CONTROL SYSTEMS

INTRODUCTION

→ Every activity in our day to day life is influenced by some sort of

control systems
→ Concept of control system plays and an important role in working
of space vehicle, satellites, guided missiles, etc.
→ Control systems are found in number of practical applications like
computerized control system, transportation system, power systems,
temperature limiting systems, robotics etc.
Basic Concepts of Control Systems
• 1. Basic Concept of Control System
• Control Engineering is concerned with techniques that are used to
solve the following six
• problems in the most efficient manner possible.
• (a)The identification problem :to measure the variables and convert
data for analysis.
• (b)The representation problem:to describe a system by an analytical
form or mathematical model
• (c)The solution problem: to determine the above system model
response.
• (d)The stability problem: general qualitative analysis of the system
• (e)The design problem: modification of an existing system or develop
a new one
• (f)The optimization problem: from a variety of design to choose the
best.
• The two basic approaches to solve these six problems are
conventional and modern approach. The electrical oriented
conventional approach is based on complex function theory. The
modern approach has mechanical orientation and based on the state
variable theory.
• Therefore, control engineering is not limited to any engineering
discipline but is equally
• applicable to aeronautical, chemical, mechanical, environmental, civil
and electrical engineering.
• For example, a control system often includes electrical, mechanical
and chemical components.
• Furthermore, as the understanding of the dynamics of business, social
and political systems
• increases; the ability to control these systems will also increase.
Brief history of automatic control
1) B.C.200 – Float regulator mechanism (Greece)
2) B.C.50 – Water clock (Middle east)
3) 1600 – First feedback system (temperature regulator, Cornelis
Drebble, Holland)
4) Sir Isaac Newton (1642 – 1727) – Mathematical modeling
5) Brook Taylor (1685 – 1731) – Taylor series
6) 1700 – Pressure regulator for steam boiler (Dennis Papin)
Pressure build up (temp. goes up)  open the damper for release of hot
air. Temp. sensor is used to measure the pressure of hot air.
Brief history of automatic control Cont.
7) Pierse Simon Laplace (1749 – 1827) – Laplace Transform
8) 1769 – First automatic controller (Flyball governer, James Watt)

9) 1765 – First level regulator system (I. Polzunov, Soviet Union)

10) Edward John Routh (1831 – 1907) – Routh criterion

11) Oliver Heaviside (1859 – 1925) – mathematical analysis
12) 1868 – Mathematical theory for control system(J.C. Maxwell)
13) 1890’ - Stability theory (Liapunov, Soviet Union)
14) 1930’ - Electronic feedback amplifier
(Nyquist, Bode, Black ; Bell Telephone Lab)
• Harry Nyquist (1889 – 1976) – Nyquist criterion
• Harold Black (1898 – 1981) – Negative feedback amp
• Hendrik Bode (1905 – 1982) – Bode diagram
Brief history of automatic control Cont.
15) WWII period – Automatic airplane pilot
• Gun-positioning system, radar
• Antenna control system
• Military systems

16) Post War – Frequency domain analysis

• Laplace transform method
17) John Von Neumann (1903 – 1957) – Basic operation of digital computer
18) 1950’ – Root locus method
• Computer age open (digital control)
• Space age (Sputnik, Soviet Union)
• Maximum principle (Pontryagin)
• Optimal control
• Adaptive control system (Draper)
Brief history of automatic control
Cont.
19) 1960’ – Dynamic programming (Bellman)
• State space method
• 20) 1970’ – Microprocessor based control system
• Digital control system
• 21) 1980 – Neural network
• AI
• Fuzzy control
• Predictive control
• Doyle & stein : LQG / LTR
• Remote diagnostic control system
BASIC TERMINOLOGIES IN CONTROL
SYSTEM
• System:
• Control
• Plant or process
• Input
• Output
• Controller
• Disturbances
BASIC TERMINOLOGIES IN CONTROL
SYSTEM
• Automation
• Control system
• Actuator
• Design
• Simulation
• Optimization
• Feedback Signal
• Negative feedback
BASIC TERMINOLOGIES IN CONTROL
SYSTEM
• Block diagrams
• Signal Flow Graph (SFG)
• Specifications
• Open-loop control system
• Closed-loop feedback control system
• Regulator
• Servo system
• Stability
BASIC TERMINOLOGIES IN
CONTROL SYSTEM
• Multivariable Control System
• Trade-off
Basic Terminologies Cont.

