A

Course on
Control System Engineering
Course Instructor:
Binod Kumar Padhi
Asst. Professor
ECE Department
C.U.T.M. Paralakhemundi
 Contents
MODULE-1
(Chapter 1: Introduction to Control System)
Basic Definitions of Control system
What is control system
Classifications Control System
Open loop System & Closed loop System
Real time applications of open loop and closed loop systems.
Feedback and Feed forward system
Real time Applications of Feedback and Feed forward system

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 Basic Definitions:
System:-An arrangement or combination of different physical
components that are connected or related together to form an entire
unit to achieve a certain objective is called a system.
Every Physical object is actually a system.
Example-1: A classroom is a good example of physical system. A
room along with the combination of benches, blackboard, fans,
lighting arrangement etc. can be called a classroom which acts as
an elementary system.
Example-2: Lamp: A lamp made up of glass, filament is a physical
system.
Example-3: A kite made up of paper and sticks is an example of
physical system.
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 Definitions:
Control: The meaning of control is to regulate, direct or command a
system so that a desired objective is obtained.
Plant: It is defined as the portion of a system which is to be
controlled or regulated.
It is also called as process.
Input: The applied signal or excitation signal that is applied to a
control system to get a specified output is called input.
Output: The actual response that is obtained from a control system
due to application of the input is termed as output.

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 Definitions:
Disturbances: Disturbances is a signal which tends to adversely
affect the value of the output of a system.
Internal Disturbance: If disturbance is generated within the system
itself is called Internal disturbance.
External Disturbance: The disturbance generated outside the system
acting as an extra input to the system in addition to normal input,
affecting the output adversely is called External disturbance.

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 Definitions:
Control System: A control system is an arrangement of different
physical elements connected in such a manner so as to regulate,
direct or command itself or some other system to obtain a certain
objective.
A control system must have:
Input
Output
Ways to achieve input and output objectives
Control action
Example: If in a classroom, professor delivering his lecture, the
combination becomes a control system as he tries to regulate,
direct or command the students in order to achieve the objective
which is to impart good knowledge to the students.

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Example: If lamp is switched ON or OFF using a switch, the entire
system can be called a control system.

Example: When a child plays with the kite, he tries to control it with
the help of string and entire system can be considered as a control
system.

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 Classifications of Control System
Broadly control system can be classified as :
1. Natural Control System
2. Manmade Control System
3. Combinational Control System
4. Time varying and Time-Invariant System
5. Linear and Nonlinear System
6. Continuous time and Discrete time system
7. Deterministic and Stochastic Control System
8. Lumped parameter and distributed parameter Control System.
9. SISO and MIMO system.
10. Open loop system and Closed loop system.

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1. Natural Control System: The biological systems, systems inside human
being are of natural type.
Example: The respiration system inside the human being is a good
example of natural control system. This system activates the secretion
glands, secreting sweat and regulates the temperature of human body.
2. Manmade Control System: The various systems we are using in our day
to day life are designed and manufactured by human beings like vehicles,
switches, various controllers etc. are called Manmade Control System.
Example: An automatic system with gears, accelerators, braking system
is a good example of manmade control system.
3. Combinational Control System: It is the combination of natural and
manmade control system.
Example: Driving a vehicle: In such system for successful operation of
the system, it is necessary that natural systems of driver along with
systems in vehicles which are manmade must be active.
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 4. Time varying and Time-Invariant System
Time-Variant System:
Time varying control systems are those in which parameters of the system are
varying with time.
It is dependent on whether input or output are functions of time or not.
Example: Space vehicle whose mass decreases with time, as it leaves earth.
The mass is a parameter of space vehicle system.
Example: In rocket aerodynamic damping can change with time as the air
density changes with the altitude.
Time-Invariant System:
The system is said to be time-invariant system, if the inputs and outputs are
functions of time but the parameters of the system are independent of time
which are not varying with time and are constants.
Example: Electrical networks consisting of the elements as resistances,
Inductances and capacitances are time-invariant systems as the values of the
elements of such systems are constant and not the functions of time.

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 5. Linear and Nonlinear System
Linear System:
A control system is said to be linear if it satisfies the following properties:
The principle of superposition
Mathematically principle of superposition is expressed by:
Additive Property: f ( x y) f ( x) f ( y )
Homogenous property: f ( x) f ( x)
The differential equation describing the system is linear having its coefficients
are constants.
Example: A resistive network

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 Linear and Nonlinear System
Non-Linear System:
A control system is said to be non-linear if
It does not satisfy the principle of superposition.
The equations describing the system are nonlinear in nature.
Example: The function f ( x) x 2 is nonlinear because

f ( x1 x2 ) f(x1 )+f(x 2 )
( x1 x2 ) 2 x12 x2 2

and f ( x) f ( x)
( x) 2 x 2
Where is constant.
The equation of non-linear system involves non-linear functions.
The output does not vary linearly for non linear system.
Example: The various non-linearity are saturation, dead zone, exponential or
square law.
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 Example: The various non-linearity are saturation, dead
zone, exponential or square law.

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 The voltage current equation of a diode is exponential and nonlinear
thus diode circuit is an example of nonlinear system.

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 6. Continuous Time & Discrete Time Control
System
In continuous time control system all system variables are the
functions of a continuous time variable t.
Example: The speed control of a d.c. motor using a tacho
generator feedback.
In discrete time systems one or more system variables are known
only at certain discrete intervals of time.
Example: Microprocessor or computer based systems use discrete
signals only.

