B20EN0601

Control Engineering

Dr. Sankata Bhanjan Prusty

Associate Professor
School of ECE
REVA University,
Bangalore
 Unit I
Modelling of Systems
Control System
Open Loop System
Advantages and Disadvantages of
Open Loop Systems
Closed Loop System
Closed Loop System
Advantages and Disadvantages of
Closed Loop Systems
Control Systems
Control Systems
 Control Systems
Open Loop Control System Closed Loop Control System
The feedback element is absent. The feedback element is always present.

An error detector is not present. An error detector is always present.

It is a stable one. It may become unstable.
Easy to construct. Complicated construction.
It is economical. It is costly.
Having a small bandwidth. Having a large bandwidth.
It is inaccurate. It is accurate.
Less maintenance. More maintenance.
It is unreliable. It is reliable.
Examples of Open Loop Control Systems
1. Electric Hand Drier – Hot air (output) comes out as long as you keep
your hand under the machine, irrespective of how much your hand is dried.
2. Automatic Washing Machine – This machine runs according to the pre-
set time irrespective of washing is completed or not.
3. Bread Toaster – This machine runs as per adjusted time irrespective of
toasting is completed or not.
4. Automatic Tea/Coffee Maker – These machines also function for pre-
adjusted time only.
Examples of Open Loop Control Systems
5. Timer Based Clothes Drier – This machine dries wet clothes for pre-
adjusted time, it does not matter how much the clothes are dried.
6. Light Switch – Lamps glow whenever the light switch is on irrespective
of light is required or not.
7. Volume on Stereo System – Volume is adjusted manually irrespective of
output volume level.
Examples of Closed Loop Control Systems
1. Automatic Electric Iron – Heating elements are controlled by the output
temperature of the iron.
2. Servo Voltage Stabilizer – Voltage controller operates depending upon
the output voltage of the system.
3. Water Level Controller – Input water is controlled by the water level of
the reservoir.
Examples of Closed Loop Control Systems
4. Missile Launched and Auto Tracked by Radar – The direction of the
missile is controlled by comparing the target and position of the missile.
5. An Air Conditioner – An air conditioner functions depending upon the
temperature of the room.
6. Cooling System in Car – It operates depending upon the temperature
which it controls.
Model
Types of Mathematical Models
 Force-Voltage Analogy
The following points serve as guidelines to obtain electrical analogous of mechanical
translational system based on force-voltage analogy.
 Analogous System
Analogous Elements in Force-Voltage Analogy

Mechanical System Electrical System

Input: Force Input: Voltage Source

Output: Velocity Output: Current through the element
 Analogous System
Analogous Elements in Force-Voltage Analogy

Mechanical System Electrical System

Input: Force Input: Voltage Source

Output: Velocity Output: Current through the element
 Analogous System
Analogous Elements in Force-Voltage Analogy

Mechanical System Electrical System

Input: Force Input: Voltage Source

Output: Velocity Output: Current through the element
Analogous Elements in Force-Voltage Analogy
Force-Voltage Analogy
Force-Voltage Analogy
Force-Voltage Analogy
Force-Voltage Analogy
Force-Voltage Analogy
Force-Voltage Analogy
 Block Diagrams
• A control system may consist of a number of components.
• In control engineering to show the functions performed by each components, a diagram
is used called the block diagram.
• A block diagram of a system is a pictorial representation of the functions performed by
each component and of the flow of signals.
• Such a diagram depicts the interrelationships that exist among the various components.
• The elements of a block diagram are
• Block
• Branch point
• Summing point
 Block Diagram Reduction
Block
• In a block diagram, all system variables are linked to each other through functional
blocks.
• The functional block or simply block is a symbol for the mathematical operation on the
input signal to the block that produces the output.
• The transfer functions of the components are usually entered in the corresponding
blocks, which are connected by arrows to indicate the direction of the flow of signals.
 Block Diagram Reduction
• The arrowhead pointing towards the block indicates the input and the arrowhead
leading away from the block represents the output. Such arrows are referred to as
signals.
• The output signal from the block is given by the product of input signal and transfer
function in the block.
 Block Diagram Reduction
Summing Point
Summing points are used to add two or more signals in the system.
A circle with a cross is the symbol that indicates a summing operation.
The plus or minus sign at each arrowhead indicates whether the signal is to be added or
subtracted.
 Block Diagram Reduction
Branch Point
A branch point is a point from which the signal from a block goes concurrently to other
blocks or summing points.
The branch point is also known as take-off point or pick-off point.
Block Diagram Reduction Rules
Block Diagram Reduction Rules
Block Diagram Reduction Rules
Block Diagram Reduction Rules
Block Diagram Reduction Rules
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
Block Diagram Reduction
 Signal Flow Graph (SFG)
A signal-flow graph or signal-flow graph (SFG), invented by Samuel Jefferson Mason is
a specialized flow graph, a directed graph in which nodes represent system variables, and
branches (edges, arcs, or arrows) represent functional connections between pairs of
nodes.

In a signal flow graph, the signal flows in only one direction.

The direction of signal flow is indicated by an arrow placed on the branch and the gain
(multiplication factor) is indicated along the branch.
Signal Flow Graph (SFG)
 Signal Flow Graph (SFG)
1. Node: A node is a point representing a variable or signal.
2. Branch: A branch is directed line segment joining two nodes. The arrow on the
branch indicates the direction of signal flow and the gain of a branch is the
transmittance.
3. Transmittance: The gain acquired by the signal when it travels from one node to
another is called transmittance. The transmittance can be real or complex.
4. Input Node (Source): It is a node that has only outgoing branches.
5. Output Node (Sink): It is a node that has only incoming branches.
6. Mixed Node: It is a node that has both incoming and outgoing branches.
 Signal Flow Graph (SFG)
7. Path: A path is a continuous set of branches traversed in the direction indicated by the
branch arrows. The path should not cross a node more than once.
8. Open Path: If no node is re-visited, the path is open. An open path starts at a node
and ends at another node.
9. Closed path: Closed path starts and ends at same node.
10. Forward Path: A path from an input node (source) to an output node (sink) that does
not re-visit any node. It is a path from an input node to an output node that does not
cross any node more than once.
11. Forward path gain: It is the product of the branch transmittance (gains) of a forward
path.
 Signal Flow Graph (SFG)
12. Individual loop: It is a closed path starting from a node and after passing through a
certain path of a graph arrives at same node without crossing any node more than
once.
13. Loop gain: It is the product of the branch transmittance (gains) of a loop.
14. Non-touching Loops: If the loops do not have a common node then they are said to
be non-touching loops.
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Mason’s Gain Formula
Mason’s Gain Formula
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)
Signal Flow Graph (SFG)