Fair Use Notice

The material used in this presentation i.e., pictures/graphs/text, etc. is solely

intended for educational/teaching purpose, offered free of cost to the students for
use under special circumstances of Online Education due to COVID-19 Lockdown
situation and may include copyrighted material - the use of which may not have
been specifically authorised by Copyright Owners. It’s application constitutes Fair
Use of any such copyrighted material as provided in globally accepted law of many
countries. The contents of presentations are intended only for the attendees of the
class being conducted by the presenter.
 Analysis and design objectives
Before studying the control systems the reader must
be able to model dynamic systems in mathematical
terms and analyze their dynamic characteristics.
The best way analyze the dynamic characteristics to
obtain the model of the system

A model can be:

Physical (prototype)
Mathamatical (set of Equations)

The scope of this lecture is analysis the worth and

objectives of understanding a mathematical model.
 Analysis and design objectives

A mathematical model of a dynamic system is

defined as a set of equations that represents the
dynamics of the system accurately, or at least fairly
well.
 INTRODUCTION TO CONTROL
CONTROL SYSTEM DEFINATIONS
Control: -
The word control usually refers to regulate or direct
or command

A volage regulator for a fan in our home is simple

example of speed of fan control or regulate.
 INTRODUCTION TO CONTROL
CONTROL SYSTEM DEFINATIONS
Control: -

A thermostat in geysers of our home is simple

example of temperature control or regulate.
 INTRODUCTION TO CONTROL
CONTROL SYSTEM DEFINATIONS
Control: -

A check valve in water supply of our homes is

simple example of direction control of fluid.
 INTRODUCTION TO CONTROL
CONTROL SYSTEM DEFINATIONS
Control: -

Observe the difference between two check valve

systems
 INTRODUCTION TO CONTROL
CONTROL SYSTEM DEFINATIONS
Control: -

A robotic arm in industries is complex example of

multi-task control.
 INTRODUCTION TO CONTROL
CONTROL SYSTEM DEFINATIONS

System.
A system is a combination of components that act
together and perform a certain objective. A system
can be physical, biological, economic, and the like,
systems.
 INTRODUCTION TO CONTROL
CONTROL SYSTEM DEFINATIONS

Types of System.
Plants.
A plant is system and consist of set of machine parts functioning together, the purpose of
which is to perform a particular operation.

Any physical object to be controlled (such as a mechanical device, a heating furnace or a

spacecraft) a plant.

Processes:
A process is also a system which is aprogressively continuing operation
Or
development marked by a series of gradual changes that succeed one another in a relatively
fixed way and lead toward a particular result or end;

Examples are chemical, economic, and biological processes.

 INTRODUCTION TO CONTROL
CONTROL SYSTEM DEFINATIONS

Input: -
The input is stimulus or an excitation applied to the control system from external
energy source in order to produce a special response from control system.

Output: -
The output is actual response obtained from control system.
 INTRODUCTION TO CONTROL

Input ????? Output ?????

Input ????? Output ?????

Input ????? Output ?????

 CONTROL SYSTEM DEFINATIONS

• Controlled Variable and Control Signal. The controlled

variable is the quantity or condition that is measured and
controlled/ varied by the controller.
• Normally, the controlled variable is the output of the system.
 CONTROL SYSTEM DEFINATIONS

• Manipulated Variable. The manipulated variable is the quantity or

condition that excites the system.
• Normally, the controlled variable is the input put of the system.
 CONTROL SYSTEM DEFINATIONS

Control: -

In the light of these variables the control defined as

measuring the value of controlled variable of the
system and applying to manipulated variable to the
system to correct or limit deviation of measured value
from desired value.
 CONTROL SYSTEM DEFINATIONS

• Disturbances.

• A disturbance is a signal that tends to adversely

affect the value of the output of a system.

• A disturbance is generated within the system, it is

called internal

• An external disturbance is generated outside the

system and is an input.
 CONTROL SYSTEM DEFINATIONS

• Feedback Control.

• Feedback control refers to an operation that, in the

presence of disturbances, tends to reduce the
difference between the output of a system and
some reference input.
•
 CONTROL SYSTEM
A control system is an arrangement of physical components connected in a
manner as to command or direct itself or another system.

The basis for analysis of a control system provides cause and effect relationship
for components of system, obtained by input output relation.
This cause and effect relationship represents a processing of input signal to
provide output signal variable.

In other words a control system defined as system provides a desired output by

providing some sort of input.

INPUT
OUTPUT
PLANT
 TYPES OF CONTROL SYSTEMS
• The control system are generally divided into two categories.
• Open loop control system
• closed loop control system
•
Open loop control system:
An Open loop control system is a control system in which control action is
independent of output having no feedback element.

This system utilizes a controller or control actuator to obtain the desired response.

A block diagram of this type of system is given as

INPUT OUTPUT
ACTUATING PLANT
DEVICE
 Open loop control system:
There are many example of open loop system are toaster, washing machine, electric motor.

A common example of such system is the use of a turntable to rotate a disc at constant
speed, used in CD player, computer disc deriver and phonograph record payer.

To obtain disc rotation, we selected a d.c motor as an actuator because it provides speed
proportional to the applied voltage.

For input voltage to motor an amplifier is selected to provide required power.

This type of system is shown in figure.
•
•

battery turntable

d.c amplifier
motor
 Open loop control system:
The system use battery source to provide a voltage that is proportional to
the desired speed.

This voltage is amplified and applied to the motor.

