1 | Feedback Control System 1

UNIT 1: CONTROL SYSTEM MODULE

1.0 Intended Learning Outcomes

At the end of this lesson, the students should be able to
a. Explain system modeling and transfer function
b. Determine the relationship of linear time-invariant systems to its frequency
response

1.1 Introduction

Did you know that all control system phenomenon works mathematically?
Control system does not only confined on modern machine automation like microwave
oven, fuel dispenser, satellite tracker and different navigation control of ships, but for
every system that applies control mechanism that can be represented and modeled
mathematically.
Control System occurs everywhere, from the time you sleep at night you set a
point by using your alarm clock on what time you are going to wake up in the morning
to control the number of hours to take a rest at night. Within our bodies are numerous
control systems, such as the pancreas, which regulates our blood sugar. In time of “fight
or fight”, our adrenaline increases along with our heart rate, causing more oxygen to be
delivered to our cells. Our eyes follow a moving object to keep it in view; our hands
grasp the object and place it precisely at a predetermined location (Nise, 2011). These are
samples of systems that are already common to human daily activities. Such system can
be model physically using mathematical formulation.

1.2 Topics/Discussion

A control system is an interconnection of subsystems (components) in order to

respond to the given input to attain the desired output with the consideration of its
designed performance. Figure 1.1 illustrates the simplified description of the control
system. The control system processes its inputs in a convenient manner to correspond to
the operable condition of the medium to be controlled. The output undergoes a process
and it requires important control system specification to be met. In meeting the control
specification, system performance needs to be defined to achieve the desired output.
Transient response and steady-state error are two major system performances to be

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considered. Transient response relates on how fast the control system acts with the given
input to attain the desired output. Steady-state error defines the accuracy of the control
system to meet the desired output. Figure 1.2 shows a dynamic behavior of an elevator
control system which aims to reach a floor level. From the ground (first) floor, given a
step input to reach the fourth floor of the building by pressing the button in the car panel,
the passengers inside the car expect the desired comfort as they ascended. However,
control system performance specification needs to be defined to achieve comfort level of
the passengers. Speed and correct level of both floors are the primary consideration in
carrying passengers using the elevator (Nise, 2011).

Figure 1.1 Simplified Description of a Control System (Source: Nise,2011)

Figure 1.2 Elevator Responses (Source: Nise,2011)

Advantages of Control System

Power amplification. Control systems are designed to handle the needed power
capacity to drive sub-components in to the desired output. This can be done by
initiating small signals in the system to amplify and power up interfacing device. The
important factor to be considered in power amplification is the power gain.
Remote control. Most control systems are intended to operate in the hazardous
location. Control systems have a capability to attain the desired output by operating it
by remote mode.

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Convenience of input form. Any desired output in the control system can be
controlled by any means of control input, for example, in order for the output lamp to
vary its brightness, it can be controlled using a rheostat input (changing the input
resistance) or can be controlled by light dependent resistor (environment brightness).
Compensation for disturbances. All control systems are prone to any kind of
disturbances that causes the deviation of the system to its intended output.
Compensators are being integrated to the system to act on these disturbances without
compromising the performance specification of the system.

Control System Configuration

Open-loop system. Has a simple control structure. Its main components are
input, process and output. Input are sometimes referred to as reference, process can be
called also as plants, while the output is a controlled variable. The disturbances shown
in Figure 1.3 are added in the system and the open-loop system cannot compensate
these disturbances because the input can no longer track this stimulus which can be
generated by outside components. Therefore, these signals are added to the system and
its effects to the controlled variable were not anticipated. The open-loop systems are
cheap and easy to design and develop however, its output integrity can be sacrificed.

Figure 1.3 Open Loop Control System (Source: Nise,2011)

Closed-loop system. While disturbances in open-loop system contributes a great

challenge in meeting the desired output due to its inability to respond and correct its
effect to the system, the closed-loop system in Figure 1.4 is a promising configuration
where it can operate with high degree of reliability and output integrity. This system
can correct any variations in the desired output in response to the given input. The
input is being compared to the stimulus in the controlled variable through sensors
and transducers in the feedback path. Any differences (error) in the summing junction
will process by the plant until the intended output is obtained. The difference of the
input and the feedback stimulus is sometimes called the actuating signal. By
responding to the disturbances, closed-loop system makes its structure more complex.
This configuration is much expensive and quite challenging to design and develop.

