Example : Switch on bulb

● Switch on the bulb

● Electricity

● Bulb converts electricity to

light

● Bulb starts glowing

Example: Fan
Fan can be a “System” Because it takes input and provide output i.e. airflow

230V/50Hz Air Flow

Input Fan (System) Output
AC Supply
Example: Fan without blades
A Fan without blades cannot be a “SYSTEM” Because it cannot provide a
desired/proper output i.e. airflow

No Airflow
230V/50Hz
Input (No Proper/
Desired Output)
AC Supply
Example: Fan with regulator
A Fan with blades and with regulator can be a “CONTROL SYSTEM” Because
it can provide a Desired output. i.e. Controlled airflow

Control
Input Element Output

230V/50Hz Controlled Airflow

AC Supply (Desired Output)
Difference between System and Control System

Input Proper Input

Control Desired
System
Output System Output

(May or may not

be desired)
Why we need control?
● In moving the radar antenna position to certain angle, small input
01 For power amplification power is amplified to produce high output torque

● In controlling the movements of robots working in contaminated

02 For remote control
areas where human presence should be avoided

● In a temperature control system, the turn of a knob corresponds to

03 For convenience of input form
certain desired room temperature.

04 For compensation for disturbance ● To maintain antenna position in the presence of strong wind.
Concepts of control systems
Different examples of control systems
Open loop and Closed loop control system
Block diagram representation of systems considering electrical
systems
Block diagram algebra
Representation by signal flow graph
Reduction using Mason’s gain formula
Feedback characteristics
Effects of feedback.
A system is a group of physical components which gives
proper output for a given input.

Input System Output

Control system is a group of physical components which gives
controlled output for a given input.
Controlled
Input Controlled
Input
Output
Controller System
Definition:
“A system in which the control action is totally independent of the output of
the system is called as open loop system”

Controlled
Reference I/p o/p
Controller Process
c(t)
r(t) u(t)
Electric hand dryer
●keep your hand under the machine
●Internally air is heated and blown out
●Hot air (output) comes out

●As long as you keep your hands under

irrespective of how much your hand is dried
hot air will be blown.
Automatic washing machine
●Power on and time set done.
●Motor works to spin the clothes

inside
●Washed clothes come out

●Washing is done irrespective of

clothes washed or not
● Simple in construction and design. ● They are inaccurate
● They are unreliable
● Economical. ● Any change in output cannot be corrected
● Easy to maintain. automatically
● Generally stable.
● Convenient to use where output is
difficult to measure.
Definition:
“A system in which the control action is somehow dependent on the output
is called as closed loop system”
The various signals are
●r(t) = Reference Input
●e(t) = Error signal
●c(t) = Controlled output
●m(t) = Manipulated signal
●b(t) = Feedback signal
Example : Student and teacher learning process

Input Controller Process output

Lecture Teacher Student listen and Degree/

Content teaches lesson grasp the content Placement

Feed back

Marks vs
Placement
expectation Teacher
conducts quiz
Old Iron box New Iron box

Manual adjusting of coal, manual checking of dryness Manual adjusting of knob for temperature setting, manual/automatic
checking of dryness of cloth under it and switch of it under excess heat
of cloth under it
*Image taken from University of Waterloo research
● Closed loop control systems are more accurate
even in the presence of non-linearity due to
presence of feedback signal.
● Facilitates automation.
● The sensitivity of system may be made small to
make system more stable.
● This system is less affected by noise.
● They are costlier and complicated to design.
● Required more maintenance.
● Feedback leads to oscillatory response.
● Overall gain is reduced due to presence of
feedback.
● Stability is the major problem and more care is
needed to design a stable closed loop system.
 Open Loop
Any change in output has no effect on the
input i.e. feedback does not exists.
Output measurement is not required for
operation of system.
Feedback element is absent.
Error detector is absent.
It is inaccurate and unreliable.
Highly sensitive to the disturbances.
Highly sensitive to the environmental
changes.
Bandwidth is small.
Simple to construct and cheap.
Generally are stable in nature.
Highly affected by nonlinearities.
Closed Loop
Changes in output, affects the input which is
possible by use of feedback.
Output measurement is necessary.
Feedback element is present.
Error detector is necessary.
Highly accurate and reliable.
Less sensitive to the disturbances.
Less sensitive to the environmental changes.
Bandwidth is large.
Complicated to design and hence costly.
Stability is the major consideration while
designing
Reduced effect of nonlinearities.
How to
design a
controller?
● Accuracy
● Sensitivity
● External disturbance or noise
● Stability
● Bandwidth
● Speed
● Oscillations
Block diagram representation
 A system consists of many number of components.
 To express the function of each components or elements of a control
system, the transfer function of each components is represented by a
block digram.
 A block diagram is a pictorial or symbolic representation of the function
performed by each components of a system.