System:

A combination or arrangement of a number of different

physical components to form a whole unit such that that
combining unit performs to achieve a certain goal.eg.Electrical
system, Mechanical System, Thermal System etc.
Basic Terminologies Cont.
• Control:
The action to command, manipulate, direct or regulate a system.
Plant or process: The part or component of a system that is required to
be controlled.
Input: It is the signal or excitation supplied to a control system.
Output: It is the actual response obtained from the control system.
Controller:The part or component of a system that controls the plant.
Disturbances:The signal that has adverse effect on the performance of
a control system.
Basic Terminologies Cont.
• Automation: The control of a process by automatic means
• Control system:: It is an interconnection of the physical components
to provide a desired function, involving some kind of controlling
action in it.
• Actuator:It is the device that causes the process to provide the
output. It is the device that provides the motive power to the process.
• Design:The process of conceiving or inventing the forms, parts, and
details of system to achieve a specified purpose.
Basic Terminologies Cont.
• Simulation: A model of a system that is used to investigate the
behavior of a system by utilizing actual input signals.
• Optimization:The adjustment of the parameters to achieve the most
favorable or advantageous design.
• Feedback Signal: A measure of the output of the system used for
feedback to control the system.
• Negative feedback:The output signal is feedback so that it subtracts
from the input signal.
• Block diagrams:Unidirectional, operational blocks that represent the
transfer functions of the elements of the system.
Basic Terminologies Cont.
• Signal Flow Graph (SFG):
A diagram that consists of nodes connected by several directed
branches and that is a graphical representation of a set of linear
relations.
Specifications: Statements that explicitly state what the device or
product is to be and to do. It is also defined as a set of prescribed
performance criteria.
Open-loop control system:A system that utilizes a device to control the
process without using feedback. Thus the output has no effect upon
the signal to the process.
Basic Terminologies Cont
• Closed-loop feedback control system:
A system that uses a measurement of the output and compares it with
the desired output.
• Regulator: The control system where the desired values of the
controlled outputs are more or less fixed and the main problem is to
reject disturbance effects.
• Servo system: The control system where the outputs are mechanical
quantities like acceleration, velocity or position.
Basic Terminologies Cont.
• Stability:
It is a notion that describes whether the system will be able to follow
the input command. In a non-rigorous sense, a system is said to be
unstable if its output is out of control or increases without bound.
Multivariable Control System:A system with more than one input
variable or more than one output variable.
Trade-off:The result of making a judgment about how much
compromise must be made between conflicting criteria.
 CLASSIFICATION OF CONTROL SYSTEMS.

