Course Code: EAC1005

Fundamentals of Cybernetics

Module 1

Basics of Cybernetics
Prof. Om Prakash Pahari
SEEE, VIT Bhopal
[Link]@[Link]
 What is Control System?
⮚ 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.

Input System Output

⮚ Control:- It means to regulate, direct or command a system so

that the desired objective is attained.

⮚ 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.
Control
Input Output
System
 Why Control System

⮚ Control System is everywhere:- Power plants, robotics, socio-

economics, home heating system, automatic washing machine,
air conditioner etc.

⮚ Historically, control system application started with process

industry (1900-1940 era).

⮚ During world war-II:- Automatic airplane pilots, gun position

system, radar antenna control systems, and like, led to more
scientific approaches in the control engineering.
Difference between System & Control System

Proper Output Desired

Input Input
System Control Output
System
May or may not be
desired
Difference between System & Control System

An example : Fan

230V/50Hz Air Flow

Inpu Fan Outpu
(System) t
t AC Supply

5
 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 Outpu
t

230V/ Airflo
50Hz w
AC (Proper
Supply Output)

6
 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

Inpu Control Outpu

t t
Elemen
t Controlled
230V/
50Hz Airflow
AC (Desired
Supply Output)

7
Basic Terminology of Control System
Manipulated Variable
Input
or Output
Plant/
Set point Controller Or
or Process
Controlled Variable
reference

⮚ Input: It is the signal or excitation supplied to a control system.

⮚ Output: It is the actual response obtained from the control
system.
⮚ Controller: The part or component of a system that controls the
plant.
⮚ Plant or Process: The part or component of a system that is
required to be controlled.
 Cont…….

⚫Controlled Variable– It is the quantity or condition that is

measured and Controlled. Normally controlled variable is
the output of the control system.
⚫Manipulated Variable– It is the quantity of the condition
that is varied by the controller so as to affect the value of
controlled variable.
⚫Disturbances– A disturbance is a signal that tends to
adversely affect the value of the system. It is an unwanted
input of the system.
• If a disturbance is generated within the system,
it is called internal disturbance. While an external
disturbance is generated outside the system.
 Classification of Control Systems
Based on some parameters, we can classify the control
systems into the following ways.
1. Natural and Man Made Control System
2. Manual and Automatic Control System
3. Linear and Non Linear Control System
4. Time Varying and Time Invariant Control System
5. Continuous time and Discrete time Control System
6. Deterministic and Stochastic Control System
7. SISO and MIMO Control Systems
8. Open Loop and Closed Loop Control Systems
9. Lumped and Distributed parameter Control System
 Classification of Control Systems

LTI
Control Systems

Co
ntr
lS o
yst
em
Natural Man-made

s(L
ine
ar
tim
Manual Automatic

ei
nv
ari
an
Open-loop Closed-loop

tc
on
tro
sysl
Non-linear linear

tem
Non-linear linear

s)
Time variant Time invariant
Time variant Time invariant
 Natural and Man Made Control
System
⮚ Natural Control System
⮚ Universe
⮚ Human Body

⮚ Manmade Control System

⮚ Aeroplanes
⮚ Chemical Process
 Manual and Automatic CS

⮚ Manual Control Systems

⮚ Room Temperature regulation Via Electric Fan
⮚ Water Level Control

⮚ Automatic Control System

⮚ Home Water Heating Systems (Geysers)
⮚ Room Temperature regulation Via A.C
⮚ Human Body Temperature Control
 Linear Vs Nonlinear CS
⮚Linear:- A Control System in which output varies linearly with
the input is called a linear control system.
⮚Non Linear:- When the input and output has nonlinear
relationship the system is said to be nonlinear.

Linear Non Linear

⮚Linear system follow the principle of superposition and

homogeneous property otherwise system is nonlinear
 Time Varying & Time Invariant CS

⮚ Time varying Control system:- Time varying Control system are

those whose parameters of the system dependent of time.
⮚ Ex:- Space vehicle whose mass decrease with time as its leaves earth,
the mass is a parameter of space vehicle system.

⮚ Time Invariant Control system:- Time Invariant Control system

are those whose parameters of the system independent of
time.
⮚ Ex:- Electrical network circuit (R,L,C are time invariant)

⮚ Note:- Time Varying system are complex to design

Continuous time & Discrete-time CS
⮚ In continuous time control systems, all the signals are
continuous in time.
x(t)

⮚ In discrete time control systems, there exists one or more

discrete time signals.

X[n]

n
 Deterministic & Stochastic CS
⮚A control System is deterministic if the response to input as
well as behaviors to external disturbance is predictable and
repeatable.
⮚If not, the control system is a stochastic control system

Lumped & Distributed parameter CS

⮚Dynamic systems with lumped parameters, such as the RLC
circuit, are typically represented by ordinary differential
equations .
⮚Dynamic systems with distributed parameter, such as the
transmission line are represented by partial differential
equations.
 SISO & MIMO Control Systems
⮚ SISO (Single Input and Single Output) control systems
have one input and one output.

