FEEDBACK AND CONTROL SYSTEMS

Engr. Joey P. Sarmiento, PECE

INTRODUCTION TO CONTROL SYSTEMS
Intended Learning Outcomes:
1. Define Control Systems.
2. Have a background on the history of Control
Systems.
3. Discuss the basic features and configurations
of Control Systems.
4. Analyze the design of a Control System.
5. Design a Control System.
INTRODUCTION

Control systems are an integral part of

modern society. Numerous applications are all
around us such as the rockets fire, and the
space shuttle lifts off to earth orbit; a self
guided vehicle delivering material to work
stations in an aerospace assembly plant.
These are just a few examples of the
automatically controlled systems.
 We are not the only creators of
automatically controlled systems; these
systems also exist in nature. Within our own
bodies are numerous control systems, such as
the pancreas, which regulates our blood sugar.
In time of “fight or flight,” our adrenaline
increases along heart rate, causing more
oxygen to be delivered to our cells. Our eyes
follow a moving object to keep it in view; our
hands grasp the object and place precisely at a
predetermined location.
Control System Definition

Control system consists of subsystems

and processes (or plants) assembled for the
purpose of obtaining a desired output with
desired performance, given a specified input.
INPUT : STIMULUS OUTPUT :RESPONSE

Desired Response Actual Response

Advantages of Control Systems

With control systems:

1. We can move large equipment with

precision that would otherwise be
impossible.
2. We can point huge antennas toward the
farthest reaches of the universe to pick up
faint radio signals; controlling these
antennas by hand would be impossible.
3. Elevators carry us quickly to our destination,
automatically stopping at the right floor.
We build control systems for 4
primary reasons:

1. POWER AMPLIFICATION
2. REMOTE CONTROL
3. CONVENIENCE OF INPUT FORM
4. COMPENSATION FOR DISTURBANCES
Basic components of a Control
System

1. PLANT
2. FEEDBACK
3. CONTROLLER
4. ERROR DETECTOR
Plant

The portion of a system which is to be

controlled or regulated. It is a unit where
actual processing is performed.
Feedback

It is a controlled action in which the output

is sampled and a proportional signal is given to
the input for automatic correction of any
changes in output due to disturbances.

The feedback signal is fed to the error

detector. Negative feedback is preferred as it
results in better stability and accuracy. The
other disturbance signals are rejected.
Error Detector

The function of error detector is to

compare the reference input with the feedback
signal. It produces an error signal which is a
difference of two inputs which are reference
signal and a feedback signal.

The error signal is fed to the controller for

necessary controlled action. This error signal is
used to correct the output if there is a deviation
from the desired value.
Controller

The element of a system within itself or

external to the system which controls the plant
is called as a controller.

The error signal will be a weak signal and

so it has to be amplified and then modified for
better control action. In most of the systems,
the controller itself amplifies the error signal
and integrates or differentiates to generate a
control signal.
Open – Loop Systems

A system which is not capable of correcting

the changes in output by itself is called as an
open loop system.

Open – loop systems, then, do not correct

for disturbances and are simply commanded by
the input.
Open – Loop Systems

Output quantity has no effect upon the

input quantity; output is not given as feedback to
the input for correction.

When the output changes due to the

external disturbances then it is not followed by
the changes in input to correct the output.
Advantages of Open Loop Systems

1. Open loop systems are simple and

economical.
2. They are easier to construct.
3. Open loop systems are stable.
Disadvantages of Open Loop Systems

1. Open loop systems are inaccurate and

unreliable.
2. The changes in the output due external
disturbances are not corrected
automatically.
Closed loop systems

Control systems in which the output has an

effect upon the input quantity in such a manner
so as to maintain the desired output are called as
closed loop systems.