Transfer function of the

components
Input of the components
r(t) output of the components
c(t)
Basic elements of a block diagram
Block :- In a block digram all system variables are linked to each other
through functional block.
A block is a symbol for the mathematical operation on a input signal to
the block next produces the output signal.

c(t) = r(t) . G(t) Block

c(t)/r(t) = y(t) ------ transfer function G(t)
Input
output
r(t)
Y(s) = C(s)/R(s) c(t)
Contd .....
Summing Point :-
It is used symmetric of two or more input signals.
Each input signals has its appropriate sign.
A summing point has only one output can equal to the algebric sum of the
inputs.
X2
+
X1
Y1
+
Y1 = X1 + X2 - X3
-
X3
Contd ........
Take - off point :-
A takeoff point is used to allow a signal to be used by two or more blocks or
summing points.

X1(s)
G1(s) Y1(s) = G1(s).X1(s)

X1(s)
G2(s) Y2(s) = G2(s). X2(s)
X1(s)

X1(s)
G3(s)
Y3(s) = G3(s).X3(s)

Takeoff point
Contd ......
Branches :-
Branches are the lines joining the blocks in a block diagram.

G1(s) Y1(s)

X(s) G2(s)
Y2(s)

Arrow :-
It indicates the direction of flow of signals in a system.
Example
Block diagram reduction techniques
Rule 1 :- output of a block

Rule 2 :- blocks in series

Contd .......
Rule 3 :- Blocks in parallel

Rule 4 :- swap the two neighboring summing points

 Contd ......
Rule 5 :- Shifting of a takeoff point before a block to a position just after
the block

G(s) G(s)

H(s)
Takeoff point H(s)/G(s)
Contd ......
Rule 6 :- Shifting of a takeoff point after a block to a position just before
the block

G(s) G(s)

H(s) G(s).H(s)

Takeoff point
Rule 7
Rule 8
Rule 9
Rule 10
Contd ...............
Rule 11
Contd ...................
 Positive feedback used for design of oscillator and
multivibrator.
 Negative feedback used for design of an amplifier.
 Positive feedback decreases the stability of system.
 Negative feedback increases the stability of system.
 Positive feedback system is also reffered as regenerative
feedback system.
 Negative feedback system is also reffered as degenerative
feedback system.
Note - If there is no information of the feedback, then by
default it will consider negative feedback.
Example -1
Solution
contd ......
contd .......
contd ..........
contd .......
contd ..........
contd ..........
1. GATE 2016
The block diagram of a feedback control system is shown in the figure.
The overall closed-loop gain G of the system is
2. GATE 2014
Consider the following block diagram in the figure
3. GATE 2017
Find the transfer function of the following figure (Ans is 1)

-
X(s)
Y(s)
+
G(s) = 2
+

+
4. GATE 1987
Find the transfer function of the following figure

C
R
+ + 10/S(S+1)
- -

S
Signal Flow Graph

 Signal flow graph is a pictorial or graphical representation of system

which display graphically the transmission of signal in it.
 Signal flow graph shorten the representation of the control system by
the way of eliminating summing points, takeoff points and blocks used
in the block diagram.
 This elimination is done by representing the variables by points
called NODES and the transfer function is termed as transmittance
which is represented by a line is called BRANCH.
Basic Terminology
Node - A node is a point used to represent a summing point, takeoff
point or any variables.
Input Node - source of outgoing.
Output Node - sink node or receive incoming signals.
Mixed Node - It is the combination of input and output node.
Loop - closed path which starts from a node and terminates at the same
node.
Non - touching loop - Non - touching loops are those loops which don't
have any node in common between them.
Forward Path - It starts from input node and terminates at an output
node. It doesn't cross any branch or node more than once.
Signal flow graph model
Contd ................
Contd ..........
Contd ..............
Contd ............
To draw SFG from Block diagram
 Replace the input and output signal by nodes.
 Replace all the summing points by nodes.
 Replace all the take-off point by nodes.
 If the branch connecting a summing point and take-off point has unity gain,
then the summing and take-off point can be combined and represent by a
single point.
 If there are more take-off points from the same signal all the take-off point
can be combined and represented by single point.
 If the gain of the link connecting two summing point is “1”, then the two
summing point can be combined and can be represented by single node.
Block diagram to SFG
Contd ................
Example
Mason's Rule
Contd .................
Contd ..............
Example 1
Solution
Contd .............
Contd ...........
Example 2
Solution
Contd ...............
Contd ...............
Contd ...............
Contd ...............
Contd ...............
Contd ...............
Example 3
Contd .............
Example 4
Contd ...............
Contd .................