Input

Input

 The stimulus or excitation applied to a control system

from an external source in order to produce the
output is called input

1/22/2024 1
Output

Input Output

 The actual response obtained from a system is

called output.

1/22/2024 2
“System”

Input Output
SYSTEM

 A system is an arrangement of or a combination of

different physical components connected or related in
such a manner so as to form an entire unit to attain a
certain objective.

1/22/2024 3
Control

 It means to regulate, direct or command a system so

that the desired objective is attained

1/22/2024 4
 Combining above definitions

System + Control = Control System

1/22/2024 5
Control System

Input Output
CONTROL
SYSTEM

 It is an arrangement of different physical elements

connected in such a manner so as to regulate, direct
or command itself to achieve a certain objective.

1/22/2024 6
Reference Controlled
Plant
Input Output

1/22/2024
 Difference between System and Control System

Input Proper Input Control Desired

System System
Output Output

(May or may not

be desired)

1/22/2024 8
Difference between System and Control System

An example : Fan

230V/50Hz Fan Air Flow

Input (System) Output
AC Supply

1/22/2024 9
A Fan: Can't Say System

 A Fan without blades cannot be a “SYSTEM”

Because it cannot provide a desired/proper output

i.e. airflow

Input Output

230V/50Hz No Airflow

AC Supply (No Proper/ Desired

Output)

1/22/2024 10
A Fan: Can be a System
 A Fan with blades but without regulator can be a “SYSTEM”
Because it can provide a proper output i.e. airflow
 But it cannot be a “Control System” Because it cannot
provide desired output i.e. controlled airflow

Input Output

230V/50Hz Airflow

AC Supply (Proper Output)

1/22/2024 11
 A Fan: Can be a Control System

 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 Output
Element

230V/50Hz Controlled Airflow

AC Supply (Desired Output)

1/22/2024 12
 Module I – Introduction to Control System
 Introduction to Control systems (4 Marks)
 Control System – Definition and Practical Examples
 Classification of Control System : Open Loop and Closed Loop Systems –
Definitions, Block diagrams, practical examples, and Comparison, Linear and
Non-linear Control System, Time Varying and Time In-varying Systems
 Servo System : Definition, Block Diagram, Classification (AC and DC Servo
System), Block diagram of DC Servo System.
 Laplace Transform and Transfer Function (4 Marks)
 Laplace Transform : Signifiance in Control System
 Transfer Function : Definition, Derivation of transfer functions for Closed loop
Control System and Open Loop Control System, Differential Equations and
transfer functions of RC and RLC Circuit
 Block Diagram Algebra (8 Marks)
 Order of a System : Definition, 0,1,2 order system Standard equation, Practical
Examples
 Block Diagram Reduction Technique: Need, Reduction Rules, Problems
6/30/2016 1/22/2024
Amit Nevase 25
 Classification of Control System

Classification of Control System

(Depending on control action)

Open Loop Control Closed Loop Control

System System

1/22/2024 14
 Open Loop Control 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 Controller Process o/p

r(t) u(t) c(t)

Fig. Block Diagram of Open loop Control System

1/22/2024 15
OLCS Examples

 Electric hand drier – Hot

air (output) comes out as
long as you keep your
hand under the machine,
irrespective of how much
your hand is dried.

1/22/2024 16
OLCS Examples

 Automatic washing machine

– This machine runs
according to the pre-set time
irrespective of washing is
completed or not.

1/22/2024 17
OLCS Examples

 Bread toaster - This

machine runs as per
adjusted time
irrespective of toasting is
completed or not.

1/22/2024 18
OLCS Examples

 Automatic tea/coffee
Vending Machine –
These machines also
function for pre adjusted
time only.

1/22/2024 19
OLCS Examples

 Light switch – lamps glow whenever light switch is on

irrespective of light is required or not.

 Volume on stereo system – Volume is adjusted

manually irrespective of output volume level.

1/22/2024 20
Advantages of OLCS

 Simple in construction and design.

 Economical.

 Easy to maintain.

 Generally stable.

 Convenient to use as output is difficult to measure.

1/22/2024 21
Disadvantages of OLCS

 They are inaccurate

 They are unreliable

 Any change in output cannot be corrected

automatically.

1/22/2024 22
Closed Loop System

Definition:
“A system in which the control action is somehow
dependent on the output is called as closed loop system”

1/22/2024 23
 Block Diagram of CLCS

Forward Path

Command Error Manipulated

Controlled
I/p Signal Signal
r(t) O/p
Reference Controller Plant
Transducer c(t)
e(t) m(t)

Reference
I/p

Feedback
Feedback b(t) c(t)
Transducer
Signal

Feedback Path
1/22/2024 24
CLCS Examples

 Automatic Electric Iron- Heating elements are

controlled by output temperature of the iron.

1/22/2024 25
Human Being

1/22/2024
Advantages of CLCS
 Closed loop control systems are more accurate even in the
presence of non-linearity.
 Highly accurate as any error arising is corrected due to
presence of feedback signal.

 Bandwidth range is large.

 Facilitates automation.
 The sensitivity of system may be made small to make
system more stable.

 This system is less affected by noise.

1/22/2024 27
Disadvantages of CLCS

 They are costlier.

 They are 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.

1/22/2024 28
Difference Between OLCS & CLCS
Open Loop Control System Closed Loop Control System

1. The open loop systems 1. The closed loop systems

are simple & economical. are complex and costlier
2. They consume less 2. They consume more
power. power.
3. The OL systems are 3. The CL systems are not
easier to construct easy to construct because
because of less number of more number of
of components required. components required.
4. The open loop systems 4. The closed loop systems
are inaccurate & are accurate & more
unreliable reliable.

1/22/2024 29
Difference Between OLCS & CLCS
Open Loop Control System Closed Loop Control System

5. Stability is not a major 5. Stability is a major problem

problem in OL control in closed loop systems & more
systems. Generally OL care is needed to design a
systems are stable. stable closed loop system.
6. Small bandwidth. 6. Large bandwidth.
7.Feedback element is 7.Feedback element is
absent. present.
8.Output measurement is 8.Output measurement is
not necessary. necessary.
1/22/2024 30
Difference Between OLCS & CLCS
Open Loop Control System Closed Loop Control System

9. The changes in the output due 9.The changes in the output

to external disturbances are not due to external disturbances
corrected automatically. So they are corrected automatically. So
are more sensitive to noise and they are less sensitive to noise
other disturbances. and other disturbances.

