URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE

INTRODUCTION TO
CONTROL SYSTEMS
Prepared by: Dinmar Linwel Cabural, ECE, ECT
DEFINITIONS
System- a system is a combination or an arrangement of different physical components which
act together as an entire unit to achieve certain objective.

Control – to control means to regulate, direct or command.

Control System – arrangement of physical elements connected in such a manner so as to

regulate, direct or command itself or some other system.

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
DEFINITIONS

Plant/Process - the portion of a system which is to be controlled or

regulated.

Controller – element of the system itself or external to the system which

controls the plant or the process

Input – it is an applied signal to the control system from an external

energy source in order to produce a specified output.

Output – it is the particular signal of interest or the actual response

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
DEFINITIONS

Disturbances – disturbance is a signal which tends to adversely affect the

value of the output of a system.
Internal Disturbances – disturbances that are generated within
the system.
External Disturbances – disturbance generated outside the
system acting as an extra input to the system in addition to its normal
input, affecting the output adversely.

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
ADVANTAGES OF CONTROL SYSTEM
We build control systems for four primary reasons:

1. Power Amplification
2. Remote Control
3. Convenience of the input form
4. Compensation for disturbances.

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
SYSTEM RESPONSE

Factors to be considered :
In transient response, passenger comfort and patience must be considered.
In steady state response, passenger safety and convenience will be scarified if the elevator did
not level properly.

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
Classification of Systems
• Natural Control Systems – the biological systems, systems inside human being are natural type.

• Manmade Control Systems - the various systems we are using in our day to day life are
designed and manufactured by human beings.

• Combinational Control System – is one having a combination of natural and manmade

together.

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
Classification of Systems
• Time Varying and Time Invariant Control System
Time Varying Control System – are those in which parameters of these systems are
varying with time.

Time Invariant Control System – systems that are not varying with time and are
constants.

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
Classification of Systems
• Linear and Non-Linear Systems
• Linear Systems – a control system is said to be linear if superposition principle applies to it.
Principle of Superposition
• Additive Property that is for any x and y belonging to the domain of the function f, we have
f(x + y) = f(x) + f(y)
• Homogeneous Property that is for any x belonging to the domain of the function f and for any scalar
constant a, we have
f(a x) = a . f(x)

It is very difficult to have a linear system satisfying the above two properties perfectly. All the physical
systems are nonlinear to some extent. But if the presence of certain nonlinearity is not affecting the
peerformances of the system much, and the deviation of the system from the superposition principle is
negligible, the presence of nonlinearity is neglected and the system can be assumed to be linear from the
analysis point of view.

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
Classification of Systems
• Continuous time and Discrete time Control Systems
• Continuous time Control System - all system variables are functions of a continuous time
variable “t”. At any time “t”they are dependent on time.

• Discrete time Control System – one or more system variables are known only at certain
discrete intervals of time. They are not continuously dependent on time.

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
Classification of Systems
• Deterministic and Stochastic Control Systems
• Deterministic Control System – when its response to input as well as behavior to external
disturbances is predictable and reliable.

• Stochastic Control System – if such response is unpredictable.

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
Classification of Systems
• Lumped Parameter and Distributed Parameter Control Systems
• Lumped Parameter Control System - systems that can be described by ordinary differential
equations.

• Distributed Parameter Control Systems – systems that can be partial differential equations.

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
Classification of Systems
• Single Input Single Output (SISO) and Multiple Input Multiple Output (MIMO)
Control Systems
• Single Input Single Output (SISO) Control Systems – a system having only one input and
output.

• Multiple Input Multiple Output (MIMO) System – systems that have multiple type of
inputs and multiple outputs.

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
Classification of Systems
• Open Loop and Closed Loop Control Systems
• Open Loop Control Systems
A system in which output is dependent on the input but controlling action or input is
totally independent of the output or changes in the output of the system.

• Open loop systems are totally independent of the ouput

• Open loop systems do not correct disturbances and are simply commanded by input.
• Open loop systems are usually time-based systems.

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
Classification of Systems
• Open Loop and Closed Loop Control Systems
• Open Loop Control Systems

ADVANTAGES :
• Simple in Construction
• Very much Convenient when output is difficult to measure
• Such systems are easy from maintenance point of view
• Generally, these are not troubled with the problems of stability
• Such systems are simple to design and hence economical

DISADVANTAGES :
• Such systems are inaccurate and unreliable because accuracy of such systems are totally dependent on
the accurate precalibration of the controller.
• Such Systems give inaccurate results if there are variations in the external environment.
• To maintain the quality and accuracy, recalibration is necessary from time to time

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
Classification of Systems
• Open Loop and Closed Loop Control Systems
• Closed Loop Control Systems
A system in which the controlling action or input is somehow dependent on the output or
changes in output.
Feedback is a property of the
system by which it permits
the output to be compared
with the reference input so
that appropriate controlling
action can be decided

• In Closed Loop systems, the output is measure continuously and is fed back to the input.
• The presence of the feedback compensates for the disturbances and improves the accuracy of the
system.

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
Classification of Systems
• Open Loop and Closed Loop Control Systems
• Closed Loop Control Systems

ADVANTAGES :
• Accuracy is always very high because controller modifies and manipulates the actuating signal such that
error in the system will be zero.
• Senses environmental changes and internal disturbances and modifies the error.
DISADVANTAGES :
• Such systems are icomplicated and time consuming from the design point of view.
• Unstable
• Costlier

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
SEATWORK
Differentiate System and Control System (3pts)

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
SEATWORK
Draw The Block Diagram of an Open Loop control System (3pts)

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
SEATWORK
Response due to delay

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
SEATWORK
Response that resembles the input

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
SEATWORK
Other term for Input

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT
SEATWORK
Other term for Output

URDANETA CITY UNIVERSITY | COLLEGE OF ENGINEERING AND ARCHITECTURE | DINMAR LINWEL R. CABURAL, ECE, ECT