The changes in the output due to

disturbances are corrected automatically by using
feedback.
Closed – Loop Systems (Feedback Control)
Advantages of Closed Loop Systems

1. Closed loop systems are accurate.

2. They are accurate even in the presence
of nonlinearity.
3. They are most stable.
4. They are less affected by noise.
Disadvantages of Closed Loop Systems

1. They are complex and expensive.

2. The feedback in closed loop system may
leave to oscillatory response.
3. More care is needed to design a closed
loop system.
4. The overall gain of the system is reduced
due to feedback.
Distinct examples of Closed Loop
Systems

1. Liquid level control system

2. Room temperature control system
3. Traffic control system
4. Home heating systems
Analysis and Design

Analysis – is the process by which a

system’s performance is determined.

Design – is the process by which a system’s

performance is created or changed.
3 Major objectives of Analysis and Design

1. Producing the desired transient response.

2. Reducing steady – state error.
3. Achieving stability.
STABILITY

Control systems must be designed to be

stable. That is, their natural response must decay
to zero as time approaches infinity or oscillate.

Eventually, the natural response is so much

greater than the forced response that the system
is no longer controlled. This condition is called
instability.
 If the system is stable, the proper transient
response and steady – state error characteristics
can be designed. Stability is one of the key
achieving proper analysis and design objective.
Other Considerations

In designing control systems, aside from

the three major considerations, there are other
things that can be looked into:

1. Factors affecting hardware selection.

2. Finances
3. Robustness
Case Study: Antenna Azimuth – An Introduction to Position
Control Systems
A position control system converts a position input command to a
position output response. They can be found in antennas, robot arms and
computer disk drives. In this case study, an antenna azimuth position
control system will be considered. This could be used to position a radio
telescope antenna. Figure 1.5 shows the system.
Questions:
1. Identify the input and the output of this
system.
2. Draw a functional block diagram of this
system.
3. Analyze this system’s functionality. Include in
the discussions the transient response,
steady-state error and stability considerations.
Answers:
1. The input is the desired azimuth angle in terms of the
position of a potentiometer, and the output is the
azimuth angle of the antenna
2. The functional block diagram appears below.
3. The input transducer, the potentiometer, will convert
the angular input to a voltage. Similarly, another
potentiometer, this time as an output transducer, will
measure the position of the antenna and convert it
into voltage. The difference between these voltages
will indicate how far the antenna is to its final position
as commanded in the input. Thus, the actuating
signal (the voltage difference) will drive the controller,
which in this case is a signal and power amplifier. The
output of this amplifier will drive the plant, which
consists of the motors, gears, and the load, which is
the antenna. If the system parameters are chosen
correctly, this system will be stable for a given input.
The Control System Design Process

1. Transform requirements into a physical

system.
2. Draw a functional block diagram.
3. Create a schematic.
4. Develop a mathematical model.
5. Reduce the block diagram.
6. Analyze and Design.
Steps in Design Process
Test waveforms used in
Control Systems:

1. Impulse
2. Step
3. Ramp
4. Parabola
5. Sinusoid
Problem:

A temperature control system operates by

sensing the difference between the thermostat
setting and then opening a fuel valve an
amount proportional to this difference. Draw a
functional closed-loop block diagram
identifying the input and output transducers,
the controller and the plant. Furthermore,
identify the input and output signals of all
subsystems previously described.
Answer:
Problem:

A CD player requires a constant speed of rotation in

spite of motor wear and variation and other
component changes. Our goal is to design a system
for rotating disk speed control that will ensure that
the actual speed of rotation is within a specified
percentage of the desired speed. Design an open
loop system.
Answer:
Problem:

Design a closed - loop system for the

previous problem.
Answer:
Problem:

An aircraft’s attitude varies in roll, pitch and

yaw as defined on the next slide. Draw a functional
block diagram for a closed-loop system that stabilizes
the roll as follows: The system measures the actual
roll angle with a gyro and compares the actual roll
angle with the desired roll angle. The ailerons
respond to the roll-angle error by undergoing an
angular deflection. The aircraft responds to this
angular deflection, producing a roll angle rate.
Identify the input and output transducers, the
controller and the plant. Further, identify the nature
of each signal.
Answer:
Problem:

1. An automobile driver uses a control system

to maintain the speed of the car at a
prescribed level. Sketch a block diagram to
illustrate this feedback system.

