1.

Introduction to Control
Systems
• Concept of control system
• Classification of control systems
• Open-loop and closed-loop
control systems
• Applications of control systems
• Effects of feedback
• Feedback Characteristics
Introduction to Control Systems

• Control system is a system designed to help control the

behavior of other systems or processes.
• System is a combination of a number of equipment or
components connected in a sequence to perform a specific
function.
• In a control system, the output quantity is controlled by
varying the input quantity.
• Control System is to regulate or to direct or to command
itself or some other system by an arrangement of distinct
physical components connected in a manner.
Introduction to Control Systems
• A control system consisting of interconnected components
is designed to achieve a desired purpose.
• Modern control engineering practice includes the use of
control design strategies for improving manufacturing
processes, efficiency of energy use, advanced automotive
control, including rapid transit.
• A control system may be operated by electricity, by
mechanical means, by fluid pressure (liquid or gas), or by a
combination of means. When a computer is involved in the
control circuit, it is usually more convenient to operate all
of the control systems electrically
Components of a Control System
• Input
• Controller
• Process/Plant
• Output
• Feedback
• Plant: The portion of a system that is to be controlled or
regulated is called a plant or process. A plant performs
necessary actions on a controlled system and produces the
desired output.
• Feedback: The output is given as feedback to the input for
correction i.e. information about the output is given to
input for correcting the changes in output due to
disturbances.
• Error detector: compares the reference input with the
feedback signal and produces an error signal to the
controller for necessary controlled action.
• Controller: Element of a system within itself or external to
the system which controls the plant is called as a controller.
An amplifier is used to amplify the error signals and the
controller modifies the error signal.
Control System Components…

Desired input
Applications of Control Systems
• Industrial Automation: Manufacturing processes, robotics
• Aerospace: Flight control systems, autopilots, traffic control
• Automotive: Engine control systems, ABS, cruise control
• Electronics: Signal processing, communication systems
• Home Automation: Smart thermostats for HVAC, automated lighting
• Process Control: In making chemicals and other stuff control systems
are important. Moreover, They make sure everything works well by
keeping the right temperature and pressure.
• Biomedical Applications: In medical machines like pumps and
ventilators, control systems check and manage important things to
take care of patients.
• Communication Systems: However, In phones and computers, control
systems help messages and information move smoothly, avoid
mistakes, and make sure everything gets sent and received reliably
Classification of Control Systems
Classification of Control Systems
• Based on Feedback: Open-Loop and Closed-Loop
• Based on Linearity: Linear and Nonlinear
• Based on Time: Time-Invariant and Time-Variant
• Based on Signal Type: Continuous-Time and Discrete-Time
• Based on Predictability: Deterministic and Stochastic
• Based on Inputs/Outputs: SISO and MIMO
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

• Example: Washing machine, Ceiling Fan, traffic signal, Bread

toaster.
Open-Loop Control System
Advantages:
• Simple design and easy to construct
• Economical
• Easy for maintenance
• Highly stable operation
Dis-advantages:
• Not accurate and reliable when input or system parameters
are variable in nature
• Recalibration of the parameters are required time to time
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.
Closed-loop control system
Advantages:
• More accurate operation than that of open-loop control
system
• Can operate efficiently when input or system parameters
are variable in nature
• Less nonlinearity effect of these systems on output response
• There is facility of automation
• Time to time recalibration of the parameters are not
required
Disadvantages:
• Complex design and difficult to construct
• Expensive than that of open-loop control system
• Complicate for maintenance
• Less stable operation than that of open-loop control system
Open-Loop Control Closed-Loop Control
Feature System System
Ease of Build Easier Difficult

Performance Better (with proper

(Calibration) calibration) Better (due to feedback)
Comparatively less
Stability More stable stable
Optimization Not possible Easily achievable

Feedback Mechanism Absent Present

Maintenance Requires less Difficult
Reliability Less reliable More reliable

Speed of Operation Comparatively slower Faster

Complicated and
Installation Easy and economical expensive
Linear and Non-linear Control System
• Linear Control System: System dynamics are proportional
to the input and can be described using linear
mathematical operations.
• Linear control systems have certain properties (such as
superposition) that make them relatively easy to analyze
and control.
Example: Electrical circuit with resistors and a battery
current, Thermal expansion of metals.
• Nonlinear Control System: exhibit complex behaviors such
as bifurcations and chaos.
• Systems cannot be represented by linear differential
equations.
Time invariant vs Time variant
• Time invariant systems have the same input-output
relationship at all times, which means that the system
dynamics do not change over time.
• Time-invariant systems are often used in applications
where the system parameters are not expected to vary
significantly over time.
• Time varying control system is a system in which one or
more parameters vary with time.