The block diagram of such an open lop system identifying control device,
actuator and process as shown in figure
•

Desired Control Output

Actuator Process
voltage/ Device (d.c
speed (amplifier) (turnable)
motor)
 Closed loop control system
A system in which control action is some how dependent of output.
This type of system utilizes an additional measure of actual output and feed back to
compare it with desired input (error signal is generated), so that appropriate control
action may be formed to reduce the error.
Therefore a closed loop system is also called feed back control system.

The measure of out put signal is called feedback signal.

The feedback concept has been foundation for control system analysis and design.

• 10v=100rpm distrubance 100 rpm

Comparison 100 rpm
10V element 11V
Desired Control Process Output
input Device (turnable)

Measurement
9 Volt 90 rpm
 Closed loop control system
Examples of such type of system are:
• Autopilot mechanism,
• Automobile speed control by human operator,
speed and
• Direction control of marine vehicles,
• Room temperature control system, and
• Heat control of geysers,
• Automatic refrigeration control system,
• Automatic electric iron etc.
ELEMENTS OF CLOSED LOOP SYSTEM:
General form of a basic closed loop control system consist of following
elements as shown in figure

1. Comparison element 2. Control element

3. Correction element: 4. Process element:
5. Measurement element:

Comparison
element
Desired Process Output
Control Correctionl
input element
element element

Measuring element
 ELEMENTS OF CLOSED LOOP SYSTEM:
1. Comparison element:-
It compares the required or reference value of variable/condition being controlled with
measured of what is being achieved and produces an error signal.

2. Control element:-
This element decides what action to take, when it receives an error signal

3. Correction element:-
It sends a signal to the process be produce a change which corrects the controlled condition.

4. Process element:-
The process what is being controlled.

5. Measurement element:-
The measurement element produces a signal related to variable conditions being controlled.
 ELEMENTS OF CLOSED LOOP SYSTEM:
To illustrate the elements of close loop system, consider a simple
control system consist of water level tank.
The reference value is the initial setting of level arm arranged so that it
just cuts off the water supply as required level as shown in figure.

When water is drawn from tank, the float moves downward with water
level.
This causes the lever arrangement
to rotate and allows water to enter
the tank.
This flow continuous until the ball
has risen to such a height that it
has moved the lever arrangement to
cut the water supply.
 ELEMENTS OF CLOSED LOOP SYSTEM:
Thus the whole system work as a closed
loop system and the elements of this
system are described as:

• Controlled variable is water in tank

• Reference value is initial setting
• Comparison element is lever
• Error signal is the difference between actual
level and initial setting
• Correction element is the flap opening and
closing the water supply
• Control element is the whole mechanism of
lever, ball and flap
• Process tank and water
• Measuring element is the floating ball and
lever
•
 CLOSED-LOOP CONTROL VERSUS OPEN-LOOP CONTROL
Feedback Control Systems.
The term closed-loop control always implies the use of feedback control
action in order to reduce system error.

A system that maintains a prescribed relationship between the output and

the reference input by comparing them and using the difference as a means
of control is called a feedback control system.

An example would be a room temperature control system.

By measuring the actual room temperature and comparing it with the

reference temperature( desired temprature), the thermostat turns the
heating or cooling equipment on or off in such a way as to ensure that
the room temperature remains at a comfortable level regardless of outside
conditions.
 CLOSED-LOOP CONTROL VERSUS OPEN-LOOP CONTROL
Feedback Control Systems.

Feedback control systems are not limited to engineering but can

be found in various non-engineering fields as well.

The human body, for instance, is a highly advanced feedback

control system.

Both body temperature and blood pressure are kept constant by

means of physiological feedback.

In fact, feedback performs a vital function:

It makes the human body relatively insensitive to external
disturbances, thus enabling it to function properly in a changing
environment.
 CLOSED-LOOP CONTROL VERSUS OPEN-LOOP CONTROL
• Open-Loop Control Systems.

• Those systems in which the output has no effect

• on the control action are called open-loop control systems.

• In other words, in an open- -loop control system the output

is neither measured nor fed back for comparison with the
input.

• One practical example is a washing machine. Soaking,

washing, and rinsing in the washer operate on a time basis.

• The machine does not measure the output signal, that is, the
cleanliness of the clothes.
 CLOSED-LOOP CONTROL VERSUS OPEN-LOOP CONTROL
In any open-loop control system the output is not compared with the reference
input.

Thus, to each reference input there corresponds a fixed operating condition; as a

result, the accuracy of the system depends on calibration.

In the presence of disturbances, an open-loop control system will not perform

the desired task.

Open-loop control can be used, in practice, only:

if the relationship between the input and output is known and
if there are neither internal nor external disturbances.

Clearly, such systems are not feedback control systems.

Note that any control system that operates on a time basis is open loop.
For instance, traffic control by means of signals operated on a time basis is another
example of open-loop control.
 Closed-Loop versus Open-Loop Control Systems.
• An advantage of the closed loop control system is the fact that the use of
feedback makes the system response relatively insensitive to external
disturbances and internal variations in system parameters.

• From the point of view of stability, the open-loop control system is easier to
build because system stability is not a major problem.

• On the other hand, stability is a major problem in the closed-loop control

system, which may tend to overcorrect errors and thereby can cause
oscillations of constant or changing amplitude.

• It should be emphasized that for systems in which the inputs are known ahead
of time and in which there are no disturbances it is advisable to use open-loop
control.

• Closed loop control systems have advantages only when unpredictable

disturbances and/or unpredictable variations in system components are
present.
 Closed-Loop versus Open-Loop Control Systems.

• The number of components used in a closed-loop

control system is more than that for a
corresponding open-loop control system.
• Thus, the closed-loop control system is generally
higher in cost and power.

• To decrease the required power of a system,

open-loop control may be used where applicable.