• NATURAL CONTROL SYSTEM AND MAN-MADE CONTROL SYSTEM

• Natural Control Systems: E.g. solar system, digestive system of any
animal, etc.
• Man-made control systems: automobile, power plants etc
• AUTOMATIC CONTROL SYSTEM AND COMBINATIONAL CONTROL
SYSTEM
• Automatic control system: This system mainly has sensors, actuators
• Combinational control system: A driver driving a car
CLASSIFICATION OF CONTROL SYSTEMS.
• TIME-VARIANT CONTROL SYSTEM AND TIME-INVARIANT CONTROL
SYSTEM:
• Time-variant control system: i.e. driving a vehicle.
• Time-invariant control system: inductors, capacitors and
resistors(RLC in electrical circuit.
• LINEAR CONTROL SYSTEM AND NON-LINEAR CONTROL SYSTEM:
• Linear control system: It is a control system that satisfies properties
of homogeneity and Superposition (additive).
• Homogeneous property:
• Additive:
CLASSIFICATION OF CONTROL
SYSTEMS.
• Non-linear control system: It does not satisfy properties of
homogeneity and additive,
• CONTINUOUS-TIME CONTROL SYSTEM AND DISCRETE-TIME CONTROL
SYSTEM:
• Continuous-Time control system: It is a control system where
performances of all of its parameters are function of time, i.e.
armature type speed control of motor.
• Discrete -Time control system: It is a control system where
performances of all of its parameters are function of discrete time i.e.
microprocessor type speed control of motor
CLASSIFICATION OF CONTROL
SYSTEMS.
• DETERMINISTIC CONTROL SYSTEM AND STOCHASTIC CONTROL
SYSTEM:
• Deterministic control system: It is a control system where its output is
predictable or repetitive for certain input signal or disturbance signal.
• Stochastic control system: It is a control system where its output is
unpredictable or non-repetitive for certain input signal or disturbance
signal.
• LUMPED-PARAMETER CONTROL SYSTEM AND DISTRIBUTED-
PARAMETER CONTROL SYSTEM:
 CLASSIFICATION OF CONTROL SYSTEMS.
• Lumped-parameter control system: It is a control system where its
mathematical model is represented by ordinary differential
equations.
• Distributed-parameter control system :It is a control system where
its mathematical model is represented by partial differential
equations eg.an electrical network that is a combination of resistors,
inductors and capacitors.
• SINGLE-INPUT-SINGLE-OUTPUT (SISO) CONTROL SYSTEM AND
MULTI-INPUT-MULTI-OUTPUT (MIMO) CONTROL SYSTEM:
• SISO control system
• MIMO control system
CLASSIFICATION OF CONTROL
SYSTEMS
• OPEN-LOOP CONTROL SYSTEM AND CLOSED-LOOP CONTROL SYSTEM:
• Open-loop control system: It is a control system where its control
action only depends on input signal and does not depend on its
output response.
• Closed-loop control system: It is a control system where its control
action depends on both of its input signal and output response.
 OPEN-LOOP CONTROL SYSTEM AND
CLOSED-LOOP CONTROL SYSTEM

• Open-loop control system: It is a control system where its control

action only depends on input signal and does not depend on its
output response as shown in Fig.1.1.

Fig.1.1. An open-loop system

 OPEN-LOOP CONTROL SYSTEM
• Examples: traffic signal, washing machine, bread toaster, etc.
• ADVANTAGES:
• Simple design and easy to construct
• Economical
• Easy for maintenance
• Highly stable operation
• DIS-ADVANTAGES:
• Not accurate and reliable when input or system parameters
are variable in nature
• Recalibration of the parameters are required time to time
 CLOSED-LOOP CONTROL SYSTEM:
• It is a control system where its control action depends on both
of its input signal and output response as shown in Fig.1.2.

• Fig.1.2. A closed-loop system

CLOSED-LOOP CONTROL SYSTEM:
• Examples: automatic electric iron, missile launcher,
speed control of DC motor, etc.
• ADVANTAGES:
• More accurate operation than that of open-loop control system
• Can operate efficiently when input or system parameters are
variable in
• nature
• Less nonlinearity effect of these systems on output response
• High bandwidth of operation
• There is facility of automation
• Time to time recalibration of the parameters are not require
CLOSED-LOOP CONTROL SYSTEM
• DIS-ADVANTAGES:
• Complex design and difficult to construct.
• Expensive than that of open-loop control
system
• Complicated for maintenance
• Less stable operation than that of open-
loop control system
COMPARISON BETWEEN OPEN-LOOP AND
CLOSED-LOOP CONTROL SYSTEMS:
 1.4.SERVOMECHANISM
• It is the feedback unit used in a control system. In this
system, the control variable is a mechanical signal
such as position, velocity or acceleration
Fig.1.3. Schematic diagram of a servomechanism
• Fig.1.4. Block diagram of a servomechanism
• Examples of Servomechanism:
• Missile launcher
• Machine tool position control
• Power steering for an automobile
• Roll stabilization in ships, etc.
 REGULATORS

It is also a feedback unit used in a control system

like servomechanism. But, the output is kept
constant at its desired value
• Fig.1.6. Block diagram of a regulating system
Examples of Regulator
• Temperature regulator
• Speed governor
• Frequency regulators, etc