2. Describe the block diagram of the speed

control sys-tem of a motorcycle with a
human driver.
Answers:

1.

2.
LAPLACE TRANSFORMATION
Intended Learning Outcomes:
1. Discuss Laplace Transformation.
2. Familiarize the linear property of laplace
transform.
3. Obtain laplace transform of differential
equations using its integral formula and the
table of laplace transform pairs.
4. Obtain inverse laplace transform of functions.
5. Solve problems involving laplace and inverse
laplace transforms.
Laplace Transformation

The laplace transform is an important tool

that makes solution of linear constant coefficient
differential equations much easier. The laplace
transform transforms the differential equations
into algebraic equations which are easier to
manipulate and solve.

Laplace transform is an essential tool for

the study of linear time – invariant systems.
 The laplace transform converts a function of
real variable f t  into a function of complex
variable F(s).

The laplace transform is defined as


F ( s )  L f t    f t e
 st
dt
0

The variable s is a complex variable that is

commonly known as the laplace operator.
Problem:

Find the laplace transform of

f t   1  2e 2 t

Answer:
1 2

s s2
LAPLACE TRANSFORMS TABLE
LAPLACE TRANSFORMS TABLE
LAPLACE TRANSFORMS TABLE
LAPLACE TRANSFORMS TABLE
LAPLACE TRANSFORMS TABLE
LAPLACE TRANSFORMS TABLE
LAPLACE TRANSFORMS TABLE
Problem:

Find the laplace transform of

f t   t  3t  5t  8
3 2

Answer:
6 6 5 8
4
 3  2 
s s s s
Problem:

Find the laplace transform of

f t    sin 2t  cos 3t
1 2
2 3
Answer:
1 2s
 2 
s  4 3( s  9)
2
Problem:

Find the laplace transform of

f t   5 sinh 3t  4 cosh 3t

Answer:
15 4s
 2
s 9 s 9
2
Problem:

Find the laplace transform of

f t   2e sin 2t  3e cos 2t
3t 3t

Answer:
13  3s
s  3  4
2
THE INVERSE LAPLACE TRANSFORM

F t   L
1
F s 
Problem:

Find the inverse laplace transform of

f s  
4
s
Answer:
4
Problem:

Find the inverse laplace transform of

5 3 
f s    2  
s s  2
Answer:

5t  3e 2t
Problem:

Find the inverse laplace transform of

 24 7s 
f s    5  2
5
 2 
s s  25 s  9 

Answer:

t  sin 5t  7 cosh 3t
4
Problem:

Find the inverse laplace transform of

 
f s    2
15

 s  4 s  13 
Answer:
2 t
5e sin 3t
Problem:

Find the inverse laplace transform of

 
f s    2
2

 s  3s  2 
Answer:
2 t t
 2e  2e
Problem:

Find the inverse laplace transform of

 5 
f s    2 
s  9
Answer:
5 3t 5  3t
e  e
6 6
Problem:

Find the inverse laplace transform of

 s  2s 2

f s    2 
 s 
 1 s 2
 4 
 
Answer:
2 2 1 2
cos t  cos 2t  sin t  sin 2t
3 3 3 3
Seatwork:

Find the inverse laplace transform of

 s 1 
f s    2 3
 s s  2  
Answer:
Laplace transform of a
differential equation

 df 
L    sF s 
 dt 
d f 
2
L  2   s F s 
2

 dt 
d t 
3
L  2   s F s 
3

 dt 
Problem:

Given the following differential equation,

solve for y(t) if all initial conditions are zero.
Use the laplace transform.
2
d y dy
2
 12  32 y  32
dt dt
Answer:

y (t )  1  2e 4 t
e 8t

Problem:

Given the following differential equation,

solve for y(t) if all initial conditions are zero.
Use the laplace transform.
2
d y dy
2
 3  2 y  e 3t

dt dt
Answer:
 1 3t 1 t
y (t )   e  e  e 
2t

2 2 
THE TRANSFER FUNCTION

INPUT OUTPUT
SYSTEM
R(s) C(s)

INPUT OUTPUT
SUBSYSTEM SUBSYSTEM SUBSYSTEM
R(s) C(s)
The Transfer Function
Transfer Function, G(s)

C s 
G s  
R s 
Where:
C(s) = Output
R(s) = Input
G(s) = Transfer function
Problem: (Transfer function for a D.E.)