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 6. Continuous Time & Discrete Time Control
System
The reasons for using discrete time signals are:
Such signals are less sensitive to noise.
Time sharing of one equipment with other channels is
possible.
Advantageous from one point of view of size, speed, memory,
flexibility etc.

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 7. Deterministic and stochastic Control System
A control is said to be deterministic, when its
response to input as well as behavior to external
disturbances is predictable and repeatable.
If such response is unpredictable, system is said to be
stochastic system.

8. SISO and MIMO system

A system having only one input and one output is called SISO
system.
Example: A position control system
A system having multi input and multi output called MIMO
system.

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 9. Lumped parameter and distributed parameter
Control System
Control system that can be described by ordinary differential equations is called
lumped parameter control system.
Example: Electrical networks with different parameters as resistance,
inductance etc.
Control systems that can be described by partial differential equations are
called distributed parameter control system.
Example: Transmission line having its parameters resistance and inductance
totally distributed along it. Hence description of transmission line
characteristics is always by use of partial differential equations.

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 10. Open loop system
A system in which output is dependent on input but controlling action or input
is totally independent of output or changes in output of the system, is called
open loop system.
Also known as control system without feedback or non feedback control
system.
control action is independent of the desired output.
In this system output is not compared with the reference output.
The component of the open loop systems are controllers and controlled process.
The controller may be amplifier; filter etc. depends upon the system.

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 Examples of Open Loop System
An electric switch.
A washing machine.
Immersion Rod
A field control of D.C motor.
Traffic light controller
A room heater, fan regulator, automatic coffee server, electric lift,
theater lamp dimmer, automatic dryer are examples of open loop
control system.
Thus we can say that the control system which operates on the
time basis is open loop system.

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 Advantages of Open Loop System
Simple construction.
Ease of maintenance.
Less expensive than a corresponding closed loop system i.e.
economical.
Convenient when output is difficult to measure or measuring
output is precisely is economically not feasible.
Proper calibration is not a problem.
There is no stability problem.

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 Disadvantages of Open Loop System
Open loop systems are inaccurate.
These are not reliable.
These are slow.
Optimization is not feasible.
Disturbance and changes in calibration cause errors and the
output may be different from what is desired.
To maintain the required quality in the output, recalibration is
necessary from time to time.

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 10. Closed Loop System
A system in which the controlling action or input is somehow dependent on the
output or changes in output is called closed loop system
It can also be defined as the control system in which the output has an effect
upon the input quantity in such a manner as to maintain the desired output
value are called closed loop system.
Also called as automatic control system.

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 Advantages of Closed Loop System
Accuracy of closed loop system is always very high
because controller modifies and manipulates the actuating
signal such that error in the system will be zero.
These system senses environmental changes as well as
internal disturbances and accordingly modifies the error.
In these systems there is reduced effect of non-linearities
and distortions.
These systems have high bandwidth i.e. high operating
frequency zone.
There are facilities of automation in these systems.

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 Disadvantages of Closed Loop System
These systems are complicated in design and hence
costlier.
These systems may be unstable.
The feedback reduces the overall gain of the system.
The feedback in closed loop system may lead to
oscillatory response.

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Comparison of Open Loop System and Closed Loop
System
Open Loop System
1. Any change in output has no effect
on the input i.e. feedback does not
exists.
2. Output measurement is not required
for operation of system.
3. Feedback element is absent.
4. Error detector is absent.
5. It is inaccurate and unreliable.
6. Highly sensitive to the disturbance.
7. Highly sensitive to the
environmental changes.
8. Bandwidth is small.
9. Simple to construct and cheap.
10. Generally are stable in nature.
11. Highly affected by non-linearities.
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Closed Loop System
1. Changes in output, affects the input
which is possibly by use of
feedback.
2. Output measurement is necessary.
3. Feedback element is present.
4. Error detector is necessary.
5. Highly accurate and reliable.
6. Less sensitive to the disturbance.
7. Less sensitive to environmental
changes.
8. Bandwidth is large.
9. Complicated to design and hence
costly.
10. Stability is the major consideration
while designing.
11. Reduced effect of non-linearities.
27
 Real Time Applications of Closed Loop System
Human Being: The best example is Human being. If a person
wants to reach for a book on the table, closed loop system can be
represented as in fig.

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 Real Time Applications of Closed Loop System
Home Heating System: In this system, the heating system is
operated by a valve. The actual temperature is sensed by a thermal
sensor and compared with the desired temperature. The difference
between the two actuates the valve mechanism to change the
temperature as per the requirement.

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 Real Time Applications of Closed Loop System
Temperature Control System: The aim is to maintain the constant temperature
of hot water. Water is coming with constant flow rate. Steam is coming from a
valve. Pressure thermometer p is used as a feedback element which sends a
signal for comparison with the set point. This error actuates the valve which
controls the rate of flow of steam, eventually controlling the temperature of the
water.

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 Real Time Applications of Closed Loop System

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 Feedback and Feed Forward System
Thus the system in which corrective action takes place before the
disturbances affect the output are called feed forward system.
A block diagram with feed forward concept is shown in the fig.

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 Feedback and Feed Forward System
The difficulties associated with feed forward system
are:
In some system, the disturbance may not be measurable.
The feed forward compensation in an open loop technique
and if actuator transfer function is not known accurately,
then such compensation cannot be achieved.

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 Real Time Application of Feed Forward
System

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 Real Time Application of Feed Forward
System

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 Real Time Application of Feed Forward
System

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