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Department of Electronics and Communication

ATME College of Engineering, Mysuru

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Control Systems
(18EC43)

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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 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 control system.
Control systems find numerous and widespread applications from everyday to extraordinary in
science, industry, and home. Here are a few examples:

(a) Home heating and air-conditioning systems controlled by a thermostat

(b) The cruise (speed) control of an automobile
(c) Manual control
(i) Opening or closing of a window for regulating air temperature or air quality
(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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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 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
actuating signals to the system and the Output signals or controlled variables etc.The control system
will control the outputs in accordance with the input signals. The relation between these components
is shown in the block diagram.

Input Signals Output Signals

Control System

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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Fig.1.3 .General block diagram of an automatic control system.

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.
(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.

Input Output
Process

.
Fig.1.4. Open loop control system
Examples of the open loop control systems are washing machines, light switches, gas ovens, burglar
alarm system etc.The 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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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.

Fig.1.5.Closed Loop Control system

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.
Examples for closed loop systems are air conditioners, refrigerators, automatic rice cookers,
automatic ticketing machines, etc. For example An air conditioner, uses a thermostat to detect the
temperature and 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 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 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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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.

Distinguish between Open loop and closed loop control systems

Open Loop System Closed Loop System

1. An open loop system has the ability to 1. A closed loop system has got the ability
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.
2. It is easier to build. 2. It is difficult to build.
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.
5. Feedback is absent 5. Feedback is present
Example : Example:
(i) Traffic control system (i) Pressure control system
(ii) Control of furnace for coal (ii) Speed control system
heating (iii) Temperature control system
(iii) An Electric washing machine

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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.
(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
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 system, on the other hand, simply implies that the signals are un-modulated, but they are
still ac signals 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 figure. Typical components of a dc control system are potentiometers, dc amplifiers,
dc motors, dc tachometers, and so on.

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 of the 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 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 processors or microcontrollers are made use of such systems and are analyzed by
the Z- transform theory.

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 and space industries. There are also many household and industrial application examples of
the control 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 room.In 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 processing.This operation will come
under closed loop control system. The simple block diagram of air conditioner system is shown
below.

Feed back Control System

The feedback control system is represented by the following block diagram .In the diagram feedback
signal is denoted by B(S) and the output is C(S).The input function is denoted by R(S).

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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