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Figure 1.4 Open Loop Control System (Source: Nise,2011)

Control System Design and Consideration

Transient response. In the case of elevator control system, too fast response (red
curved in Figure 1.2) in the output makes passengers uncomfortable, while too slow
response (blue curve in Figure 1.2) in the output could make the passenger impatient.
However, control systems might oscillate upon reaching its desired floor level, this
makes the passenger feels uneasy. Thus, appropriate transient response design plays an
important role in the performance specification of any control system.
Steady-state response. This response is an essential consideration in control
system especially in meeting the expectation at the output. Invoking the accuracy of the
elevator as it level off to the intended floor with a minimum error requires
compensatory design.
Stability. Control system needs to become stable before it can be operated to its
intended application. It means that the output should be bounded to contain its
controllability. The output is the total response of the system which is the sum of the
natural response and the force response.

Total Response = Natural Response + Force Response

The natural response defines the inherit behavior on how the element (inductor
and capacitor) in the control system store and discharge energy. The force response is
the stimulus which is influenced by the given input. To achieve stability in the system,
the natural response must decay to zero even if it is oscillate for a small period of time.
This will give the total response of the system equal to the forced response. If the system
will oscillate without bound, this will cause for control instability and could bring
damage to the system.

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Design Process
Figure 1.5 shows a flow in designing a control system. For more comprehensive
discussion of this design process, please read the reference Control System Engineering,
6th edition by Norman Nise.

Figure 1.5 Control System Design Process (Source: Nise,2011)

Control System Example

Speed Control System. The basic principle of a Watt's speed governor for an
engine is illustrated in the schematic diagram of Figure 1.6 .The amount of fuel admitted
to the engine is adjusted according to the difference between the desired and the actual
engine speeds. The sequence of actions may be stated as follows: The speed governor is
adjusted such that, at the desired speed, no pressured oil will flow into either side of the
power cylinder. If the actual speed drops below the desired value due to disturbance,
then the decrease in the centrifugal force of the speed governor causes the control valve
to move downward, supplying more fuel, and the speed of the engine increases until
the desired value is reached. On the other hand, if the speed of the engine increases
above the desired value, then the increase in the centrifugal force of the governor causes
the control valve to move upward. This decreases the supply of fuel, and the speed of
the engine decreases until the desired value is reached. In this speed control system, the
plant (controlled system) is the engine and the controlled variable is the speed of the
engine. The difference between the desired speed and the actual speed is the error
signal. The control signal (the amount of fuel) to be applied to the plant (engine) is the
actuating signal. The external input to disturb the controlled variable is the disturbance.
An unexpected change in the load is a disturbance (Ogata,2002).

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Figure 1.6 Speed Control System (Source: Ogata,2002)

Figure 1.7 Temperature Control System (Source: Ogata,2002)

The temperature control system shown in Figure 1.7 aims to control the
temperature into the desired level that the electric furnace operates. The computer is
programmed to do certain task or routine for the entire operation of the furnace. The
program contains the command that drives the amplifier to give a signal to the relay to
open or close the heater through an interfacing components such RS 232 connector,
universal serial bus (USB), HDMI and others. The transmitted signal entails the heater
to give the desired level of temperature to the electric furnace. The thermometer will
measure the temperature inside the furnace in analog form and converted to digital
format where a computer can understand. Another interfacing component will convey
the data to the computer to give feedback if the desired temperature in the furnace is
already met. The computer will compare the input data transmitted to the amplifier and
the data receive by the computer from the A/D converter.

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Assessment:
Give two (2) examples of control systems and discuss its specific operation indicated
below. Draw also the schematic and block diagram on each.
1. Transient response
2. Steady-state
3. Stability
4. Control system component
5. Input and output relation of each component
6. External disturbances
7. Feedback concept to compensate disturbances for closed loop system

1.3 References:
Nise, N. S. (2011). Control Systems Engineering. Sixth Edition. John Wiley and Sons,
Inc.
Ogata, K. (2010). Modern Control Engineering. Fifth Edition. Pearson Education, Inc.
Alexander, C.K. and Sadiku, M. O. (2013). Fundamentals of Electric Circuits (e-book).
Fifth Edition. New York, USA: McGraw Hill Companies, Inc.

1.4 Acknowledgement

All images and information contained in this learning packet 1 were taken from the
references cited above.

C. M. D. Hamo-ay