Input Controller Process Output

⮚ MIMO (Multiple Inputs and Multiple Outputs) control

systems have more than one input and more than one
output. Outputs
Temp
Humidity Comparator Controller Process
Pressure

Measurements
 Open Loop and Closed Loop CS
⮚ In open loop control systems, output is not fed-back to the
input. So, the control action is independent of the desired
output. Examples:- Washing Machine, Toaster, Electric Fan, microwave
oven, etc.
Input Controller Process Output

⮚ In closed loop control systems, output is fed back to the input.

So, the control action is dependent on the desired output.
Examples:- Refrigerator, Electric Iron, Air conditioner

Input Controller Process Output

Comparator

Measurement
• 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 and that does so on
the basis of this difference.
Input Output
Comparator Controller Process

Feedback Measurement

DR. Ibrahim Al-Abbas 20

Difference Between OLCS & CLCS
Liquid-level system – Closed Loop Control
System

DR. Ibrahim Al-Abbas 24

 Manipulated Controlled variable
variable plant

Reference input

Feedback
Signal
Feedback
Element

DR. Ibrahim Al-Abbas 25

Mechanical System

DR. Ibrahim Al-Abbas 26

• The amount or 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.

DR. Ibrahim Al-Abbas 27

Temperature control system

DR. Ibrahim Al-Abbas 28

• The temperature in the electric furnace is measured by a
thermometer, which is an analog device.
• The analog temperature is converted to a digital temperature by an
A/D converter.
• The digital temperature is fed to a controller through an interface.
• This digital temperature is compared with the programmed input
temperature, and if there is any error, the controller sends out a signal
to
the heater

DR. Ibrahim Al-Abbas 29

Mathematical Modeling
of Systems
1. Transfer Function Model
2. State Space Model
 Transfer Function model
⮚ The transfer function provides a basis for determining
important system response characteristics without solving the
complete differential equation.

⮚ Where x is the input of the system and y is the output of the system.

⮚ As defined, the transfer function is a rational function in the

complex variable s = σ + jω, that is
 Definition of Transfer function
⮚ Transfer Function is the ratio of Laplace transform of the output to the Laplace
transform of the input with all initial conditions are zero.

X(S) G(S) Y(S)

 Key Point of Transfer Function

⮚ It is only applicable in LTI system

⮚ Transfer function of any system is unique
⮚ Stability of the system can be determined
⮚ It gives the information about the poles and zeros of the system.
⮚ It is used to study the transient and steady state behavior of the system.
⮚ Its value is dependent on the parameters of the system and independent of the
value of input.
⮚ Order and type of the system can be determined.
 Poles and Zeros
⮚ Poles:- It is defined as those complex or critical frequencies
which makes transfer function infinite. In pole zero graph it is
marked by Cross (×)
⮚ Zeros:- It is defined as those complex or critical frequencies
which makes transfer function zero . In pole zero graph it is
marked by Circle (O).
⮚ Pole Zero Plot of third order system
 Degree and order of a system

TRANSFER
FUNCTION
The highest power of equation in
denominator of given transfer function is ‘4’.

Hence the,
order of the system is “Fourth Order system” “Type
0”

To obtain highest power of denominator, Simplify denominator polynomial.

“Third Order system”

“Type 1”
Laplace transform of Electrical systems
 Example of Transfer Function model
⮚ Find the transfer function electrical network.

vi( t) i(t) C vo(t)

⮚ Apply KVL

⮚ Taking Laplace transform of both equations, considering initial

conditions to zero.
⮚ Re-arrange both equations as:

⮚ Substitute I(s) in equation on left

⮚ Transfer function
 state space model
The state space model of Linear Time-Invariant (LTI) system can be represented as,

The first and the second equations are known as state equation and output equation respectively. Where,
•X is the state vector and the differential state vector respectively.
•U and Y are input vector and output vector respectively.
•A is the system matrix.
•B and C are the input and the output matrices.
•D is the feed-forward matrix.

Basic Concepts of State Space Model

State
It is a group of variables, which summarizes the history of the system in order to predict the future values
(outputs).

State Variable
The number of the state variables required is equal to the number of the storage elements present in the
system.
Examples − current flowing through inductor, voltage across capacitor

State Vector
It is a vector, which contains the state variables as elements.
 Example of state space model
vi( t) i(t) C vo(t)

The state space variables of the circuit can be assumed as,

The following dynamics can be derived from the circuit as,

..….(1)

..….(2)
 Substituting eqn. 2, in eqn. 1

Or, we can write

 References
⮚ Introduction of Control system, Basic Terminology, Classification of Control
System (U.K Bhakshi & S.C Goyal “Feedback Control System” Technical
Publication, Pune )
⮚ Transfer Function & System with Dead Time (Norman S. Nise “Control System
Engineering” Wiley Eastern)
⮚ Potentiometers & LVDT
“[Link] 2/[Link] “
⮚ Synchors (U.K Bhakshi & S.C Goyal “Feedback Control System” Technical
Publication, Pune )
⮚ Servomotor (Norman S. Nise “Control System Engineering” Wiley Eastern)
⮚ [Link]
⮚ [Link]
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⮚ [Link]
control_systems_block_diagram_reduction.htm
⮚ [Link]
Thank You