10. Examples: 10. Examples:

Coffee Maker, Guided Missile,

Automatic Toaster, Temp control of oven,

Hand Drier. Servo voltage stabilizer.

1/22/2024 31
 Module I – Introduction to Control System
 Introduction to Control systems (4 Marks)
 Control System – Definition and Practical Examples
 Classification of Control System : Open Loop and Closed Loop Systems –
Definitions, Block diagrams, practical examples, and Comparison, Linear and
Non-linear Control System, Time Varying and Time In-varying Systems
 Servo System : Definition, Block Diagram, Classification (AC and DC Servo
System), Block diagram of DC Servo System.
 Laplace Transform and Transfer Function (4 Marks)
 Laplace Transform : Signifiance in Control System
 Transfer Function : Definition, Derivation of transfer functions for Closed loop
Control System and Open Loop Control System, Differential Equations and
transfer functions of RC and RLC Circuit
 Block Diagram Algebra (8 Marks)
 Order of a System : Definition, 0,1,2 order system Standard equation, Practical
Examples
 Block Diagram Reduction Technique: Need, Reduction Rules, Problems
6/30/2016 1/22/2024
Amit Nevase 45
Classification of Control System

Classification of Control System

Linear Control Non-linear Control

System System

1/22/2024 33
Linear Control System

When an input X1 produces an output Y1 & an

input X2 produces an output Y2, then any
combination  X1  X2 should produce an
output Y1 Y 2 . In such case system is linear.
Therefore, linear systems are those where the
principles of superposition and proportionality
are obeyed.

1/22/2024 34
Non-linear Control System

 Non-linear systems do not obey law of superposition.

 The stability of non-linear systems depends on root

location as well as initial conditions & type of input.

 Non-linear systems exhibit self sustained oscillations

of fixed frequency.

1/22/2024 35
Difference Between Linear & Non-linear System

Linear System Non-linear System

1. Obey superposition. 1. Do not obey superposition

2. Can be analyzed by standard 2. Cannot be analyzed by standard
test signals test signals
3. Stability depends only on 3. Stability depends on root
root location locations, initial conditions &
type of input
4. Do not exhibit limit cycles 4. Exhibits limit cycles
5. Do not exhibit hysteresis/ 5. Exhibits hysteresis/ jump
jump resonance resonance
6. Can be analyzed by Laplace 6. Cannot be analyzed by Laplace
transform, z- transform transform, z- transform

1/22/2024 36
Classification of Control System

Classification of Control System

Time Varying Time Invarying Control

Control System System

1/22/2024 37
Time varying/In-varying Control System

 Systems whose parameters vary with time are called

time varying control systems.

 When parameters do not vary with time are called

Time Invariant control systems.

1/22/2024 38
Time varying/In-varying Control System

The mass of missile/rocket reduces as fuel is

burnt and hence the parameter mass is time

varying and the control system is time varying

type.

1/22/2024 39
 Module I – Introduction to Control System
 Introduction to Control systems (4 Marks)
 Control System – Definition and Practical Examples
 Classification of Control System : Open Loop and Closed Loop Systems –
Definitions, Block diagrams, practical examples, and Comparison, Linear and
Non-linear Control System, Time Varying and Time In-varying Systems
 Servo System : Definition, Block Diagram, Classification (AC and DC Servo
System), Block diagram of DC Servo System.
 Laplace Transform and Transfer Function (4 Marks)
 Laplace Transform : Signifiance in Control System
 Transfer Function : Definition, Derivation of transfer functions for Closed loop
Control System and Open Loop Control System, Differential Equations and
transfer functions of RC and RLC Circuit
 Block Diagram Algebra (8 Marks)
 Order of a System : Definition, 0,1,2 order system Standard equation, Practical
Examples
 Block Diagram Reduction Technique: Need, Reduction Rules, Problems
6/30/2016 1/22/2024
Amit Nevase 53
Servo System

 Definition:
1. Servo system is defined as automatic feedback control
system working on error signals giving the output as
mechanical position, velocity or acceleration.

2. Servo system is one type of feedback control system in

which control variable is the mechanical load position &
its time derivatives like velocity and acceleration.

1/22/2024 41
General block diagram of Servo System

1/22/2024 42
Difference between Servo System

AC servo System DC servo System

1. Efficiency is low 1. Efficiency is high

2. Low power output 2. High power output
3. It requires less 3. It requires frequent
maintenance maintenance
4. Less stability 4. More stability
problems problems
5. Smooth operation 5. Noisy operation
6. It has non-linear 6. It has linear
characteristics characteristics
1/22/2024 43
DC Servo System

1/22/2024 44
DC Servo System

Working of Servo System

1/22/2024 45
 Module I – Introduction to Control System
 Introduction to Control systems (4 Marks)
 Control System – Definition and Practical Examples
 Classification of Control System : Open Loop and Closed Loop Systems –
Definitions, Block diagrams, practical examples, and Comparison, Linear and
Non-linear Control System, Time Varying and Time In-varying Systems
 Servo System : Definition, Block Diagram, Classification (AC and DC Servo
System), Block diagram of DC Servo System.
 Laplace Transform and Transfer Function (4 Marks)
 Laplace Transform : Signifiance in Control System
 Transfer Function : Definition, Derivation of transfer functions for Closed loop
Control System and Open Loop Control System, Differential Equations and
transfer functions of RC and RLC Circuit
 Block Diagram Algebra (8 Marks)
 Order of a System : Definition, 0,1,2 order system Standard equation, Practical
Examples
 Block Diagram Reduction Technique: Need, Reduction Rules, Problems
6/30/2016 1/22/2024
Amit Nevase 59
 Laplace Transform

 Developed mathematics in
The French Newton
astronomy, physics, and statistics Pierre-Simon Laplace

 Began work in calculus which led

to the Laplace Transform

 Focused later on celestial

mechanics

 One of the first scientists to

suggest the existence of black
holes

1/22/2024 47
Laplace Transform

 To evaluate the performance of an automatic control

system commonly used mathematical tool is “Laplace
Transform”
 Laplace transform converts the differential equation
into an algebraic equation in ‘s’.

