Control Systems (ECD-315)

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 Outline
• Course Outline
• Recommended Books
• Prerequisites of the subject
• Basic Definitions
• Types of Control Systems

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 outline of the course
 Basic Concepts
 Definitions (system, control system)
 Classification of control systems (open loop & closed loop systems)
 Merits & demerits of open loop & closed loop systems
 Mathematical Models of control system
• Transfer Function
• Mathematical models of electrical & mechanical systems
• Block Diagrams
• Signal Flow Graphs
 Control components
• DC servomotors, AC servomotors, Potentiometers, synchros, stepper-motor
 System Analysis
• Time Domain Analysis
• Frequency Domain Analysis
 Stability Analysis
• Routh-Hurwitz criterion
• Root Locus technique
• Bode Plots, Polar Plots, Nyquist Plots
 State-variable analysis
• State variables & state models
• State space representation of continuous time systems
• Solution to state equations
• Concept of controllability & observability
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 Text Books
1. Modern Control Engineering,
By: Katsuhiko Ogata.

2. Control System Engineering

By: Nagrath and Gopal

3. Automatic Control Systems,

By: Golnaraghi and B. C. Kuo.

4. Control Systems Engineering,

By: Norman S. Nise.

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 Prerequisites
• For Classical Control Theory
– Differential Equations
– Laplace Transform

• state-variable analysis
– Matrices

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 What is System & Control System?
 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 system:
• A system which controls or regulates the operation
of another system.
• A control System is an arrangement of different
physical elements connected in such a manner so as
to manage, command, direct or regulate the
behaviour of other system(s).
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 Definitions

System – An interconnection of elements and devices for a desired purpose.

Control System – An interconnection of components forming a system

configuration that will provide a desired response.

Process – The device, plant, or system under control. The input and
output relationship represents the cause-and-effect relationship of the
process.

Input Process Output

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Definitions

Controlled Variable– It is the quantity or condition that is measured

and Controlled. Normally controlled variable is the output of the control
system.

Manipulated Variable– It is the quantity or the condition that is

varied by the controller so as to affect the value of controlled variable.

Control – Control means measuring the value of controlled variable of

the system and applying the manipulated variable to the system to
correct or limit the deviation of the measured value from a desired
value.

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 Definitions
Manipulated Variable

Input
or Output
Set point Controller Process Or
or Controlled Variable
reference

Disturbances– A disturbance is a signal that tends to adversely affect

the value of the output of the system. It is an unwanted input to the
system.
• If a disturbance is generated within the system, it is called
internal disturbance. While an external disturbance is generated
outside the system.
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 Types of Control System
• Natural Control System
– Universe
– Human Body
• Manmade Control System
– Aeroplanes
– Chemical Process

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 Types of Control System
Open-Loop Control Systems
Open-Loop Control Systems utilize a controller or control actuator to
obtain the desired response.
• Output has no effect on the control action.
• In other words output is neither measured nor fed back.

Input Output
Controller Process

Open-Loop Control System (without feedback)

Examples:- Washing Machine, Electric Fan, microwave oven e.t.c

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 Types of Control System
Open-Loop Control Systems

 Since in open loop control systems reference input is not

compared with measured output, for each reference input there
is fixed operating condition. Therefore, the accuracy of the
system depends on calibration. Hence, recalibration of the
controller is necessary from time to time.

 The performance of open loop system is severely affected by the

presence of disturbances, or variation in operating/
environmental conditions.

 Similarly these systems cannot sense internal disturbances in the

system after the controller stage.
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 Types of Control System
Closed-Loop Control Systems
Closed-Loop Control Systems utilizes feedback to compare the actual
output to the desired output response.

r(t) e(t) m(t) c(t)

Comparator
Controller Process

b(t)

Measurement

Closed-Loop Control System (with feedback)

r(t): reference input c(t): controlled output

m(t): manipulated variable b(t): feedback signal
e(t): error signal
Examples:- Refrigerator, Electric Iron, Air conditioner 13
 Types of Control System
Feedback Control System

• A system that maintains a prescribed relationship between the output

and some reference input by comparing them and using the difference
(i.e. error) as a means of control is called a feedback control system.

r(t) m(t) Process to

+ e(t) c(t)
Controller be
±
controlled
b(t)

Feedback element

 Feedback can be positive or negative

*e(t)=r(t)-b(t)------------- in case of negative feedback
**e(t)=r(t)+b(t)------------- in case of positive feedback 14
 Feedback systems (negative feedback)
Advantages:
• Accuracy of such system is always very high because controller modifies
the manipulated variable such that the error in the system is zero.
• Such system senses the environmental changes as well as internal
disturbances and accordingly modifies the error.

Disadvantages:
• Such systems are complicated and time consuming from design point of
view and hence costlier.
• Due to feedback, system tries to correct the error time to time.
Therefore, tendency to overcorrect the error may cause oscillations
without bounds in the system. Hence the system has to be designed
taking into consideration the problem of instability due to feedback.

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 Types of Control System
Servo System

• A Servo System (or servomechanism) is a feedback control system in

which the output is some mechanical position, velocity or acceleration.

Antenna Positioning System

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 Types of Control System
Linear Vs Nonlinear Control System

• A Control System in which output varies linearly with the input is called a
linear control system.

x(t) Process y(t)

𝑦 𝑡 = 𝑚𝑥(𝑡)
𝑦(𝑡)

0 𝑥(𝑡)
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 Types of Control System
Linear Vs Nonlinear Control System

• When the input and output has nonlinear relationship the system is said
to be nonlinear.

𝑦(𝑡)

0 𝑥(𝑡)

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 Types of Control System
Time invariant vs Time variant

• When the characteristics of the system do not depend upon time

itself then the system is said to time invariant control system.

y(t )  2u(t )  1

• Time varying control system is a system in which one or more

parameters vary with time.

y(t )  2u(t )  3t

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 Types of Control System
Continuous Data Vs Discrete Data System

• In continuous data control system all system variables are function of a

continuous time t.
x(t)

• A discrete time control system involves one or more variables that are
known only at discrete time intervals.
X[n]

n
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 Types of Control System
Deterministic vs Stochastic Control System

• A control System is deterministic if the response to input is predictable

and repeatable.
x(t) y(t)

t t

• If not, the control system is a stochastic control system

z(t)

t 21
Thanks

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