CSE302: Automatic Control

Control Systems - Introduction

Asst.Prof.Dr.Ing. Mohammed Nour A. Ahmed
mnahmed@eng.zu.edu.eg

A control system is a system, which provides the desired response by controlling the output. The
following figure shows the simple block diagram of a control system.

Figure 1: Block Diagram

Here, the control system is represented by a single block. Since, the output is controlled by
varying input, the control system got this name. We will vary this input with some mechanism. In
the next section on open loop and closed loop control systems, we will study in detail about the
blocks inside the control system and how to vary this input in order to get the desired response.
Examples minus; Traffic lights control system, washing machine
Traffic lights control system is an example of control system. Here, a sequence of input signal
is applied to this control system and the output is one of the three lights that will be on for some
duration of time. During this time, the other two lights will be off. Based on the traffic study at
a particular junction, the on and off times of the lights can be determined. Accordingly, the input
signal controls the output. So, the traffic lights control system operates on time basis.

1. Classification of Control Systems

Based on some parameters, we can classify the control systems into the following ways.

1.1. Continuous time and Discrete-time Control Systems

• Control Systems can be classified as continuous time control systems and discrete time control
systems based on the type of the signal used.

• In continuous time control systems, all the signals are continuous in time. But, in discrete
time control systems, there exists one or more discrete time signals.
CSE302: Automatic Control Control Systems - Introduction

1.2. SISO and MIMO Control Systems

• Control Systems can be classified as SISO control systems and MIMO control systems based
on the number of inputs and outputs present.

• SISO (Single Input and Single Output) control systems have one input and one output.
Whereas, MIMO (Multiple Inputs and Multiple Outputs) control systems have more than
one input and more than one output.

1.3. Open Loop and Closed Loop Control Systems

Control Systems can be classified as open loop control systems and closed loop control systems
based on the feedback path.
In open loop control systems, output is not fed-back to the input. So, the control action is
independent of the desired output.
The following figure shows the block diagram of the open loop control system.

Figure 2: Open Loop

Here, an input is applied to a controller and it produces an actuating signal or controlling signal.
This signal is given as an input to a plant or process which is to be controlled. So, the plant produces
an output, which is controlled. The traffic lights control system which we discussed earlier is an
example of an open loop control system.
In closed loop control systems, output is fed back to the input. So, the control action is
dependent on the desired output.
The following figure shows the block diagram of negative feedback closed loop control system.

Figure 3: Closed Loop

The error detector produces an error signal, which is the difference between the input and the
feedback signal. This feedback signal is obtained from the block (feedback elements) by considering
the output of the overall system as an input to this block. Instead of the direct input, the error
signal is applied as an input to a controller.

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CSE302: Automatic Control Control Systems - Introduction

Table 1: Open and closed loop control system comparison

Open Loop Control Systems Closed Loop Control Systems
Control action is independent of the desired Control action is dependent of the desired
output. output.
Feedback path is not present. Feedback path is present.
These are also called as non-feedback con- These are also called as feedback control
trol systems. systems.
Easy to design. Difficult to design.
These are economical. These are costlier.
Inaccurate. Accurate.

So, the controller produces an actuating signal which controls the plant. In this combination,
the output of the control system is adjusted automatically till we get the desired response. Hence,
the closed loop control systems are also called the automatic control systems. Traffic lights control
system having sensor at the input is an example of a closed loop control system.
The differences between the open loop and the closed loop control systems are mentioned in the
following table.

Part I.
Control Systems - Feedback
If either the output or some part of the output is returned to the input side and utilized as part
of the system input, then it is known as feedback. Feedback plays an important role in order to
improve the performance of the control systems. In this chapter, let us discuss the types of feedback
amp; effects of feedback.

2. Types of Feedback
There are two types of feedback minus;
• Positive feedback
• Negative feedback

2.1. Positive Feedback

The positive feedback adds the reference input, R(s) and feedback output. The following figure
shows the block diagram of positive feedback control system.
The concept of transfer function will be discussed in later chapters. For the time being, consider
G
the transfer function of positive feedback control system is, T = 1−GH (Equation 1)
Where,
• T is the transfer function or overall gain of positive feedback control system.
• G is the open loop gain, which is function of frequency.
• H is the gain of feedback path, which is function of frequency.