 Laplace transform exist for almost all signals of

practical interest.

1/22/2024 48
Why Laplace Transform?
Laplace
Transformation

Time domain Frequency domain

unknown f(t), d/dt, Diff Eqs unknown F(s), Alg Eqs

Solve
Differential Solve
Equations Algebraic
Equations

Time domain Frequency domain

known f(t) known F(s)

Inverse
Laplace
Transform
1/22/2024 49
Advantages of Laplace Transform

 Solution of intego differential equation of time

systems can be easily obtained.

 Initial conditions are automatically incorporated.

 Laplace transform provides an easy & effective
solution of many problems arising in automatic control
systems.

 Laplace transform allows the use of graphical

techniques, for predicting the system performance.
1/22/2024 50
Laplace Transform- Definition

The Laplace transform of a function, f(t), is defined as


F (s)  L  f (t)    f t e st dt (1-1)
0

where F(s) is the symbol for the Laplace transform, L is the Laplace
transform operator, and f(t) is some function of time, t.

Note: The L operator transforms a time domain function f(t)

into an s domain function, F(s). s is a complex variable:
s = a + bj, j B 1

1/22/2024 51
 Standard Laplace Transform
f (t) F ( s )  L[ f (t)]
1 or u ( t ) 1
s
e t 1
s 
sint 
s 2
2

cos  t s
s2   2
e   t si n  t 
(s   ) 2   2
et cos t s 
(s   )2   2
t 1
s2
tn n!
sn1
et t n n!
(s   )n1
 (t) 1

* U s e w he n r o o t s ar e co mp le x.

1/22/2024 52
Inverse Laplace Transform

By definition, the inverse Laplace transform operator, L-1,

converts an s-domain function back to the corresponding
time domain function:

f t   L1 Fs

1/22/2024 53
 Module I – Introduction to Control System
 Introduction to Control systems (4 Marks)
 Control System – Definition and Practical Examples
 Classification of Control System : Open Loop and Closed Loop Systems –
Definitions, Block diagrams, practical examples, and Comparison, Linear and
Non-linear Control System, Time Varying and Time In-varying Systems
 Servo System : Definition, Block Diagram, Classification (AC and DC Servo
System), Block diagram of DC Servo System.
 Laplace Transform and Transfer Function (4 Marks)
 Laplace Transform : Signifiance in Control System
 Transfer Function : Definition, Derivation of transfer functions for Closed loop
Control System and Open Loop Control System, Differential Equations and
transfer functions of RC and RLC Circuit
 Block Diagram Algebra (8 Marks)
 Order of a System : Definition, 0,1,2 order system Standard equation, Practical
Examples
 Block Diagram Reduction Technique: Need, Reduction Rules, Problems
6/30/2016 1/22/2024
Amit Nevase 67
Transfer Function

 The relationship between input & output of a system is

given by the transfer function.

 Definition: The ratio of Laplace transform of the output

to the Laplace transform of the input under the

assumption of zero initial conditions is defined as

“Transfer Function”.

1/22/2024 55
Transfer Function

LT
System c(t) System C(s)
r(t) R(s)
g(t) G(s)

For the system shown,

c(t)= output L{c(t)}= C(s)
r(t)= input L{r(t)}= R(s)
g(t)= System function L{g(t)}= G(s)

Therefore transfer function G(s) for above system is given by,

Laplace of output C (s)

G(s)= =
Laplace of input R(s)

1/22/2024 56
 Transfer Function of closed loop system
Error Gain for CL system is given by;
Signal
C(s)
R(s) E(s) G(s) 
G(s) C(s) E(s)
+-
Output C(s)  G(s).E(s)      (3)
Input
Substitute value of E(s) from eq. 1 to 3
B(s) H(s) C(s) G(s).(R(s) B(s))
C(s) G(s).R(s) G(s).B(s) (4)
Feedback
Signal
Substitute value of B(s) from eq. 2 to 4
Error signal is given by;
C ( s )  G (s ) R(s)  G(s).H(s).C(s)
E(s)  R(s)  B(s)      (1) G(s).R(s)  C(s)  G(s).H(s).C(s)
 R(s)  E(s)  B(s)
G(s).R(s)  C(s)(1  G(s).H(s))
Gain of feedback network is given by; Transfer function is given by;
B(s)
H (s)  C(s) G(s)
C(s) T.F.= 
6/30/20B1(6s) H(s).C(s)      (2) 1/22/2024
Amit Nevase
R(s) 1  G(s).H(s) 70
Laplace Transform of Passive Element (R,L & C)

 The Laplace transform can be used independently on

different circuit elements, and then the circuit can be

solved entirely in the S Domain (Which is much easier).

 Let's take a look at some of the circuit elements

1/22/2024 58
Laplace Transform of R

 Resistors are time and frequency invariant. Therefore,

the transform of a resistor is the same as the
resistance of the resistor.

L{Resistor}=R(s)

1/22/2024 59
Laplace Transform of C

Let us look at the relationship between voltage, current,

and capacitance, in the time domain:
dv(t)
i(t)  C
dt
Solving for voltage, we get the following integral:

v(t)   i(t) dt
1
C to
Then, transforming this equation into the Laplace
domain, we get the following:

11
V (s)  I (s)
C s 1/22/2024 60
Laplace Transform of C

Again, if we solve for the ratio V(s)/I(s), we get the following:

V(s) 1

I(s) sC

Therefore, the transform for a capacitor with

capacitance C is given by:

1
L{capacitor} 
sC

1/22/2024 61
Laplace Transform of L

Let us look at the relationship between voltage, current,

and inductance, in the time domain:

di(t)
v(t)  L
dt
putting this into the Laplace domain, we get the
formula:

V (s)  sLI(s)
And solving for our ratio
V (s)
 sL
I(s)
1/22/2024 62
Laplace Transform of L

Therefore, the transform of an inductor with inductance

L is given by:

L{inductor}  sL

1/22/2024 63
 Transfer Function of RC and RLC electrical circuits

Example: Find the TF of given RC network

Taking Laplace transform above equation

C 1
Vi(t) i(t) Vo(t) Vo(s) I (s) (2)
sC

I(s)  sC.Vo(s)     (3)

Apply KVL for input loop, From equation 1,
t 1
vi(t)  Ri(t)  1 i(t)dt Vi(s)  I (s)(R )      (4)
sC
C0
From equation 3 and 4,
Taking Laplace transform above equation
1
Vi(s)  RI(s)  I(s)      (1) Vi(s)  Vo(s).sC.(R 
1
)
sC sC
Apply KVL for output loop,
1 t
vo(t)   i(t)dt 1/22/2024 64
C 0
 Vo(s) 1
Transfer Function= G(s)= 
Vi(s) 1
sC.(R )
sC

Vo(s) 1

Vi(s) sC.( sCR  1
)
sC

Vo(s) 1

Vi(s) sCR 1

Vi(s) 1 Vo(s)
sCR 1
1/22/2024 65
 Transfer Function of RC and RLC electrical circuits

Example: Find the TF of given RLC network

L
Apply KVL for input loop,
C
Vi(t) i(t) Vo(t)
1
Vi(s)  RI(s)  sLI(s) I(s)
sC
Taking Laplace transform above network 1
Vi(s)  [R sL ]I(s)        (1)
sL
sC

Apply KVL for output loop,

1
Vi(s) I(s) Vo(s) 1
sC Vo(s)  I(s) (2)
sC

1/22/2024 66
From equation 1 and 2, 1 I (s)
Vo ( s )
Transfer Function=  sC
Vi ( s ) 1
[R sL ] I(s)
sC

1
sC
1
[ R sL ]
sC

1
 sC s CR  s 2
LC  1
sC

1

sCR  s 2 L C  1

1
 2
6/30/2016 1/22/2024
Amit Nevase s LC  sCR1 80
 Module I – Introduction to Control System
 Introduction to Control systems (4 Marks)
 Control System – Definition and Practical Examples
 Classification of Control System : Open Loop and Closed Loop Systems –
Definitions, Block diagrams, practical examples, and Comparison, Linear and
Non-linear Control System, Time Varying and Time In-varying Systems
 Servo System : Definition, Block Diagram, Classification (AC and DC Servo
System), Block diagram of DC Servo System.
 Laplace Transform and Transfer Function (4 Marks)
 Laplace Transform : Signifiance in Control System
 Transfer Function : Definition, Derivation of transfer functions for Closed loop
Control System and Open Loop Control System, Differential Equations and
transfer functions of RC and RLC Circuit
 Block Diagram Algebra (8 Marks)
 Order of a System : Definition, 0,1,2 order system Standard equation, Practical
Examples
 Block Diagram Reduction Technique: Need, Reduction Rules, Problems
6/30/2016 1/22/2024
Amit Nevase 81
Order of System

 The order of control system is defined as the highest

power of s present in denominator of closed loop
transfer function G(s) of unity feedback system.

1/22/2024 69
Example1: Determine order of given system

s(s 2)
TF  G(s) 4
s  7s3 10s2  5s 5

1/22/2024 70
Example1: Determine order of given system

s(s 2)
TF  G(s) 4
s  7s3 10s2  5s 5

Answer: The highest power of equation in denominator

of given transfer function is ‘4’.

Hence the order of given system is fourth

1/22/2024 71
System Order and Proper System

 Highest power of s present in denominator of closed

loop transfer function is called as “Order of System”.

 A proper system is a system where the degree of the

denominator is larger than or equal to the degree of

the numerator polynomial.

1/22/2024 72
Example 2 : Determine order of given system
(s 5)(s 2)
G(s) 
s ( s  3)(s 4)

1/22/2024 73
Example 2 : Determine order of given system
(s 5)(s 2)
G(s) 
s ( s  3)(s 4)

Solution: To obtain highest power of denominator,

Simplify denominator polynomial.
s(s 3)(s 4)  0
s(s2  7s 12)  0

s3  7s2 12s 0

The highest power of equation in denominator of given transfer

function is ‘3’. Hence given system is “Third Order system”.
The degree of denominator is larger than the numerator hence
system is “Proper System”
1/22/2024 74
Example 3 : Determine order of given system
K(s 5)
G(s)  3
s (7 s2  12s  5)

1/22/2024 75
Example 3 : Determine order of given system
K(s 5)
G(s)  3
s (7 s2  12s  5)

Solution: To obtain highest power of denominator,

Simplify denominator polynomial.

s3 (7s2 12s 5)  0

7s5 12s4 5s3 0

The highest power of equation in denominator of given transfer

function is ‘5’. Hence given system is “Fifth Order system”.
The degree of denominator is larger than the numerator hence
system is “Proper System”
1/22/2024 76
Types of System

(depending on highest power of denominator)

 Zero (0) Order System

 First Order System

 Second Order System

1/22/2024 77
Zero (0) Order System

Definition: If highest power of complex variable ‘s’ present

in Characteristics equation is zero, then it is called as

“Zero order System”

R(s) + 1 C(s)
1T
-

1/22/2024 78
Zero (0) Order System

Consider a unity feedback system with transfer function

1
G(s) 
1 T
Hence characteristics equation is given by,
1 T 0
or
1 s0T  0
Here the highest power of s is equal to 0,
Hence the system given above is zero order system.

Practical Example: Amplifier type control system

1/22/2024 79
First Order System

Definition: If highest power of complex variable ‘s’ present

In Characteristics equation is one, then it is called as

“First order System”

+ 1 C(s)
R(s)
1 sCR
-

1/22/2024 80
First Order System

Consider a unity feedback system with transfer function

1
G(s) 
1 sCR
Hence characteristics equation is given by,
1  sCR  0
Here the highest power of s is equal to 1,
Hence the system given above is First order system.

Practical Example: RC circuits, thermal type systems

1/22/2024 81
Second Order System

Definition: If highest power of complex variable ‘s’ present

In Characteristics equation is two, then it is called as
“Second order System”

R(s) + 1 C(s)
s2 LC  sCR1
-

1/22/2024 82
Second Order System

Consider a unity feedback system with transfer function

1
G(s) 
s2 LC  sCR 1
Hence characteristics equation is given by,
s 2 L C  sCR  1  0

Here the highest power of s is equal to 2,

Hence the system given above is Second order system.

