1.

Introduction to Control Systems

1.1. Control Systems
Definitions
➢ Control: is regulating the quantity of physical variable
as per the desired value.
➢ System: is block box which has an input and an output
variable.
Control Systems -is block box which relate the output
variable with the input variable, but it doesn’t mater about
the process or changes of condition inside the system.
-Is a system where its output is controlled to be at some
specific value or to change in some prescribed way as
determined by the input to the system.
Example: Speed Control of DC motor by varying the 1
supply voltage
Example

Input Power Output Input Electric Output

Fuel Station Electricity Electric Motor Mechanical
Power Rotation
• The relation between the output and input of many
systems tend to be similar
Examples. A RC system & a heating System
R
Vc
+ Input RC Output
Vc
Vs Input System Vc
(output) Vs
-

Input t
Heat T

Input Heating Output

Heat System Temp.
2
t
Variables of control system
•Reference Variable(Input):
the desired quantity entering to the system to produce the required
output
•Controlled Variable(Output):
• Is the quantity or condition that is measured and controlled
• It is normally the output of the system
• Manipulated Variable:
•The quantity or condition that is varied by the controller to
affect the value of the controlled variable
➢Control means measuring the value of the controlled variable of
the system and applying the manipulated variable to the system to
correct or limit the deviation of the measured value from a desired
value.
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Open-Loop

Input Output
Control Correction Process
Signal Element Element Controlled
Variable

Controller

Closed-Loop
Controller

Input + e Control Correction Output

Process
Reference - Element Element Controlled
Value Variable

Comparison Measurement
element feedback Element
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Basic elements of control system
1. Comparison Element: compares the reference value of
the variable being controlled with the measured value of
the actual output and produces an error signal.
2. Control Element: decides what action to be taken after it
gets an error signal.
3. Correction Element (actuator): used to produce a
change in the process in order to avoid the error.
4. Process Element (Plant): is the system of which a
variable is being controlled
5. Measurement Element: Produces a Signal related to the
actual output and provides a feedback signal to the
comparison element.

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1.2 Open-Loop Control Systems
• It uses an actuating device to control the process/plant
without feedback system.
• No information signal from feedback to the system to adjust
itself and maintain a constant output
• An input is chosen on the basis of experience of such a
system to give the value of the required output.
Examples:

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cont....

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Features of an open loop Control System
❖ +ve feature
➢ Relatively simple hence low cost with generally good
reliability
➢ Inherently Stable
❖ -ve feature
➢ Often inaccurate since there is no error correction
➢ More sensitive to changes in component characteristics
➢ More sensitive to disturbances

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1.3 Closed-Loop Control Systems
• A signal is feedback to the input from the output and used to
modify the input so that the output is maintained constant
regardless of any changes in conditions.

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cont....

10
cont...

11
cont...

12
cont.…
–Ve (Degenerative) Feedback
1. Reduction of effects of Parameter Variations
❖ Feedback reduces the sensitivity of the system to
parameter variations. These parameters of a
system may vary with age (e.g. Wear of
mechanical components), with environmental
change, and so on.
❖ Sensitivity: is a measure of the effectiveness of a
control system in reducing the influence of
parameter variation.

❖ It is the relative variation in the overall transfer

function, T(s) due to variation in G(s) or in H(s).
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cont.…

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Input Output
+ e Electric
Required - Heater Temperature
Temp. Signal
Temp.
Measurement

Desired
Heating
Temperature + e Compensator Sub Warm Room
- system Air

Sensor / Transducer (e.g.

Thermistor or Temperature
Actual Sensitive Resistor) Room
Temperature Temperature

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• Sensitivity due to variation in G is calculated by:
T / T % change in T(s)
S =
T
=
G / G % change in G(s)
G

i) Sensitivity of closed loop:

T G   G  G
S = T
. =  .
G T G  1 + GH
G
 T
 ( 1 + GH ) − G.H  G ( 1 + GH ) 1
= . =
 ( 1 + GH ) 2
 G 1 + GH

ii) Sensitivity of an open loop:

T G  G
S = T
. = (G ) . = 1
G T G
G
G 16
• Conclusion:
❖ The sensitivity of a closed-loop system w.r.t
variation in G is reduced by a factor 1+GH as
compared to that of an open-loop system.
• Sensitivity w.r.t H(s) of a closed-loop
system is given as:
T H   G  H
S =
T
. =  .
H T H  1 + GH
H
 T
 −G.G  H ( 1 + GH ) −GH
= . =
 ( 1 + GH ) 2
 G 1 + GH
• For large value of GH:
S 1
T
H 17
• This shows that, the changes in H directly affects
the system output.
• Therefore, it is important to use feedback
elements which do not vary with environmental
changes or elements that can be maintained
constant
i.e. closed-loop system requires careful
selection of the components of the feedback
sensor H(s).
❖ Note: G(s) is made of power elements and H(s)
is made of measuring elements which operate at
low power levels, therefore the selection of
accurate H(S) is far less costly than that of G(s) to
meet the exact specification. 18
2. Control Over system Dynamics
• To be discussed in time response
3. Control of the effects of disturbance signals
(Disturbance rejection)
Case i)
TD(s) TD(s)

R(s) -1 -1
1 E(s) G1(s) G2(s) C(s) 1 C(s) R(s) G1(s) G2(s) C(s)

-1
H(s)

• The ratio of the output C(s) to the disturbance

signal TD(s), when R(s)=0, is given by:

C( s ) CD ( s ) −G2
= =
TD ( s ) R( s )=0 TD ( s ) 1 + G1G2 H
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If G1G2 H( s ) >>1 over the working range of s
CD ( s ) −1
 
TD ( s ) G1 H
• If G1(s) is made sufficiently large, the effect of
disturbance can be decreased by feedback.
Case ii)
• Measurement sensor H may itself generate some
noise (disturbance)
R(s) E(s) G1(s) G2(s) C(s) 1 C(s)
1

-H2(s) H1(s)
1
N(s)
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C( s ) CN ( s ) −G1G2 H 2 ( s )
= =
N( s ) R( s )=0 N( s ) 1 + G1G2 H 1 H 2 ( s )
When G1G2 H 1 H 2  1
CN ( s ) −1
 =
N( s ) H 1 ( s )
 the effect of noise on output is then:
− N( s )
CN ( s ) =
H1( s )
• Thus, for optimum performance of the
system, the measurement sensor should be
designed such that H1(s) is maximum. 21
3.2.2. +Ve (Regenerative feedback)
R(s) E(s) G(s) C(s) 1 C(s)
1

H(s)
C( s ) G( s )
T( s ) = =
R( s ) 1 − GH( s )
• -Ve sign in the denominator includes the
possibility of denominator becoming equal to zero
thereby giving an infinite output for a finite input
which is the condition of instability.
Importance
❖ Regenerative feedback is sometimes used for increasing
the loop gain of feedback system as follows.
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G( s )
R(s) E(s) 1 G(s)
C(s) C(s) R(s) E(s) 1 − G f ( s )C(s) C(s)
=
1 1
Gf(s) -1 H(s)
-1 H(s)
Inner loop- regenerative feedback

• If Gf(s) is selected to be nearly unity, the closed

loop transfer function becomes

C( s ) G( s ) 1
= 
R( s ) 1 − G f ( s ) + G H( s ) H( s )

• Thus due to high loop gain provided by the inner

regenerative feedback loop, the closed loop
transfer function becomes insensitive to G(s).
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Features of Closed-loop Control Systems

❖ Advantage of +ve feed back

➢ Ability to match the actual to the required value since there
is continuous error correction
➢ Less sensitivity to disturbances
➢ Less sensitivity to changes in component characteristics
➢ Increased speed of response and hence increased
band width

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Adjustable Speed Electric-Motor Drive
Outlet Outlet
Throttling
Valve
Motor ASD

Essentially Inlet Inlet

Constant Speed Pump Variable Speed Pump

(a) Traditional (b) Adjustable Speed Drive

Electric Drive
Fixed Adjustable
Form Form

Power
Processing Unit Motor Load
(PPU)
Electric Source
( Speed / Position)
(Utility)
Power
Sensor
Signal
Controller

Input Command
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(Speed/Position)
Multi-input with multi-output variables

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cont...

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Examples of Control Systems

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Governor

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cont....

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Missile Launching & Guidance

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THE END

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