Lecture-1
Introduction to Control System
Prof. Kuldeep Sahay
Electrical Engineering Department
Institute of Engineering & Technology, Lucknow
Introduction
• System:- Coordinated unit of various
components which act together to perform
specific job. Examples of systems
• Transport Systems
• Solar Systems
• Telephone Systems
• Weapons Systems
• Ecological Systems
• Space Systems; Etc
Type of System
Physical
System
System
Non-Physical
System
Type of System
Physical
System
Electrical Mechanical Chemical
ETC.
System System System
Type of System
Non-Physical
System
Institutional Economical
ETC.
System System
Control System
• Control System:-It is a combination of various
subsystems which control(change) a set of
quantities called controlled variables in
accordance with set of quantities called
reference or input variables .
• Process:-The device, plant, or system under
control. The input and output relationship
represents the cause-and-effect relationship of
the process.
Type of control System
Control System
Multi
Single Variable Variable
Single Input Single Single input Multi
Output Output
Multi input Single
Output
Multi input Multi
Output
Specific Job in Control System
Control of the
position of shaft
Control of the
speed of rotor
Control System
Control of the
position of radar
ETC.
Steps in Control System
Control
System
Modeling Analysis Design
Modeling Approaches
Modeling
Conventional Modern
Approach Approach
Differential
State Variable
Equation Theory
Transfer Function ETC.
Analysis Approaches
Analysis
Conventional Modern
Approach Approach
State
Time domain
Variable
Frequency
ETC.
Domain
Design Approaches
Design
Conventional Modern
Approach Approach
Bode Plot Pole Placement
Optimal
Root Locus
Control Theory
Nicholas Chart
General Application of Control System
• In our homes, cars, industries, scientific labs,
and in hospitals, etc.
• Principles of control have an impact on diverse
fields as engineering, aeronautics, economics,
biology and medicine
• Wide applicability of control has many
advantages
Industrial Chemical
Process Flight Control
Automotive Process Robotics
Systems
Control Control
Specific Application of Control System
Basic Components of Control Systems
Plant
Controlled
Variable
Expected Value
Controller
Actuator
Sensor
Disturbance
Basic Components of Control Systems
• Plant:- a physical object to be controlled such as
a mechanical device, a heating furnace, a
chemical reactor or a spacecraft, a car, a missile.
• Controlled variable:- the variable controlled by a
automatic control system , considering as a
system output
• Expected value :- the desired value of controlled
variable based on requirement, often it is used
as the reference input
Basic Components of Control Systems
• Controller:-an unit that can compute the required
control signal.
• Actuator:- a mechanical device that takes energy,
usually created by air, electricity, or liquid, and
converts that into some kind of motion.
• Sensor:- a device that measures a physical quantity
and converts it into a signal which can be read by an
observer or converts it into a signal which can be
read by an observer or by an instrument.
Basic Components of Control Systems
• Disturbance:- The unexpected factors
disturbing the normal functional relationship
between the controlling and controlled
parameter variations.
Block Diagram & Transfer Function
• Block diagram:- Every element of a control
system receives input signals from other
elements and provide output signals.
System(May Consists of Number
Input of Elements)
Output
Block Diagram & Transfer Function
• Closed loop system
Controlled
r e u Variable
c
Controller Actuator Plant
+ _
Expected Error
Value
Sensor
Block diagram of Closed Loop System
Block Diagram & Transfer Function
• Transfer function:- is a mathematical
representation, in terms of spatial or temporal
frequency, of the relation between the input
and output of a linear time invariant system.
Input System Output
Block Diagram of System
Open-loop Control Systems
• Open-loop Control Systems:- those systems in
which the output has no effect on the control
action.
Control
Signal
Controller Plant
Input Output
Block Diagram of Open loop System
Open-loop Control Systems
• The output is neither measured nor feedback
for comparison with the input.
• For each reference input, there corresponds a
fixed operating conditions; the accuracy of the
system depends on calibration.
• In the presence of disturbances, an open-loop
system will not perform the desired task.
Open-loop Control Systems
• Features of Open Loop System
• Simple construction and ease of maintenance
• Less expensive than a closed-loop system
• No stability problem
• Recalibration is necessary from time to time
• Sensitive to disturbances, so less accurate
Open-loop Control Systems
• When should we apply open-loop control?
• The relationship between the input and output is
exactly known.
• There are neither internal nor external
disturbances.
• Measuring the output precisely is very hard or
economically infeasible.
• Examples:-Washing machine, Ceiling Fan,
Speed control of Motors.
Open-loop Control Systems
• Examples of open-loop control systems
• Ceiling Fan
• Speed control of Motors.
• Automatic washing machine.
• Electric bulb.
• Electric hand drier.