Practical Example: RLC circuits, Robotic control system.

1/22/2024 83
 Module I – Introduction to Control System
 Introduction to Control systems (4 Marks)
 Control System – Definition and Practical Examples
 Classification of Control System : Open Loop and Closed Loop Systems –
Definitions, Block diagrams, practical examples, and Comparison, Linear and
Non-linear Control System, Time Varying and Time In-varying Systems
 Servo System : Definition, Block Diagram, Classification (AC and DC Servo
System), Block diagram of DC Servo System.
 Laplace Transform and Transfer Function (4 Marks)
 Laplace Transform : Signifiance in Control System
 Transfer Function : Definition, Derivation of transfer functions for Closed loop
Control System and Open Loop Control System, Differential Equations and
transfer functions of RC and RLC Circuit
 Block Diagram Algebra (8 Marks)
 Order of a System : Definition, 0,1,2 order system Standard equation, Practical
Examples
 Block Diagram Reduction Technique: Need, Reduction Rules, Problems
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Amit Nevase 97
Need of Block Diagram Algebra

 If the system is simple & has limited parameters then it

is easy to analyze such systems using the methods

discussed earlier i.e. transfer function, if the system is

complicated and also have number of parameters then

it is very difficult to analyze it.

1/22/2024
Need of Block Diagram Algebra

 To overcome this problem block diagram

representation method is used.

 It is a simple way to represent any practically

complicated system. In this each component of the
system is represented by a separate block known as
functional block.

 These blocks are interconnected in a proper sequence.

1/22/2024
Block Diagram Fundamentals

 Block Diagram: It is shorthand, pictorial representation

of the cause and effect relationship between input and

output of a physical system.

Input Output
BLOCK

1/22/2024
Block Diagram Fundamentals

 Output: The value of the input is multiplied to the

value of block gain to get the output.

X(s) Y(s)
3s

Output Y(s)= 3s. X(s)

1/22/2024
Block Diagram Fundamentals

 Summing Point: Two or more signals can be added/

substracted at summing point.

y
+
x output
+
Output =x+y-z

1/22/2024
Block Diagram Fundamentals

 Take off Point: The output signal can be applied to two

or more points from a take off point.

Z Z

Take off point

6/30/2016 Z 1/22/2024
Amit Nevase 103
Block Diagram Fundamentals
 Forward Path: The direction of flow of signal is from input
to output
Forward Path

R(s) + G1 G2
C(s)

H1

Feedback Path
 Feedback Path: The direction of flow of signal is from
output to input
1/22/2024
 Block Diagram Reduction Techniques

Rule 1: For blocks in cascade

Gain of blocks connected in cascade gets
multiplied with each other.

R(s) R1(s) C(s) R(s) G1G2 C(s)

G1 G2

R1(s)=G1R(s)
C(s)= G1G2R(s)
C(s) =G2R1(s)
=G1G2R(s)

1/22/2024
R(s) G1 G2 G3 C(s)

Find Equivalent

R(s) G1G2G3 C(s)

1/22/2024
 R(s) G1 G2 G3 C(s)

R1(s)

Find Equivalent

R(s)
G1G2G3 C(s) R(s) G1G2 G3 C(s)

R1(s)
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Amit Nevase 107
 Block Diagram Reduction Techniques
Rule 2: For blocks in Parallel
Gain of blocks connected in parallel gets added
algebraically.
R1(s)
G1
+
R(s) R2(s) - C(s) R(s) G1-G2+G3 C(s)
G2
+
R3(s)
G3

C(s)= R1(s)-R2(s)+R3(s) C(s)= (G1-G2+G3) R(s)

= G1R(s)-G2R(s)+G3R(s)
C(s)=(G1-G2+G3) R(s)
1/22/2024
 Block Diagram Reduction Techniques

Rule 3: Eliminate Feedback Loop

R(s)
E(s) G C(s)
+- R(s) G C(s)
+
1  GH

B(s) H

C(s) G
 In General
R(s) 1  GH

1/22/2024
 From Shown Figure,

E(s)  R(s) B(s)

and
R(s)
C(s)  G.E(s)
E(s) C(s)  G[R(s)  B(s)]
+- G
 GR(s) GB(s)
But
B(s) B(s)  H.C(s)
H
C(s)  G.R(s) G.H.C(s)

C(s)  G.H  GR(s)

C(s){1 G.H} G.R(s)

C(s) G
For Negative Feedback
 
R(s) 1 GH
1/22/2024
 From Shown Figure,
E(s)  R(s) B(s)
and
R(s) C(s)  G.E(s)
E(s) C(s)
+ G  G[R(s)  B(s)]
+
 GR(s) GB(s)
But
B(s) B(s)  H.C(s)
H
C(s)  G.R(s) G.H.C(s)
C(s) G.H  GR(s)

C(s){1G.H} G.R(s)

 C(s) G
For Positive Feedback R(s) 1GH
1/22/2024 111
 Block Diagram Reduction Techniques

Rule 4: Associative Law for Summing Points

The order of summing points can be changed if two or more
summing points are in series

R(s) + X + C(s) R(s) + X + C(s)

- -
B1 B2 B2 B1

X=R(s)-B1 X=R(s)-B2
C(s)=X-B2 C(s)=X-B1
C(s)=R(s)-B1-B2 C(s)=R(s)-B2-B1
1/22/2024
 Block Diagram Reduction Techniques

Rule 5: Shift summing point before block

R(s) + C(s) R(s) + C(s)

G G
+ +
X 1/G

C(s)=R(s)G+X
C(s)=G{R(s)+X/G}
=GR(s)+X

1/22/2024
 Block Diagram Reduction Techniques

Rule 6: Shift summing point after block

R(s) + C(s) R(s) + C(s)

G G
+ +

X
G
X

C(s)=G{R(s)+X} C(s)=GR(s)+XG
=GR(s)+GX =GR(s)+XG
1/22/2024
 Block Diagram Reduction Techniques

