1.

Introduction to Control Systems

1.1. Control Systems
Definitions
• Controlled Variable:
• Is the quantity or condition that is measured and
controlled
• It is normally the output of the system
• Manipulated Variable:
•The quantity or condition that is varied by the controller
so as to affect the value of the controlled variable
Control means measuring the value of the 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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System:
• black box which has an input and an output
• collection of interacting components around
which an imaginary boundary can be drawn so
that we can be concerned just with the input and
output without the need to explore the detailed
interaction between the constituent components
• is combination of components that act together
and perform a certain objective.

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 Example

Input Power Output Input Electric Output

Fuel Station Electricity Electric Motor Mechanical
Power Rotation
• The relation between the output and input of
many systems tend to be similar
Examples. A RC system & a heating System
R
Vc
+ Input RC Output
Vc
Vs Input System Vc
(output) Vs
-

Input t
Heat T
Input Heating Output
Heat System Temp.
3
t
Control System:
• Is a system where its output is controlled to be
at some specific value or to change in some
prescribed way as determined by the input to
the system.
Example: Speed Control of DC motor by varying the
Supply voltage
Two Basic forms of Control Systems
1. Open-loop Control Systems
2. Closed-loop Control Systems (Automatic)

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1.2 Open-Loop Control Systems
• System which doesn’t automatically correct for
variations in its output
• No information is feed back to the system to
adjust itself and maintain a constant output
• An input is chosen on the basis of experience of
such a system to give the value of the required
output.
Examples:
1. An electric heater with a selection switch
2. Systems which operate by preset timing mechanisms like
Traffic Lights, Washing Machine

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Features of an open loop Control System
 +ve feature
 Relatively simple hence low cost with generally
good reliability
 Inherently Stable
 -ve feature
 Often inaccurate since there is no error
correction
 More sensitive to changes in component
characteristics
 More sensitive to disturbances

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1.3 Closed-Loop Control Systems
• A signal is feed back to the input from the output
and used to modify the input so that the output
is maintained constant regardless of any changes
in conditions.
Input e Actual Output
System

Comparison Feedback
element

Example: the open-loop heating system could be made a

closed-loop if some one with a thermometer monitors the
temperature in the room and switches the selection switch on
and off 7
 Input Output
+ e Electric
Required - Heater Temperature
Temp. Signal
Temp.
Measurement

Desired
Heating
Temperature + e Compensator Sub Warm Room
- system Air

Sensor / Transducer (e.g.

Thermistor or Temperature
Actual Sensitive Resistor) Room
Temperature Temperature

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Features of Closed-loop Control Systems

+ve features
 Ability to match the actual to the required
value since there is continuous error correction
 Less sensitivity to disturbances
 Less sensitivity to changes in component
characteristics
 Increased speed of response and hence
increased band width

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 -ve features

 Instability because of time delays when

transferring corrective action
 More complex than open-loop and so more
costly with a greater chance of break down
as a result of greater number of components
 Loss in Gain due to reduced transfer
function

G
G
1  GH
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 Components
• Any Control System consists of a number
of basic sub-systems or elements
• Those elements could appear separate or
integrated as a single entity
• The basic elements are:
1. Comparison Element
2. Control Element
3. Correction Element
4. Process Element (plant)
5. Measurement Element (Transducers)

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Open-Loop

Input Output
Control Correction Process
Signal Element Element Controlled
Variable

Controller

Closed-Loop
Controller

Input + e Control Correction Output

Process
Reference - Element Element Controlled
Value Variable

Comparison Measurement
element feedback Element
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Definition:
1. Comparison Element: compares the reference
value of the variable being controlled with the
measured value of the actual output and
produces an error signal.
2. Control Element: decides what action to be
taken after it gets an error signal.
3. Correction Element (actuator): used to produce
a change in the process in order to avoid the
error.
4. Process Element (Plant): is the system of which a
variable is being controlled
5. Measurement Element: Produces a Signal related
to the actual output and provides a feedback
signal to the comparison element.
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 Adjustable Speed Electric-Motor Drive
Outlet Outlet
Throttling
Valve
Motor ASD

Essentially Inlet Inlet

Constant Speed Pump Variable Speed Pump

(a) Traditional (b) Adjustable Speed Drive

Electric Drive
Fixed Adjustable
Form Form

Power
Processing Unit Motor Load
(PPU)
Electric Source
( Speed / Position)
(Utility)
Power
Sensor
Signal
Controller

Input Command
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(Speed/Position)
Examples of Control Systems

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Governor

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Missile Launching & Guidance

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Paper Reeling

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End of Chapter One

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