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CSE302: Automatic Control Control Systems - Introduction

Figure 4: Positive Feedback

2.2. Negative Feedback

Negative feedback reduces the error between the reference input, R(s) and system output. The
following figure shows the block diagram of the negative feedback control system.

Figure 5: Negative Feedback

G
Transfer function of negative feedback control system is, T = 1+GH
(Equation 2)
Where,
• T is the transfer function or overall gain of negative feedback control system.
• G is the open loop gain, which is function of frequency.
• H is the gain of feedback path, which is function of frequency.
The derivation of the above transfer function is present in later chapters.

3. Effects of Feedback
Let us now understand the effects of feedback.

3.1. Effect of Feedback on Overall Gain

• From Equation 2, we can say that the overall gain of negative feedback closed loop control
system is the ratio of ’G’ and (1+GH). So, the overall gain may increase or decrease depending
on the value of (1+GH).

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CSE302: Automatic Control Control Systems - Introduction

• If the value of (1+GH) is less than 1, then the overall gain increases. In this case, ’GH’ value
is negative because the gain of the feedback path is negative.

• If the value of (1+GH) is greater than 1, then the overall gain decreases. In this case, ’GH’
value is positive because the gain of the feedback path is positive.

In general, ’G’ and ’H’ are functions of frequency. So, the feedback will increase the overall gain
of the system in one frequency range and decrease in the other frequency range.

3.2. Effect of Feedback on Sensitivity

Sensitivity of the overall gain of negative feedback closed loop control system (T) to the variation
∂T
in open loop gain (G) is defined as SGT = ∂G T
= PP ercentage
ercentage change in T
change in G
(Equation 3)
G
Where, part;T is the incremental change in T due to incremental change in G.
∂T G
We can rewrite Equation 3 as SGT = ∂G T
(Equation 4)
Do partial differentiation with respect to G on both sides of Equation 2. ¡p style=”padding-left:15
From Equation 2, you will get G T
= 1 + GH (Equation 6)
Substitute Equation 5 and Equation 6 in Equation 4.
1 1
SGT = 2
(1 + GH) =
(1 + GH) 1 + GH
So, we got the sensitivity of the overall gain of closed loop control system as the reciprocal of
(1+GH). So, Sensitivity may increase or decrease depending on the value of (1+GH).

• If the value of (1+GH) is less than 1, then sensitivity increases. In this case, ’GH’ value is
negative because the gain of feedback path is negative.

• If the value of (1+GH) is greater than 1, then sensitivity decreases. In this case, ’GH’ value
is positive because the gain of feedback path is positive.

In general, ’G’ and ’H’ are functions of frequency. So, feedback will increase the sensitivity of
the system gain in one frequency range and decrease in the other frequency range. Therefore, we
have to choose the values of ’GH’ in such a way that the system is insensitive or less sensitive to
parameter variations.

3.3. Effect of Feedback on Stability

• A system is said to be stable, if its output is under control. Otherwise, it is said to be unstable.

• In Equation 2, if the denominator value is zero (i.e., GH = -1), then the output of the control
system will be infinite. So, the control system becomes unstable.

Therefore, we have to properly choose the feedback in order to make the control system stable.

3.4. Effect of Feedback on Noise

To know the effect of feedback on noise, let us compare the transfer function relations with and
without feedback due to noise signal alone.
Consider an open loop control system with noise signal as shown below.
C(s)
The open loop transfer function due to noise signal alone is N (s)
= Gb (Equation 7)
It is obtained by making the other input R(s) equal to zero.

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CSE302: Automatic Control Control Systems - Introduction

Figure 6: Noise Signal

Figure 7: Closed Loop Noise Signal

Consider a closed loop control system with noise signal as shown below.
C(s)
The closed loop transfer function due to noise signal alone is N (s)
= 1+GGabGb H (Equation 8)
It is obtained by making the other input R(s) equal to zero.
Compare Equation 7 and Equation 8,
In the closed loop control system, the gain due to noise signal is decreased by a factor of (1 +
Ga Gb H) provided that the term (1 + Ga Gb H) is greater than one.

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