Rule 7: Shift a take off point before block

R(s) C(s) R(s) C(s)

G G

G
X
X

C(s)=GR(s) C(s)=GR(s)
and and
X=C(s)=GR(s) X=GR(s)
1/22/2024
 Block Diagram Reduction Techniques

Rule 8: Shift a take off point after block

R(s) C(s) R(s) C(s)

G G

1/G
X

C(s)=GR(s)
C(s)=GR(s) and
and X=C(s).{1/G}
X=R(s) =GR(s).{1/G}
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Amit Nevase = R(s) 116
Block Diagram Reduction Techniques

 While solving block diagram for getting single block

equivalent, the said rules need to be applied. After

each simplification a decision needs to be taken. For

each decision we suggest preferences as

1/22/2024
Block Diagram Reduction Techniques

First Choice

First Preference: Rule 1 (For series)

Second Preference: Rule 2 (For parallel)

Third Preference: Rule 3 (For FB loop)

1/22/2024
Block Diagram Reduction Techniques

Second Choice
(Equal Preference)

Rule 4 Adjusting summing order

Rule 5/6 Shifting summing point before/after block

Rule7/8 Shifting take off point before/after block

1/22/2024
 Example 1

G4

+
R(s) + + G1 G2 G3 + C(s)
G6

- - +

H1 G5

H2

1/22/2024
Rule 1 cannot be used as there are no
immediate series blocks.

Hence Rule 2 can be applied to G4, G3, G5 in

parallel to get an equivalent of G3+G4+G5

1/22/2024
 Example 1 cont….

Apply Rule 2
Blocks in Parallel G4

+
R(s) + + G1 G2 G3 + C(s)
G6

- - +

H1 G5

H2

1/22/2024
 Example 1 cont….

Apply Rule 1 Blocks in series

R(s) + + G1 G2 C(s)
G3+G4+G5 G6

- -

H1

H2

1/22/2024
 Example 1 cont….

Apply Rule 3 Elimination of feedback loop

R(s) + + G1 C(s)
G2(G3+G4+G5) G6

- -

H1

H2

1/22/2024
 Example 1 cont….

Apply Rule 1 Blocks in series

R(s) + G1 C(s)
G2(G3+G4+G5) G6
1 G1H1
-

H2

1/22/2024
 Example 1 cont….

Apply Rule 3 Elimination of feedback loop

R(s) + G1G2(G3  G 4  G5) G6 C(s)

- 1 G1H1

H2

1/22/2024
Example 1 cont….

Apply Rule 1 Blocks in series

R(s)
G1G2(G3 G4  G5) G6
C(s)

1 G1H1G1G2H2(G3 G4  G5)

1/22/2024
Example 1 cont….

R(s) G1G2G6(G3G4G5) C(s)

1G1H1G1G2H2(G3G4G5)

1/22/2024
Example 1 cont….

C (s) G1G2G6(G3G4G5)

R ( s ) 1G1H1G1G2H2(G3G4G5)

1/22/2024
Example 2

G4

+
R(s) + + G1 G2 G3 + C(s)

+ -

H1

H2

1/22/2024
Example 2 cont….

G4
Apply Rule 1
Blocks in series

+
R(s) + + G1 G2 G3 + C(s)

+ -

H1

H2

1/22/2024
Example 2 cont….

G4
Apply Rule 2
Blocks in parallel

+
R(s) + + G1G2 G3 + C(s)

+ -

H1

H2

1/22/2024
Example 2 cont….

Apply Rule 3
Elimination of feedback loop

R(s) + + G1G2 G3+G4 C(s)

+ -

H1

H2

1/22/2024
Example 2 cont….

Apply Rule 2 Blocks in series

R(s) + G1G2 G3+G4 C(s)

+ 1  G1G2H1

H2

1/22/2024
Example 2 cont….

Apply Rule 3 Elimination of feedback loop

R(s) + G1G2(G 3  G 4) C(s)

+ 1  G1G2H1

H2

1/22/2024
 Example 2 cont….

R(s) C(s)
G1G2(G3 G4)
1 G1G2H1G1G2G3H2 G1G2G4H2

1/22/2024
Example 2 cont….

C(s) G1G2(G3  G4)


R(s) 1 G1G2H1 G1G2G3H2  G1G2G4H2

1/22/2024
Example 3

G5

+
R(s) + G1 + G2 G3 + G4 C(s)

- -

H1

H2

1/22/2024
Example 3 cont….
Apply Rule 3 Elimination of feedback loop
G5

+
R(s) + G1 + G2 G3 + G4 C(s)

- -

H1

H2

1/22/2024
Example 3 cont….
Apply Rule 1 Blocks in series
G5

+
R(s) + G1 G2 G3 + G4 C(s)
1  G2H1
-

H2

1/22/2024
Example 3 cont….
Apply Rule 2 Blocks in parallel

G5

+
R(s) + G1G2G3 + G4 C(s)
1  G2H1
-

H2

1/22/2024
Example 3 cont….

Apply Rule 1 Blocks in series

G1G2G3
R(s) + G5  G4 C(s)
1 G2H1
-

H2

1/22/2024
Example 3 cont….
Apply Rule 3 Elimination of feedback loop

R(s) + G1G2G3 C(s)

G 4(G5  )
- 1 G2H1

H2

1/22/2024
Example 3 cont….

R(s) G4G5G2G4G5H1G1G2G3G4 C(s)

1 G2H1 G4G5H2 G2G4G5H1H2 G1G2G3G4H2

1/22/2024
Example 3 cont….

C(s) G4G5G2G4G5H1G1G2G3G4

R(s) 1G2H1G4G5H2G2G4G5H1H2 G1G2G3G4H2

1/22/2024
Example 4

R(s) + + - G1 + G2 C(s)

- -

H1 H2

1/22/2024
Example 4 cont….

Apply Rule 3 Elimination of feedback loop

-
R(s) + + G1 + G2 C(s)

- -

H1 H2

1/22/2024
Example 4 cont….

