Introduction to control Systems

What is a control system?

Control theories commonly used today are classical control
theory (also called conventional control theory), modern
control theory.
Control means to regulate, to direct or to command.
A control system is an interconnection of components
forming a system configuration that will provide a desired
system response.
Automatic control is an important and integral part of
space-vehicle systems, robotic systems, modern
manufacturing systems, and any industrial operations
involving control of temperature, pressure, humidity, flow,
etc.
Figure shows a control system in its simplest form, where
the input represents a desired output.
 History of control system
Year Work
1769 James Watts centrifugal governor for the speed control of a steam engine in
the eighteenth century.
1868 J. C. Maxwell formulates a mathematical model for a governor control of a
steam engine.
1922 Minorsky worked on automatic controllers for steering ships.
1927 H. S. Black conceives of the negative feedback amplifier and H. W. Bode
analyzes feedback amplifiers.
1932 H. Nyquist develops a method for analyzing the stability of systems
1940s Frequency-response methods
1950s PID controllers to control pressure, temperature.
1970 State variables method and optimal control developments.
1994 Feedback control system widely used in automobile.

1995 The GPS was operational providing positioning and navigation.

 Basic examples of Control system
Professor Delivering a lecture
On/Off system by using a switch
Temperature control in a furnace.
Elevator position control.
Antenna positioning system.
Robotic manipulator control.
Control of IC engine.
 Classification of Control Systems
Natural Control system
Manmade control system
Linear & Nonlinear system
Time varying & time invariant system
Continuous time and discrete time control system
Lumped & distributed parameter C.S
SISO & MIMO
Open loop & closed Loop systems
Engineering Organizational System.
 Open loop control system
Open loop system
An open-loop control system utilizes an actuating device to control the process
directly without using feedback.
Those systems in which the output has no effect on the control action

Advantages:
1. Simple construction and ease of maintenance.
2. Less expensive than a corresponding closed-loop system.
3. There is no stability problem.
4. Convenient when output is hard to measure or measuring the output precisely is
economically not feasible.
Disadvantages:
1. Disturbances and changes in calibration cause errors, and the output may be
different from what is desired.
2. To maintain the required quality in the output, recalibration is necessary from
time to time.
 Real time application of open loop
Sprinkler used to water a lawn
Automatic toaster system

Traffic light controller

The room heater, fan regulator, automatic coffee server, electric lift, theatre lamp
dimmer, automatic dryer are examples of open loop system.
 Closed loop control system
A closed-loop control system uses a measurement of the output and feedback of
this signal to compare it with the desired output (reference or command).

Thu various signals are,

r(t) = Reference input c(t) = Controlled output m(t) = Manipulated signal
e(t) = Error signal b(t) = Feedback signal

When feedback sign is positive, systems are called positive feedback systems and if it
is negative systems are called negative feedback systems.
 Multivariable control system

The introduction of feedback enables us to control a desired output and can improve
accuracy, but it requires attention to the issue of stability of response.

Multivariable
Autopilot system
 Some Basic Terminologies: Definition
Plant : The portion of a system which is to be controlled or regulated is called the plant
or the Process

Controller : The element of the system itself or external to the system which controls
the plant or the process is called controller

The controlled variable is the quantity or condition that is measured and controlled.

The control signal or manipulated variable is the quantity or condition that is varied by
the controller so as to affect the value of the controlled variable.

Disturbances. A disturbance is a signal that tends to adversely affect the value of the
output of a system. If a disturbance is generated within the system, it is called internal,
while an external disturbance is generated outside the system and is an input.

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
does so on the basis of this difference.
 Real time application C.L. System
Home heating system

Manual speed control system

TURNTABLE SPEED CONTROL
Comparison Open vs. closed Loop
Open loop Closed loop

Any change in output has no effect on Changes in output, affects the input
the input i e. feedback does not exists which is possible by use of feedback
Error detector is absent Error detector is necessary.

it is inaccurate and unreliable. Highly accurate and reliable

Highly sensitive to the disturbances Less sensitive to the disturbances,

Simple to construct and cheap Complicated to design and hence costly

Generally are stable in nature Stability is the major consideration while

designing
Highly affected by nonlinearities, Reduced effect of nonlinearities.
 Feedback and feed-forward system
Such systems in which corrective action is taken before disturbances affect
the output are called feed forward system.

Feedback system

Feed-forward system Practical example feed-forward system

Control system Design