Find the transfer function represented by

dct 
 2ct   r t 
dt
Answer:
1
s2
Problem:

Find the transfer function, corresponding

to the differential equation
3 2 2
d c d c dc d r dr
3
 3 2  7  5c   4  3r
dt dt dt dt dt
Answer:
s  4s  3
2
G (s)  3
s  3s  7 s  5
2
Problem:

Find the differential equation

corresponding to the transfer function,

2s  1
G (s)  2
s  6s  2
Answer:
2
d c dc dr
2
 6  2c  2  r
dt dt dt
Problem:

A system is described by the following

differential equation below. Find the expression
for the transfer function.
3 2 3 2
d y d y dy d x d x dx
2
 5 2  7  y  3  2 2 3  7x
dt dt dt dt dt dt
Answer:

y s  s  2 s  3s  7
3 2
 3
xs  s  5s  7 s  1
2
Problem:

Write the corresponding differential

equation for the given transfer function.

X (s) s2
 3
F ( s ) s  8s  9s  15
2

Answer:
3 2
df t 
d x
3
 8
d x
2
 9
dx
 15 x   2 f t 
dt dt dt dt
Problem:

Write the corresponding differential

equation for the system shown

R(s) s  2s  4s  s  3
5 4 3 2
C(s)

s  7 s  3s  2s  s  3
6 5 4 3 2

Answer:
Electrical Network Transfer Functions
Simple circuits via Mesh analysis
Problem:

Find the transfer function relating the

capacitor voltage, Vc(s), to the input voltage,
V(s) in the figure.
Answer:
Laplace transforms for Voltage – Current

V s  
1
I ( s ); capacitor
C (s)
V ( s )  RI ( s ); resistor
V ( s )  LsI ( s ); inductor
V (s)
 Z ( s ); transferfunction
I (s)
Problem:

Determine the sum of applied voltages in

the circuit below. Apply laplace transform.
Ls R

V(s) Vc(s)

 1 
Answer: V s    Ls  R   I s 
 Cs 
Seatwork:

Determine differential equation of the

transfer function
Complex circuits via Mesh analysis
To solve complex electrical networks—those with
multiple loops and nodes—using mesh analysis , we
can perform the following steps :

1. Replace passive element value s with their

impedances.
2. Replace all sources and time variable s with their
Laplace transform.
3. Assume a transform current and a current
direction in each mesh.
4. Write Kirchhoff s voltage law around each mesh .
5. Solve the simultaneous equations for the output.
6. Form the transfer function.
Problem:

Given the network below. Find the transfer

function, I 2 ( s )
V s 

Answer:
REDUCTION OF MULTIPLE SUBSYSTEMS
Intended Learning Outcomes:
1. Familiarize the components of block diagram
of signals and systems.
2. Reduce a block diagram of multiple
subsystems to a single block representing the
transfer function from input to output.
3. Perform block diagram algebra in reducing
block diagram of multiple subsystems.
INTRODUCTION

Complicated system or multiple subsystem are

represented by the interconnection of many
subsystem.