R(s) + + - G1 G2 C(s)
1  G2H 2
-

H1

1/22/2024
Now Rule 1, 2 or 3 cannot be used
directly.
There are possible ways of going ahead.
a. Use Rule 4 & interchange order of summing
so that Rule 3 can be used on G.H1 loop.
G 2
b. Shift take off point after 1  G 2 H 2 block reduce
by Rule 1, followed by Rule 3.

Which option we have to use????

1/22/2024
Example 4 cont….
Apply Rule 4 Exchange summing order

1 2
R(s) + + - G1 G2 C(s)
1  G2H 2
-

H1

1/22/2024
Example 4 cont….
Apply Rule 3 Elimination feedback loop

2 - 1
R(s) + + G1 G2 C(s)
1  G2H 2
-

H1

1/22/2024
Example 4 cont….
Apply Rule 1 Bocks in series

2 -
R(s) + G1 G2 C(s)
1  G1H1 1  G2H 2

1/22/2024
Example 4 cont….

2 -
R(s) + G1G2 C(s)
1  G1H1  G2H 2  G1G2H1H 2

Now which Rule will be applied

-------It is blocks in parallel OR
-------It is feed back loop

1/22/2024
 Example 4 cont….
Let us rearrange the block diagram to understand
Apply Rule 3 Elimination of feed back loop

2
R(s) + G1G2 C(s)
1  G1H1  G2H 2  G1G2H1H 2
-

1/22/2024
Example 4 cont….

R(s) G1G2 C(s)

1 G1H1 G2H 2  G1G2H1H2  G1G2

1/22/2024
Example 4 cont….

C(s) G1G2

R(s) 1G1H1G2H2G1G2H1H2G1G2

1/22/2024
 Note 1: According to Rule 4
By corollary, one can split a summing point to
two summing point and sum in any order

B
B
+
R(s) + C(s) + +
R(s) +
G
G C(s)
- -

H
H

1/22/2024
Example 5
Simplify, by splitting second
summing point as
H1
said in note 1

-
R(s) + + G1 G2 G3 C(s)

- -

H2

H3

1/22/2024
 Example 5 cont….

Apply rule 3
H1 Elimination of feedback loop

+ + + - G1 G2 G3 C(s)
R(s)
- -

H2

H3

1/22/2024
 Example 5 cont….

Apply rule 1 Blocks in series

+ + G1 G2 G3 C(s)
R(s)
- 1  G1H1
-

H2

H3

1/22/2024
 Example 5 cont….

Apply rule 3 Elimination of feedback loop

+ + G1G2 G3
1  G1H1 C(s)
R(s) - -

H2

H3

1/22/2024
 Example 5 cont….

Apply rule 1 Blocks in series

+ G1G2 G3
1 G1H1 G1G2H2 C(s)
R(s) -

H3

1/22/2024
 Example 5 cont….

Apply rule 3 Elimination of feedback loop

+ G1G2G3
R(s) 1  G1H1  G1G2H 2 C(s)
-

H3

1/22/2024
Example 5 cont….

R(s) G1G2G3 C(s)

1 G1H1 G1G2H2  G1G2G3H3

1/22/2024
Example 5 cont….

C(s) G1G2G3

R(s) 1  G1H1  G1G2H 2  G1G2G3H 3

1/22/2024
Example 6
Apply rule 8
Shift take off point beyond block
G5
G3

+
R(s) + G1 + G2 G3 G4 + C(s)

- -

H1

H2

1/22/2024
Example 6 cont….
Apply rule 1
Blocks in series
1/ G5
G3

+
R(s) + G1 + G2 G3 G4 + C(s)

- -

H1

H2

1/22/2024
Example 6 cont….
Apply rule 2
Blocks in parallel
G5/
G3

+
R(s) + G1 + G2G3 G4 + C(s)

- -

H1

H2

1/22/2024
Example 6 cont….
Apply rule 3
Feedback loop

G4+(G5/
R(s) + G1 + G2G3 G3) C(s)

- -

H1

H2

1/22/2024
Example 6 cont….
Apply rule 1
Blocks in series

G4+(G5/
R(s) + G1 G2G3 G3) C(s)
1 G2G3H1
-

H2

1/22/2024
Example 6 cont….

R(s) + G2G3 G5 C(s)

(G1)( )(G 4  )
1G2G3H1 G3
-

H2

1/22/2024
Example 6 cont….

G2G3 G5
 (G1)( )(G 4  )
1 G2G3H1 G3

G2G3 G4G3G5
 (G1)( )( )
1G2G3H1 G3

G1G2(G 4 G 3  G 5)

1  G2G3H1
1/22/2024
Example 6 cont….

Apply rule 3 Feedback loop

R(s) + G1G2(G 4 G 3  G 5) C(s)

-
1  G2G3H1

H2

1/22/2024
Example 6 cont….

C(s)
R(s) G1G2(G 4 G 3  G 5)
1  G2G3H1  G1G2H 2(G 3G 4  G 5)

1/22/2024
Example 6 cont….

C(S) G1G2(G 4 G 3  G 5)

R(S) 1  G2G3H1  G1G2H 2(G 3G 4  G 5)

1/22/2024
Example 7

Apply rule 8 Shift take off point after block G4

H2

-
R(s) + G1 + G2 + G3 G4

- - C(s)

H3

H1

1/22/2024
Example 7 cont….
Apply rule 1 Blocks in series

H2 1/G4

-
R(s) + G1 + G2 + G3 G4

- - C(s)

H3

H1

1/22/2024
Example 7 cont….

Apply rule 3 Feedback loop

H2/
G4

-
R(s) + G1 + G2 + G3G4

- - C(s)

H3

H1

1/22/2024
Example 7 cont….

Apply rule 1 Blocks in series

H2/
G4

-
R(s) + G1 + G2 G3G4
1  G3G4H 3
- C(s)

H1

1/22/2024
Example 7 cont….

Apply rule 3 Feedback loop

H2/
G4

R(s) + -
G1 + G2G3G4
1 G3G4H 3
- C(s)

H1

1/22/2024
Example 7 cont….

Apply rule 1 Blocks in series

R(s) + G2G3G4 C(s)

G1
1  G3G4H 3  G2G3H 2
-

H1

1/22/2024
Example 7 cont….

Apply rule 3 Feedback loop

R(s) + G1G2G3G4 C(s)

1  G3G4H 3  G2G3H 2
-

H1

1/22/2024
Example 7 cont….

