CONTROL SYSTEM

GROUP 6:ROLL NO :51 - 58

CONTROL SYSTEMS:
 System:
 Definition 1: A system is an arrangement, set, or
collection of things connected or related in such a
manner as to form an entirety or whole.
 Definition 2: A system is an arrangement of
physical components connected or related in such
a manner as to form and/or act as an entire unit.
CONTROL SYSTEM
 The word control is usually taken to mean
regulate, direct, or command. Combining the
above definitions, we have
 Definition: A control system is an arrangement of
physical components connected or related in such
a manner as to command, direct, or regulate itself
or another system.
The basic ingredients of control system can be
described by:

 Objectives of control or input.

 Control-system component.
 Results or outputs.

The objective of the control system is to control

the outputs in some prescribed manner by the
inputs through the elements of the control
system.
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Examples of Control System
Application
1. Steering control of automobile:

 Controlled variables: direction of the front wheel

(y), output of the system.
 Controlling variables: direction of the steering
wheel (u), input of the system, actuating signal.
 Control system: steering mechanism and the
dynamics of the entire vehicle.

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Examples of Control System
Application
2. Speed control of automobile:

 Controlled variables: vehicle speed (y)

 Controlling variables: pressure exerted on the
accelerator
 Control system: engine of the vehicle

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Open-Loop Control Systems
(Nonfeedback Systems)

 These systems don’t contain feedback of the

output (non feedback system), that is; the
output quantity has no effect upon the input
quantity.

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 They are economical, simple, but usually
inaccurate.

 Controller might be as simple as an amplifier,

mechanical linkages or in the sophisticated cases
as a computer or microprocessor.

 This system is calibrated

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Example of Open-Loop Control Systems
Electric washing machine:

 The amount of machine wash time is entirely

determined by the judgment and estimation of
the human operators.

 A true (sophisticated) automatic electric washing

machine should have the means of checking the
cleanliness of the clothes being washed
continuously and turn itself off when the desired
degree of cleanliness is reached.
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Closed-Loop Control Systems
(feedback Systems)

A output

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Example of closed-Loop Control Systems
Electric washing machine:

 The amount of machine wash time is entirely

determined by the judgment and estimation of
the human operators.

 A true (sophisticated) automatic electric washing

machine should have the means of checking the
cleanliness of the clothes being washed
continuously and turn itself off when the desired
degree of cleanliness is reached.
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 In feedback systems, the controlled signal (y)
is feedback and compared with the reference
input (r), and an actuating signal (u)
proportional to the difference of the input
and the output (r – y) is sent to the system to
correct this error

 These systems consist of the same parts of the

open loop systems with the exception that a
feed back from the output is compared with
the reference input.
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 Advantages of closed loop system
 More accuracy of the system is obtained
(reduction of system error).
 Affect the gain of the system (increase/decrease).
 Improve stability of the system when applied
properly.
 Reduce the effects of noise or external
disturbances.
 Feedback might be unity or non-unity feedback
 Feedback might be positive or negative feedback.

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Control Systems are Often More
Complex Than Single Loops

• One forward path

• Four transfer functions in the forward path G1, G2, G3, G4.
• Three Feedback Loops.
• Three Summing Junctions 15
Block Diagram = Flow Graph
Besides Block diagrams, control systems are
often represented using Flow Graphs

Block Diagram

Flow Graph
H3

1 G1 G2 1 G3 G4 1 C(s)
R(s)

-H2
-H1

Note that two of the H transfer functions in the Flow Graph have negative
signs. This is necessary since the summing nodes do not have any signs
associated with them as in the block diagram.

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Overall Transfer Function
Mason’s Gain Rule
The overall Transfer function can be obtained from the formula:
T (s) 
M k k
(1)


• Mk is the transmittance of each forward path between a source and a sink node
•   1   L1   L2   L3   (2)

• ∑L1 is the sum of the transmittances of each closed path.

• ∑L2 is the sum of the product of the transmittances of all possible
combinations of two non-touching loops.
• ∑L3 is the sum of the product of the transmittances of all possible
combinations of three non-touching loops.
• ∆k is the cofactor of Mk. It is the determinant of the remaining sub-graph
when the forward path which produces Mk is removed. Thus it does not
include any loops which touch the forward path in question. It is equal to
unity when the forward path touches all the loops in the graph of when the
graph contains no loops.

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More on the Characteristic Equation

F(s) 1 Y(s) F(s) 1/ M Y(s)

Block Diagram
Ms 2  bs  K s2  b s  K
M M

s 2  2 n s   n 2  0
Characteristic Equation (C.E.)
General Quadratic Form
F(s)
A 2
n
Y(s)
Roots of the C.E. are: s , s   n  
1 2 n   1   n  j n
2
1  2
s2  2 s   2
 1 Roots = s1 , s2   n
n n
If Are the same
If  1 Roots are real but different
If  1 Roots are complex conjugates

Also many text books refer to   1   2

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Characteristic Equation
 The denominator polynomial of the transfer function when set equal to zero is
called the characteristic equation C.E..
s 2  4s  8  ( s  2  j 2)( s  2  j 2)  0
 The roots of the C.E. are the poles of the system.
 The roots of the transfer function’s numerator are the zeros of the system.
 Poles and zeros are critical frequencies
 At the poles, the transfer function becomes infinite
 At the zeros the transfer function becomes zero.
 The complex frequency s-plane plot of the poles and zeros graphically
portrays the character of the natural transient response of the system.
jω
4( s  5)
T (s) 
x 4
4
( s  3  j 4)( s  3  j 4)
-6 -5 -4 -3 -2 -1

x -4
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Deriving a Transfer Function for a Control System Component
Consider a DC Torque Motor

Ra La J, b
ea
Ia em
ө, ω

J = Motor Inertia, could also include load inertia

b = Friction
Ra = Motor winding resistance
Torque Developed : T ( s )  K I ( s )
m T a (1)
L = Motor inductance
a emf : e  K ; Assusme   constant then e  K  or E ( s )  K s ( s ) (2)
Back m B m m m m
em = Back emf
KT = Motor Torque Sensitivity – A motor parameter
Km = Relates back emf to shaft speed, em = Kmω

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Deriving a Transfer Function for a DC Torque Motor
Continued

Ra La J, b
ea em
Ia
ө, ω
KVL around loop:
E ( s )  Em ( s ) (3)
ea  I a R a  LI a  e m or Ea ( s )  I a ( s )[ Ra  Ls ] Em ( s ) Solving for I a ( s )  a
Ra  Ls
Motor and Load Inertia
Tm ( s )
Tm  J  b or Js 2 ( s )  Tm ( s )  bs ( s ) solving for  ( s )  (4)
Js 2  bs

Equations (1), (2), (3), and (4) are called Equilibrium Equations

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Identify the organ-system components, and the input and output,
and describe the operation of the biological control system
consisting of a human being reaching for an object.

The basic components of this intentionally

oversimplified control system description are the
brain, arm and hand, and eyes.
Effects of feedback on control
systems
 Let us consider that we have a feed forward
transfer function (G) and a feedback transfer
function (H), then if we consider.

 Open-loop case:
Y(s) = R(s)
Y (s )G(s)
R (s )
G(s) =  input-output relationship

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THANK YOU