Multiple subsystem are represented in two ways:

a. As Block diagrams (freq. domain)

b. As Signal flow graphs (state space)
 Techniques to reduce multiple subsystems to a
single transfer function:

1. Block diagram algebra – reduce block diagram

2. Manson’s Rule – reduce signal flow graphs.
FAMILIAR FORMS
a. Cascade form
FAMILIAR FORMS
a. Cascade form
FAMILIAR FORMS
b. Parallel form
FAMILIAR FORMS
b. Parallel form
FAMILIAR FORMS
c. Feedback form
FAMILIAR FORMS
c. Feedback form
FAMILIAR FORMS
c. Feedback form
Moving blocks to create familiar forms
Moving blocks to create familiar forms
Moving blocks to create familiar forms
Moving blocks to create familiar forms
Problem:

Reduce the block diagram to a single

transfer function.
ANSWER:
Problem:

Reduce the system shown to a single

transfer function.
ANSWER:
Problem:

Reduce the system shown to a single

transfer function.
ANSWER:
Problem:

Reduce the system shown to a single

transfer function.
ANSWER:
Assignment:

Reduce the system shown to a single

transfer function.
ANSWER:
Problem:

Reduce the system shown to a single

transfer function.
ANSWER:
Problem:

Reduce the system shown to a single

transfer function.
ANSWER:
Problem:

Reduce the system shown to a single

transfer function.
ANSWER:
Problem:

Reduce the system shown to a single

transfer function.
ANSWER:
Problem:

Reduce the system shown to a single

transfer function.
ANSWER:
Problem:

Reduce the system shown to a single

transfer function.
ANSWER:
SIGNAL – FLOW GRAPHS

Signal – flow graphs are an alternative to

block diagrams. Unlike block diagrams, which
consists of blocks, signals, summing junctions, and
pick off points. A signal – flow graph consists only of
branches which represents systems, and nodes,
which represent signals.
SYSTEM SIGNAL Interconnection of Systems
and Signals
FAMILIAR FORMS
a. Cascade form
FAMILIAR FORMS
b. Parallel form
FAMILIAR FORMS
c. Feedback form
Converting a Block diagram to a Signal – flow graph

BLOCK DIAGRAM
Converting a Block diagram to a Signal – flow graph

SIGNAL – FLOW GRAPH

Problem:

Convert the given block diagram into a signal

flow graph
ANSWER:
Problem:

Convert the given block diagram into a signal

flow graph
ANSWER:
Problem:

Convert the given block diagram into a signal

flow graph
ANSWER:
MASON’s RULE
Intended Learning Outcomes:
1.Discuss Mason’s Rule and its components.
2.Perform Mason’s Rule on Signal flow
graphs.
3.Solve problems involving Mason’s Rule.
MASON’s RULE

Reduce a signal flow graph to a single transfer

function; requires the application of one formula.
The formula was derived by S.J. Mason when he
related the signal – flow graph to the simultaneous
equations that can be written from the graph.
Definitions.

Mason’s formula has several components that

must be evaluated. First, we must be sure that the
definitions of the components are well understood.

The following are:

1. Loop Gain
2. Forward – Path Gain
3. Nontouching loops
4. Nontouching loop gain
Loop gain.

The product of branch gains found by

traversing a path that starts at a node and ends at
the same node, following the direction of the signal
flow, without passing through any other node more
than once.
Forward – path gain.

The product of gains found by traversing a

path from the input node to the output node of the
signal – flow graph in the direction of the signal
flow.
Nontouching loops.

Loops that do not have any nodes in common.

Nontouching loops gain.

The product of loop gains from nontouching

loops taken two, three, four, or more at a time.
MASON’s RULE
Problem:

Perform Mason’s Rule to determine the

transfer function of the given signal flow graph.
Steps in finding TF via Mason’s Rule:

1. Identify forward path gain.

2. Identify loop gain.
3. Identify nontouching loops taken two at
a time.
4. Identify nontouching loops taken three
at time.
5. Apply Mason’s formula.
ANSWER:
Problem:

Find the transfer function, for the signal – flow

graph in the figure via Mason’s rule.
ANSWER:
Problem:

Find the transfer function, for the signal – flow

graph in the figure via Mason’s rule.
ANSWER:
Problem:

Find the transfer function for the figure below.

Use Mason’s Rule.
ANSWER: