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Instrumentation & Process Control

Control Loops Elements and Forms M.N. 2015
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M.N. 2015

General Control Loop Elements

U GL
+
+ +
R GC GF M GP C
-

C: Controlled Variable GP: Process T.F.

GL: Disturbance T.F.
M: Manipulated Variable H: Measuring Device T.F.
U: Disturbance GC: Controller T.F.
R: Set Point GF: Final Control Element T.F.
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M.N. 2015

Forms of Control Loops

• Generally, any feedback control loop can be reduced to one of two
simple forms:
▫ Canonical Feedback Form
▫ Unity Feedback Form
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M.N. 2015

Canonical Feedback Form

U GL
+
+ +
R GC GF M GP C
-

G = G C GF GP U GL
+
+ +
R G C
-

H
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M.N. 2015

Canonical Feedback Form

• We need to describe this form
U GL
mathematically. +
+ +
R G C
-
R
R - CH H
RG - CHG
RG - CHG + UGL Remember
RG - CHG + UGL =C Signal
RG + UGL = C (1 + GH) T.F.
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M.N. 2015

Closed Loop Transfer Functions

RG + UGL = C (1 + GH)
𝐺 𝐺𝐿
𝐶= 𝑅+ 𝑈
1 + 𝐺𝐻 1 + 𝐺𝐻

• In case of servo operation

𝐶 𝐺
𝑈→0 =
𝑅 1+𝐺𝐻
• In case of regulator operation
𝐶 𝐺𝐿
𝑅→0 =
𝑈 1+𝐺𝐻
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M.N. 2015

Unity Feedback Form

U GL
+
+ +
R G C
-

U GL
+
+ +
R 1/H GH C
-
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M.N. 2015

Unity Feedback Form

R/H
U GL
R/H -C
+
(R/H)GH - CGH R 1/H
+
GH
+
C
RG - CGH + UGL -

RG - CGH + UGL =C

RG + UGL = C (1 + GH)
𝐺 𝐺𝐿
𝐶= 𝑅+ 𝑈
1 + 𝐺𝐻 1 + 𝐺𝐻
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M.N. 2015

Reduction of Control Systems

• To deal with any control system, we have to reduce it to one of the
two simple forms and get the system transfer functions.
a) Closed Loop Transfer Functions:
𝐶 𝐺 𝐶 𝐺𝐿
= =
𝑅 1+𝐺𝐻 𝑈 1+𝐺𝐻
b) Open Loop Transfer Function:
GH
c) Characteristic Equation:
1 + GH = 0
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Sheet 4
1. Reduce the control system shown in the figure, and hence obtain
the closed loop response C/R and C/U
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M.N. 2015

Sheet 4
1. Solution:

𝐶 𝐺1 𝐺2 𝐺3
=
𝑅 1 + 𝐺1 𝐺2 𝐺3 𝐻2 + 𝐻1 𝐺3

𝐶 𝐺2 𝐺3
=
𝑈 1 + 𝐺1 𝐺2 𝐺3 𝐻2 + 𝐻1 𝐺3
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Sheet 4
2. Obtain Y/X for the following control system
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Sheet 4
2. Solution:

𝑌 𝐺𝑎 𝐺𝑏 𝐺𝑐 + 𝐺𝑐
=
𝑋 1 + 𝐺𝑏 𝐺𝑐
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Sheet 4
መ
𝐶(𝑠)
3. Obtain ෠
and reduce the following to the unity feed back form
𝑋(𝑠)
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Sheet 4
3. Solution:

𝐶 𝐺1 𝐺3 𝐺4
=
𝑋 1 + 𝐻2 𝐺1 𝐺3 𝐺4 + 𝐺2 𝐺3 + 𝐻1 𝐺4
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Sheet 4
4. For the control system shown below, obtain the closed loop
responses C/R, C/U1, B/U1 and B/U2.
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M.N. 2015

Sheet 4
4. Solution:

𝐶 𝐺0 𝐺1 𝐺2 𝐺3 𝐵 𝐻1 𝐻2 𝐺2 𝐺3
= =
𝑅 1 + 𝐻1 𝐻2 𝐺0 𝐺1 𝐺2 𝐺3 𝑈1 1 + 𝐻1 𝐻2 𝐺0 𝐺1 𝐺2 𝐺3

𝐶 𝐺2 𝐺3 𝐵 𝐻1 𝐻2 𝐺3
= =
𝑈1 1 + 𝐻1 𝐻2 𝐺0 𝐺1 𝐺2 𝐺3 𝑈2 1 + 𝐻1 𝐻2 𝐺0 𝐺1 𝐺2 𝐺3
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Sheet 4
5. Determine the transfer function C/R, C/U1, C/U2 and B/U2 for
the system shown in the following figure. Also reduce the system
to the canonical form.
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Sheet 4
5. Solution:

𝐶 𝐺0 𝐺1 𝐺2 𝐺3 𝐶 𝐺3 − 𝐻2 𝐺0 𝐺1 𝐺3
= =
𝑅 1 + 𝐻1 𝐻2 𝐺0 𝐺1 𝐺2 𝐺3 − 𝐻2 𝐺0 𝐺1 𝑈2 1 + 𝐻1 𝐻2 𝐺0 𝐺1 𝐺2 𝐺3 − 𝐻2 𝐺0 𝐺1

𝐶 𝐺2 𝐺3 𝐵 𝐻1 𝐻2 𝐺3
= =
𝑈1 1 + 𝐻1 𝐻2 𝐺0 𝐺1 𝐺2 𝐺3 − 𝐻2 𝐺0 𝐺1 𝑈2 1 + 𝐻1 𝐻2 𝐺0 𝐺1 𝐺2 𝐺3 − 𝐻2 𝐺0 𝐺1
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Sheet 4
6. Given below a block diagram representing a control system,
obtain the closed loop responses and reduce the diagram to the
canonical form.
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Sheet 4
6. Solution:

𝐶 𝐺1 𝐺2 𝐺3 + 𝐻2 𝐺1 𝐺3
=
𝑅 1 + 𝐺1 𝐺2 𝐺3 + 𝐻2 𝐺1 𝐺3 − 𝐺1 𝐺2 𝐻1

𝐶 𝐻2 𝐺3 − 𝐻1 𝐻2 𝐺1 𝐺2 𝐺3
=
𝑈 1 + 𝐺1 𝐺2 𝐺3 + 𝐻2 𝐺1 𝐺3 − 𝐺1 𝐺2 𝐻1