• Time based Bread toaster.
• Volume of the audio system.
• Water faucet.
• TV remote control.
• Clothes drier.
Closed-loop Control Systems
• Closed-loop control systems are often referred
to as feedback control systems.
• In the feedback system (i) Comparison of the
actual output with the reference value; (ii)
system is designed to perform based on the
error.
• Feedback is extremely powerful.
• Feedback is a foremost design point in the
control system (used to reduce system error).
Closed-loop Control Systems
• Examples of Closed-loop control systems
• Automatic Electric Iron
• Servo Voltage
• Water Level Controller
• Air Conditioner
• In motor speed regulator using tachometer and/or
current
Closed-loop Control Systems
Advantages Drawbacks
• reduce disturbance effects • cause instability if not used
• make system insensitive to properly
variations • couple noise from sensors
• stabilize an unstable system into the dynamics of a
• create well-defined system
relationship between • increase the overall
output and reference complexity of a system
Open-loop Control vs. Closed-loop Control
Open-loop control Closed-loop control
• Simple structure, low cost • Ability to correct error
• Easy to regulate • High accuracy and
• Low accuracy and resistance resistance of disturbance
to disturbance • Complex structure, high
cost
• Selecting parameter is
critical (may cause stability
problem)
Classification of control systems
Classification
According According Accordin Accordin
Accordin
to to system g to g to
g to
reference characteri Signal paramete
structure input stics Form rs
Classification of Control Systems
1. According to structure
Open loop Closed Loop Composite
system System System
Classification of Control Systems
2. According to reference input
Constant- Servo/Trac Programm
Value Input king Input ing Input
Classification of Control Systems
1. The reference input is a constant
value ;controller works to keep the
2.According to output around the constant value,
e.g., constant temperature or level
reference input or pressure control.
2. The reference input may be
unknown or varying ;controller
tracks the varying reference, e.g.,
Consta automatic navigation, satellite-
Servo/ Progra
nt- tracking antennas.
Trackin mming
Value 3. The input changes according to a
g Input Input
Input program; controller works
according to predefined
command, e.g., numerical control
machine.
Classification of Control Systems
1. Superposition principle
3. According to applies; Described by
system linear differential
characteristics equation.
f(x1)= y1 f(x2)= y2
f(x1+x2)=f(x1)+f(x2)=y1+y2
Linear Non-linear 2. Described by nonlinear
Control Control differential equation
System System
Classification of Control Systems
• All the signals are
4. According to functions of continuous
time variable t .
Signal Form • Signals are in the form
of either a pulse train or
a digital code, e.g.,
Continuo Discrete
digital control system .
us control Control
system System
Classification of Control Systems
1. The parameters of a
5. According control system are
stationary with respect to
to parameters time
2. System contain elements
that vary with time e.g.
Time- Time- Guided-missile control
invarian varying system, time varying
t System System mass results in time-
varying parameters of the
control system
Basic Requirements for Control Systems
• Stability: refer to the ability of a system to
recover equilibrium.
• Quickness: refer to the duration of transient
process before the control system to reach its
equilibrium
• Accuracy: refer to the size of steady-state
error when the transient process ends
(Steady-state error=desired output – actual output)
Historical Development of Automatic control
• First automatic control system, the fly ball
governor to control the speed of steam
engines ,was invented by James Watt in 1770.
• After hundred years later Maxwell analyzed
the dynamics of fly ball governor.
• Importance of positioning heavy masses like
ships and guns quickly & precisely was
realized during World War-I
Historical Development of Automatic control
• In early 1920,Monorsky performed classic work
on automatic steering of ships and positioning
of guns on the shipboards.
• First general theory of servomechanism by
Hazen in 1934.
• 1940 –mathematical & analytical methods were
developed and practiced and control
engineering was established as an engineering
discipline in its own right.
Historical Development of Automatic control
• During WORLD WAR-II, it become necessary
to design and construct automatic airplane
pilots, gun positioning systems , radar tracking
system and other military equipments based
on feedback control system.
• 1955 tremendous growth.
• Moreover in 1940 frequency response
methods i.e. Bode Diagram.
Historical Development of Automatic control
• End of the 1940s to early 1950s ,Root locus
method due to Evans was fully developed.
• Since Late 1950’s the emphasis shifted from the
design of one of many systems to design of one
optimal system in some meaningful sense.
• Since about 1960’s due to digital computers
time domain analysis of complex systems leads
to development of Modern control theory; using
state variables.
Historical Development of Automatic control
• From years 1960 to 1980,optimal control of
both deterministic and stochastic systems as
well as adaptive and learning control complex
system were fully investigated.
• From 1980 to present developments to
modern control theory centered around
robust control , H∞ and associated topics.
Thanks to All
