is
its mathematical model is
represented by an electrical
represented by ordinary
network that is a combination of
differential equations. resistors, inductors and capacitors.
Classification of control system
VIII. Single Input Single output (SISO) and Multiple Input Multiple
Output(MIMO) control system:

• Single Input Single • Multiple Input Multiple

Output control system: Output control system:

It is a control system that
It is a control system
has only more than one
that has only one
input and more than one
input and one output. output.
Classification of control system
IX. Open loop and Closed loop control system:

• Open loop control system: • Closed loop control system:

It is a control system where its :It is a control system where its
control action only depends on control action depends on both
input signal and does not of its input signal and output
depend on its output response. response.
Eg: Bread toaster, electric fan etc Eg: Air conditioner, automatic
electric iron, missile launcher etc
Open loop control system
• It is a control system where its control action only depends on input
signal and does not depend on its output response

• Examples: traffic signal, washing machine, bread toaster, etc.

• Advantages:
• Simple design and easy to construct

• Economical

• Easy for maintenance

• Highly stable operation

Open loop control system (Contd..)
• Disadvantages:
 Not accurate and reliable when input or system parameters are variable in
nature
 Recalibration of the parameters are required time to time
Examples of open loop system
• Electric toaster • Traffic light controller
Closed loop control system
• It is a control system where its control action depends on both of its
input signal and output response
• Examples: automatic electric iron, missile launcher, speed control of
DC motor, etc
Example of closed loop control
system
• Human Being • Home heating system
Closed loop control system (Advantages)

MORE ACCURATE OPERATION CAN OPERATE EFFICIENTLY LESS NONLINEARITY EFFECT OF ENABLES AUTOMATION TIME TO TIME RECALIBRATION
THAN THAT OF OPEN-LOOP WHEN INPUT OR SYSTEM THESE SYSTEMS ON OUTPUT OF THE PARAMETERS ARE NOT
CONTROL SYSTEM PARAMETERS ARE VARIABLE IN RESPONSE · HIGH BANDWIDTH REQUIRED
NATURE OF OPERATION
 Closed loop control system
(Disadvantages)

COMPLEX DESIGN AND EXPENSIVE THAN THAT OF COMPLICATE FOR LESS STABLE OPERATION
DIFFICULT TO CONSTRUCT OPEN-LOOP CONTROL MAINTENANCE THAN THAT OF OPEN-
SYSTEM LOOP CONTROL SYSTEM
 Comparison between Open loop and Closed loop control system
Open Loop System Closed Loop System

The system does not have feedback signals- therefore changes Feedback is present- therefore changes in output affects the
in output does not affect the input input
Output measurement is not required for operation of the Output measurement is necessary
system
Inaccurate and unreliable Accurate and reliable

Simple and economical Complex and costly

Changes in output due to external disturbances are not Changes in output due to external disturbances are
corrected automatically corrected automatically
Highly sensitive to environmental changes Less sensitive to environmental changes

They are generally stable They are generally unstable

Small bandwidth Larger bandwidth

Highly affected by non linearities Reduced effect of non linearities

 Feedback control systems
• Systems in which the output is
completely or partially given as one
of the inputs

• They are basically of 2 types

• Positive feedback system
(Regenerative)
• Negative feedback system
(Degenerative)
Requirements of a good control
system
1. Accuracy

2. Sensitivity

3. Noise

4. Stability

5. Bandwidth

6. Speed

7. Oscillations
Requirements of a good control
system
1. Accuracy
• A good system must be highly accurate
• Open loop systems are less accurate. The feedback in closed-loop systems
helps to reduce the errors making the system more accurate
2. Sensitivity
• A good system must be insensitive to environmental changes, aging, etc;
however, it should be sensitive to changes in input command.
• The performance of the system should not be affected by changes in internal
parameters of the system
Requirements of a good control
system(Contd..)
3. External disturbance or noise
• All systems are subjected to external disturbance or noise. A good system
should be insensitive to external disturbance or noise but sensitive to input
command changes.
4. Stability
• A stable system is one which produces bounded output for bounded input.
• A good control system should be stable.
5. Bandwidth
• Bandwidth determines the range of frequencies for which the output is
satisfactory. Hence, a good system should have good bandwidth
Requirements of a good control
system(Contd..)
6. Speed
• A good system should reach its desired value as quickly as possible, i.e., the
time taken by the system to settle to its final value should be small.

7. Oscillations
• The system should have sufficient damping i.e. the system should reach its
final steady-state value without too many oscillations
Mathematical modelling of physical
systems
Mathematical model of a system

• Set of mathematical equations describing the dynamic behavior of the

system

• Written based on laws governing the behavior of the system

• Mechanical systems – Newton's laws

• Electrical systems – Kirchhoff's law

Mechanical systems

• There are 2 types of mechanical systems

• Translational motion

• Rotational motion
 Translational Mechanical systems
• In this case motion is along a straight line

• These systems are characterized by

1. Linear velocity

2. Linear acceleration
• Consist of 3 basic elements

1. Mass

2. Friction

3. Linear Spring
• These systems are modeled using Newton's law of motion which states

• Sum of forces applied on a rigid body or system must be equal to the sum of forces consumed to
produce displacement, velocity and acceleration in various elements of the system
Equations governing translational
systems
Equations describing rotational
systems
Equations governing electrical
systems
Basic Laplace Transforms
Transfer function
• Used to characterize the input-output relationships of components or
systems that can be described by linear, time invariant differential
equations
• It is defined as the Laplace transform of output (response) of the
system to the Laplace transform of input (excitation or driving
function) under the assumption that all initial conditions are zero
Terminologies associated with the
transfer function
The numerator polynomial and denominator polynomial of the TF can
be factorized to obtain the following

• K is known as the system gain

• The roots of the numerator polynomial (, …… ) are known as the zeros
of the TF. Zeros are the values of s that make the TF value equal to
zero
• The roots of the denominator polynomial (, …… ) are known as the
zeros of the TF. Poles are the values of s that make the TF value equal
to infinity
Terminologies associated with the
transfer function (Contd…)
• Characteristics Equation
• The equation obtained by equating the denominator polynomial of the TF to
zero is called the characteristics equation
• Order of the TF
• The highest power of s in the characteristics equation is called the order of
the system
• Type of the system
• The number of poles at the origin is called the Type of the system
Pole– zero plot
• Plot obtained by locating all poles and zeros of the TF in the s-plane is
called pole zero plot
Properties of transfer function
• Defined only for linear time invariant system

• All initial conditions of the system are set to zero

• Transfer function is independent of the input to the system

• Transfer function between a pair of input and output variables is the

ratio of Laplace transform of output to the Laplace transform of the
input.