Continuous Data Vs Discrete Data System

• In continuous data control system all system variables are
function of a continuous time ‘t’.
• A discrete time control system involves one or more
variables that are known only at discrete time intervals.
Deterministic vs Stochastic Control System
• A control System is deterministic if the response to input is
predictable and repeatable.
• If the response to input is nonpredictable, the control
system is a stochastic control system.

SISO vs MIMO control systems

• Single-input single-output (SISO) control systems: Only
one degree of freedom in the system. SISO systems are
relatively simple to analyze and control and are often used
in basic control systems.
• Multiple-input multiple-output (MIMO) control
systems: More complex to analyze and control than SISO
systems. MIMO systems can be used to control systems
with multiple degrees of freedom or to achieve more
advanced control objectives.
Feedback in control systems
• If either the output or some part of the output is returned
to the input side and utilized as part of the system input,
then it is known as feedback.
• Feedback improves the performance of the control
systems.
Types of Feedback
• Positive feedback
• Negative feedback

A Transfer Function is defined as the ratio of the Laplace

transform of a system’s output to the input, assuming initial
conditions are zero.
Every control system has a reference input, often called
excitation or cause, that works through a transfer function to
create a controlled output or response.
Positive Feedback
• The positive feedback adds the reference input, R(s) and
feedback output.

The overall transfer function of positive feedback control system

is,

Where,
T is the transfer function or overall gain of positive feedback
control system.
G is the open loop gain, which is function of frequency.
H is the gain of feedback path, which is function of frequency.
Negative Feedback
• Negative feedback reduces the error between the reference
input, R(s) and system output.

The overall transfer function of negative feedback control system

is,

Where,
T is the transfer function or overall gain of positive feedback
control system.
G is the open loop gain, which is function of frequency.
H is the gain of feedback path, which is function of frequency.
Effect of Feedback on Overall Gain
• Overall gain of negative feedback closed loop control
system is the ratio of 'G' and (1+GH). So, the overall gain
may increase or decrease depending on the value of
(1+GH).
• If the value of (1+GH) is less than 1, then the overall gain
increases. In this case, the gain of the feedback path is
negative.
• If the value of (1+GH) is greater than 1, then the overall
gain decreases. In this case, the gain of the feedback path is
positive.
• In general, 'G' and 'H' are functions of frequency. The
feedback will increase the overall gain of the system in one
frequency range and decrease in the other frequency
range.
Effect of Feedback on Sensitivity
• Sensitivity is ratio of variation in overall gain of negative
feedback closed loop control system (T) to open loop gain
(G) is

• Sensitivity may increase or decrease depending on the

value of (1+GH).
• If the value of (1+GH) is less than 1, then sensitivity
increases. In this case, 'GH' value is negative because the
gain of feedback path is negative.
• If the value of (1+GH) is greater than 1, then sensitivity
decreases. In this case, 'GH' value is positive because the
gain of feedback path is positive.
Effect of Feedback on Stability
• A system is said to be stable, if its output is under control.
Otherwise, it is said to be unstable.

• In Equation, if the denominator value is zero (i.e., GH = -1),

then the output of the control system will be infinite. So,
the control system becomes unstable.
In the closed loop control system, the gain due to noise signal is decreased by a factor of (1+GaGbH)(1+𝐺𝑎𝐺𝑏𝐻) provided that the term

Effect of Feedback on Noise

The open loop transfer function due to noise signal alone is

The closed loop transfer function due to noise signal is

In the closed loop control system, the gain due to noise signal is
decreased by a factor of (1+GaGbH), provided that the term
(1+GaGbH) is greater than one.