R(s) G1G2G3G4 C(s)

1  G3G4H 3  G2G3H 2  G1G2G3G4H1

1/22/2024
Example 7 cont….

C(S) G1G2G3G4

R(S) 1  G3G4H 3  G2G3H 2  G1G2G3G4H1

1/22/2024
Example 8
Simplify, by splitting 3rd summing point as given in Note 1
G3

3
1 2 +
R(s) + + G1 G2 + G4 C(s)

- - -

H2 H1

1/22/2024
Example 8 cont….
Apply Rule 3 Elimination of Feedback loop
G3

+ +
R(s) + + G1 G2 + G4 C(s)

- - -

H2 H1

1/22/2024
Example 8 cont….
Apply Rule 8 Shift take off point after block
G3

+
R(s) + + G1 G2 + G4 C(s)
1  G4H1
- -

H2

1/22/2024
Example 8 cont….
Apply Rule 1
Blocks in series
G3/
G2

+
R(s) + + G1 G2 + G4 C(s)
1  G4H1
- -

H2

1/22/2024
Example 8 cont….
Now which rule we have to use?
G3/
G2

+
R(s) + + G1G2 + G4 C(s)
1  G4H1
- -

H2

1/22/2024
Example 8 cont….
Apply Rule 2
Blocks in parallel
G3/
G2

+
R(s) + + G1G2 1 + G4 C(s)
1  G4H1
- -

H2

1/22/2024
Example 8 cont….
Apply Rule 1 Blocks in series

R(s) + + G1G2 G3
1
G4 C(s)
G2 1  G4H1
- -

H2

1/22/2024
Example 8 cont….

Apply Rule 3 Elimination of Feedback Loop

R(s) + + G1G2
(G 3  G 2)G4 C(s)
G 2(1  G4H1)
- -

H2

1/22/2024
Example 8 cont….
Apply Rule 1 Blocks in series

R(s) + G1G2 (G 3  G 2)G4 C(s)

1  G1G2H 2 G 2(1  G4H1)
-

1/22/2024
Example 8 cont….
Apply Rule 3 Elimination of Feedback loop

R(s) + G1G4(G 3  G 2) C(s)

(1 G1G 2 H 2)(1  G4H1)
-

1/22/2024
Example 8 cont….

R(s) G1G4(G 3 G2) C(s)

1 G4H1G1G2H2G1G2G4H1H2G1G4(G2G3)

1/22/2024
Example 8 cont….

C(s) G1G4(G3 G2)


R(s) 1 G4H1 G1G2H2  G1G2G4H1H2 G1G4(G2 G3)

1/22/2024
Example 9
Apply rule 2 Blocks in Parallel

G4

+
R(s) + G1 + G2 + G3 C(s)

- + - -

G5 H1
H2

H3

1/22/2024
Example 9 cont….
Apply rule 3 Elimination of Feedback Loop

R(s) + G1+G4+ + G2 + G3
G5

- - - C(s)

H1
H2

H3

1/22/2024
Example 9 cont….
Apply rule 1 Blocks in Series

R(s) + G1+G4+G5 G2 G3 C(s)

1 G2H1 1G3H2
-

H3

1/22/2024
Example 9 cont….

Apply rule 3 Elimination of Feedback loop

R(s) +
G 2 G 3 ( G 1  G 4  G 5) C(s)

(1  G2H1)(1  G 3 H 2)
-

H3

1/22/2024
Example 9 cont….

R(s) G2G3(G1 G4  G5) C(s)

1 G2H1 G3H2  G2G3H1H2  G2G3H3(G1 G4  G5)

1/22/2024
Example 9 cont….

C(s) G2G3(G1 G4  G5)


R(s) 1 G2H1 G3H2  G2G3H1H2  G2G3H3(G1 G4  G5)

1/22/2024
Example 10
Apply rule 2 Blocks in Parallel

R(s) G1 + G2 G3 +
-
- - C(s)

+
H1 H3

+
1/22/2024
Example 10 cont….
Apply rule 3 Elimination of Feedback Loop

R(s) G1 + G2 1+G3
-
- C(s)

+
H1 H3

1/22/2024
Example 10 cont….
Apply rule 8 Shift take off point after block

R(s) G1 + G2 1+G3
- 1 G2
- C(s)

+
H1 H3

1/22/2024
Example 10 cont….
Apply rule 1 Blocks in series

R(s) G1 + G2 1+G3
- 1 G2
- C(s)

1
1  G3

+
H1 H3

1/22/2024
Example 10 cont….
Apply rule 2 Blocks in Parallel

R(s) G1 + G2(1 G 3)
- 1  G2
- C(s)

1
1  G3
+
H1 H3

1/22/2024
Example 10 cont….
Apply rule 1 Blocks in Series

R(s) G1 + G2(1 G 3)
- 1  G2
- C(s)

H1 1
H2
1  G3

1/22/2024
Example 10 cont….
Apply rule 3 Elimination of Feedback loop

R(s) G1 + G2(1 G 3)
- 1  G2
- C(s)

H1(H 2  H 2 G 3  1)
1  G3

1/22/2024
Example 10 cont….

Apply rule 1 Blocks in series

R(s) G1
G2(1  G 3)
1  G2  G2H1(1  H 2  H 2 G 3)
C(s)

1/22/2024
Example 10 cont….

R(s) C(s)
G1G2(1  G 3)
1  G2  G2H1(1  H 2  H 2 G 3)

1/22/2024
Example 10 cont….

C(s) G1G2(1  G 3)

R(s) 1  G2  G2H1(1  H 2  H 2 G 3)

1/22/2024
References

 Control System Engineering

- J. J. Nagrath, M. Gopal

 Feedback Control System

- R. A. Barapate
 Modern Control
Engineering

- K. Ogata
6/30/2016 1/22/2024
Amit Nevase 200
Online Tutorials

 http://www.electrical4u.com
/control-engineering-
historical-review-and-types-
of-control-engineering/

 http://www.academia.edu/6
729369/EC2255-
_Control_System_Notes_solv
ed_problems_
6/30/2016 1/22/2024
Amit Nevase 201