Department of Electronics and Communication
ATME College of Engineering, Mysuru
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Controls Systems
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BEC403
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Studied smart, not hard — thanks to [Link]
Control Systems BEC403
MODULE -1
Introduction:
A control system is one which can control any quantity of interest in a machine, mechanism or
other equipment in order to achieve the desired performance or output.(or) A control system is an
interconnection of components connected or related in such a manner as to command, direct, or regulate
itself or another system. For example consider, the driving system of an automobile. Speed of the
automobile is a function of the position of its accelerator. The desired speed can be maintained (or a
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desired change in speed can be achieved) by controlling pressure on the accelerator pedal. This
automobile driving system (accelerator, carburetor and engine-vehicle) constitutes a controlsystem.
Control systems find numerous and widespread applications from everyday to extraordinary in science,
industry, and home. Here are a few examples: C
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(a) Home heating and air-conditioning systems controlled by a thermostat
(b) The cruise (speed) control of an automobile
(c) Manual control
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(i) Opening or closing of a window for regulating air temperature or air quality
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(ii) Activation of a light switch to regulate the illumination in a room
(iii) Human controlling the speed of an automobile by regulating the gas supply to the engine
(d) Automatic traffic control (signal) system at roadway intersections
(e) Control system which automatically turns on a room lamp at night, and turns it off in Day light
The general block diagram of a control system is shown below..
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Control Systems BEC403
Fig.1.1. Block diagram of a control system.
The above method of representation of a control system is known as block diagram representation where
in each block represents an element, a plant, mechanism, device etc., whose inner details are not
indicated. Each block has an input and output signal which are linked by a relationship characterizing
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the block. It may be noted that the signal flow through the block is unidirectional.
Basic Control System components : The basic control system components are objectives i.e inputs or
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actuating signals to the system and the Output signals or controlled variables [Link] control system
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will control the outputs in accordance with the input signals. The relation between these components is
shown in the block diagram.
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Input Signals Output Signals
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Control System
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Fig.1.2 Block control system Components
The components of the control system changes as we move from open loop control system to closed
loop control systems. In a closed loop control system, the feedback control network play an important
role in getting the correct output.
The general block diagram of a control system with feedback is shown below. The error detector
compares a signal obtained through feedback elements, which is a function of the output response, with
the reference input. Any difference between these two signals gives an error or actuating signal, which
actuates the control elements. The control elements in turn alter the conditions in the plant in such a
manner as to reduce the original error.
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Control Systems BEC403`
Types of control systems:
There are basically two types of control systems (i) the open loop system and the (ii) closed loop System.
They can both be represented by block diagrams. A block diagram uses blocks to represent
processes, while arrows are used to connect different input, process and output parts.
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(a) Open loop Control System : A system which do not possess any feedback network, and
contains only the input and output relationship is known as a open loop control system.
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Examples of the open loop control systems are washing machines, light switches, gas ovens, burglar
alarm system [Link] drawback of an open loop control system is that it is incapable of making
automatic adjustments. Even when the magnitude of the output is too big or too small, the system can’t
make the necessary adjustments. For this reason, an open loop control system is not suitable for use as
a complex control system.
(b) Closed loop control system: A closed loop system is one which uses a feed back control between
input and output. A closed loop control system compares the output with the expected
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Control systems BEC403
result or command status, and then it takes appropriate control actions to adjust the input signal.
Therefore, a closed loop system is always equipped with a sensor, which is used to monitor the
output and compare it with the expected result.
[Link] Loop Control system
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The output signal is fed back to the input to produce a new output. A well-designed feedback system
can often increase the accuracy of the output.
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Examples for closed loop systems are air conditioners, refrigerators, automatic rice cookers, automatic
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ticketing machines, etc. For example An air conditioner, uses a thermostat to detect the temperature and
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control the operation of its electrical parts to keep the room temperature at a preset constant.
One advantage of using the closed loop control system is that it is able to adjust its output automatically
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by feeding the output signal back to the input. When the load changes, the error signals generated by
the system will adjust the output suitably. The limitation of a closed loop control systems is they are
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generally more complicated and thus also more expensive to design.
(c) Linear versus Nonlinear Control Systems : Linear feedback control systems are idealized models
fabricated by the analyst purely for the simplicity of analysis and design
When the magnitudes of signals in a control system are limited to ranges in which system components
exhibit linear characteristics (i.e., the principle of superposition applies), the system is essentially linear.
But when the magnitudes of signals are extended beyond the range of the linear operation, depending
on the severity of the nonlinearity, the system should no longer be considered linear. For instance,
amplifiers used in control systems often exhibit a saturation effect when their input signals become
large; the magnetic field of a motor usually has saturation properties. Other common nonlinear effects
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Control Sytems BEC403
found in control systems are the backlash or dead play between coupled gear members, nonlinear spring
characteristics, nonlinear friction force or torque between moving members, and so on. Quite often,
nonlinear characteristics are intentionally introduced in a control system to improve its performance or
provide more effective control.
Also the analysis of linear systems is easy and lot of mathematical solutions is available for their
simplification.
