CONTROL ENGINEERING

(16ME6DCCOE)
Unit – 1
Introduction to Control Systems
 What is Control Engineering?
• Control
– To exercise influence over; to suggest or dictate behaviour of
• Engineering
– The application of mathematics and the physical sciences to the
needs of humanity and the development of technology.

• Control Engineering: Application of mathematics and

physical sciences to exercise influence over or dictate
behaviour of systems needed for humanity and
development of technology.
Or
• Control engineering or control systems engineering is the
engineering discipline that applies “control theory” to
design systems with desired behaviors*

*Source: Wikipedia
 Usage of Control Systems
• Power Amplification
• Remote Control
• Convenience of Input Form
• Compensation for Disturbances
Why Control Engineering?
Why Control Engineering?
Why Control Engineering?
Control Engineering Terminologies

• Controlled Variable: Quantity or condition that is

measured and controlled. This is also the output
or response of the system.
• Control Signal or Manipulated Variable: Quantity
or condition that is varied by the controller so as
to affect the value of the controlled variable.
• Input: An applied signal to a control system from
an external energy source in order to produce a
specified output. This is also called as reference
input.
 Control Engineering Terminologies –
Cont’d

• Plant: A plant may be a piece of equipment, perhaps

just a set of machine parts functioning together, the
purpose of which is to perform a particular operation.
Any physical object to be controlled (such as a
mechanical device, a heating furnace, a chemical
reactor, or a spacecraft) can be called as a plant.
• Disturbance: It is a signal which tends to adversely
affect the value of the output of a system.
 Control System - Classification
• 1) Natural and Manmade Control Systems
• 2) Linear and Non-linear Control Systems
• 3) Time-invariant and Time-variant Control
Systems
• 4) Continuous and Discrete Control Systems
• 5) Deterministic and Stochastic Control Systems.
• 6) Lumped Parameter and Distributed Parameter
Control Systems
• 7) SISO and MIMO Control Systems
• 8) Open Loop and Closed Loop Control Systems
 Control Systems - Comparison
Linear Control Systems Non Linear Control Systems
• Output of system varies • Output of system does not
linearly with input vary linearly with input
• Satisfies principles of • Do not satisfy principles of
homogenity and homogenity and
superposition. superposition.
• E.g., resistor • E.g., diode, dead zone of a
motor etc.,
 Control System - Comparison (Cont'd)

Time Invariant Control Systems Time Variant Control Systems

• Output of the system is
independent of the time at
which the input is applied.
• y(t) = f(u(t)) => y(t+δ) =
f(u(t+δ))
• E.g., resistor
• Output of the system is
dependent on the time at
which the input is applied.
• y(t) = f(u(t)) ≠> y(t+δ) =
f(u(t+δ))
• E.g., space-craft
 Open Loop C/S
• Those systems in which the output has no
effect on the control action are called open
loop c/s.
 Closed Loop C/S
• A system that maintains a prescribed
relationship between output and the
reference input by comparing them and using
the difference as a means of control is called a
Closed loop C/S.
 OLCS v/s CLCS
OLCS
• Output does not affect the
control action / M.V.
• There is no feedback
• There is no compensation
for disturbances.
• Less accurate or more error
prone.
• Has more stability.
• Response is faster.
• Simple in construction &
easy to maintain.
• Economical.
CLCS
• Output affects the M.V
• Feedback element is
present.
• There is compensation for
disturbances.
• More accurate.
• Comparatively Less stable.
• Response is slower.
• More complicated in nature
& difficult to maintain
• Costly
 Open & Closed Loop Control Systems
• Domestic washing machine

• Open loop C.S

 Open & Closed Loop Control Systems
• Automatic cruise control

• Closed loop C.S

 Open & Closed Loop Control Systems
• Toaster

• Open loop C.S

 Open & Closed Loop Control Systems
• Air Conditioner

• Closed Loop C.S

 Open & Closed Loop Control Systems
• Stepper Motor

• Open loop C.S

 Open & Closed Loop Control Systems
• Servo Motor

• Closed loop C.S

 Analysis & Design Objectives
• 2 important measures of performance:
– Transient Response
– Steady State Error
 Analysis & Design Objectives (Cont’d)
• Analysis:
– Process by which a system's performance is
determined.
• Design:
– Process by which a system's performance is created
or changed.
• A control system is dynamic in nature. It
responds to an input by undergoing a transient
response before reaching a steady-state response
which generally resembles the input.
 Analysis & Design Objectives (Cont’d)
• The main objectives of analysis and design of
any control system are:
– Transient response:
• Producing the desired (usually optimum) transient
response.
– Steady state response:
• Minimizing (reducing) the steady state errors.
– Stability:
• Maximizing (increasing) the stability of the system.
 Requirements of Control System
• Transient response
– optimum
• Steady State response
– acceptable
• Stability
– very good
• Accuracy
– very high
• Sensitivity
– very good
• Disturbance mitigation
– maximum
• Bandwidth
– Frequency range for which the o/p is satisfactory
– large
• Speed
• Oscillations
– should be min (i.e. suitably damped)
 Properties of Feedback
• Following are some of the major properties of feedback:
– Robustness to Uncertainty
• System response has to be quite robust even if there is uncertainty in the
range of operating conditions.
– Design of Dynamics
• Unstable systems can be stabilized.
• Sluggish systems can be made more responsive.
• Systems that have drifting operating points can be held constant
– Higher Levels of Automation
• Leads to higher levels of situational awareness & decision making.
• This includes not only traditional logical branching based on system conditions
but also optimization, adaptation, learning and even higher levels of abstract
reasoning.
– Drawbacks
• It leads to instability,
• It injects measurement noise to the sytem,
• Increases complexity of the sytem,
• Overall gain, bandwidth and sensitivity of the system is affected