Nonlinear systems, on the other hand, are usually difficult to treat mathematically, and there are no
general methods available for solving a wide class of nonlinear systems. In practice , first a linear-
system is modeled by neglecting the nonlinearities of the system and the designed controller is then
applied to the nonlinear system model for evaluation or redesign by computer simulation.
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Distinguish between Open loop and closed loop control systems
Open Loop System C
Closed Loop System
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1. An open loop system has the ability to 1. A closed loop system has got the ability
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perform accurately, if its calibration is to perform accurately because of the
good. If the calibration is not perfect its feedback.
performance will go down.
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2. It is easier to build. 2. It is difficult to build.
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3. In general it is more stable as the feed 3. Less stable Comparatively
back is absent .
4. If-non-linearity’s are present , the 4. Even under the presence of non-
system operation is not good. linearity’s the system operates better
than open loop system.
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d:Time-Invariant control Systems
When the parameters of a control system do not change with respect to time during the operation of the
system, the system is called a time-invariant system. In practice, most physical systems contain elements
that drift or vary with time. For example, the winding resistance of an electric motor will vary when the
motor is first being excited and its temperature is rising. Another example of a time- varying system is
a guided-missile control system in which the mass of the missile decreases as the fuel on board is being
consumed during flight. Although a time-varying system without nonlinearity is still a linear system,
the analysis and design of this class of systems are usually much more complex than that of the linear
time-invariant systems.
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(d) Continuous and Discrete Data Control Systems: A continuous-data system is one in which the
signals at various parts of the system are all functions of the continuous time variable t. The signals in
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continuous-data systems may be further classified as ac or dc. In control systems the ac control system,
means that the signals in the system are modulated by some form of modulation scheme. A dc control
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system, on the other hand, simply implies that the signals are un-modulated, but they are still ac signals
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according to the conventional definition. The schematic diagram of a closed loop dc control system is
shown below. Typical waveforms of the signals in response to a step-function input are shown in the
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figure. Typical components of a dc control system are potentiometers, dc amplifiers, dc motors, dc
tachometers, and so on.
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Fig 1.6 Block diagram of Continuous and Discrete Data Control Systems
In ac control systems, the signals are modulated i.e the information is transmitted by an ac carrier
signal. Here the output controlled variable behaves similarly to that ofthe dc system. In this case, the
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modulated signals are demodulated by the low-pass characteristics of the ac motor. Ac control systems
are used extensively in aircraft and missile control systems in which noise and disturbance often create
problems. By using modulated ac control systems with carrier frequencies of 400 Hz or higher, the
system will be less susceptible to low-frequency noise. Typical components of an ac control system are
synchros, ac amplifiers, ac motors, gyroscopes, accelerometers etc.
(e) Discrete Data Control System
If the signal is not continuously varying with time but it is in the form of pulses then the control system
is called Discrete Data Control System. If the signal is in the form of pulse data, then the system is
called Sampled Data Control System. Here the information supplied intermittently at specific instants
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of time. This has the advantage of Time sharing system. On the other hand, if the signal is in the form
of digital code, the system is called Digital Coded System. Here use of Digital computers, micro
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processors or microcontrollers are made use of such systems and are analyzed by the Z- transform
theory.
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Applications of the control systems
There are various applications of control systems which include biological propulsion; locomotion;
robotics; material handling; biomedical, surgical, and endoscopic ; aeronautics; marine and the defense
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and space industries. There are also many household and industrial application examples of the control
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systems, such as washing machine, air conditioner, security alarm system and automatic ticket selling
machine, etc.
(i) Washing machine:
The most commonly used house hold application is the washing machine. It comes under automatic
control system ,where the machine automatically starts to pour water, add washing powder, spin and
wash clothes, discharge wastewater, etc. After the completion of all the procedures, the washing
machine will stop the operation.
However, this kind of machine only operates according to the preset time to complete the whole
washing process. It ignores the cleanness of the clothes and does not generate feedback. Therefore, this
kind of washing machine is of open loop control system.
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(ii). Air conditioner
The air conditioner is used to automatically control the temperature of the [Link] the air conditioner
the coolant circulated in the machine will absorb heat indoor, then it will be transported from the
vaporization device to cooling device. The hot air is then blown to outdoor by a fan. There is an
adjustable temperature device equipped in the air conditioner for the users to adjust the extent of
cooling. When the temperature of the cool air is lower than the preset one, the controller of the air
conditioner will stop the operation of the compressor to cease the circulation of the coolant. The
temperature sensor installed near the vaporization device will continuously measure the indoor
temperature, and send the results to the controller for further [Link] operation will come under
closed loop control system. The simple block diagram of air conditioner system is shown below.
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Feed back Control System
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The feedback control system is represented by the following block diagram .In the diagram feedback
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signal is denoted by B(S) and the output is C(S).The input function is denoted by R(S).
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Fig .1.7 Feed Back Control System
The open loop gain of the system is G(S) and the feedback loop gain H(S). Then the feedback signal
b(s) is given by
B(S) = H(S). C(S)
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