Control System

EE 602
References:
1. Automatic Control systems by S. Hasan Saeed
2. Modern Control Engineering by Katsuhiko Ogata
3. Automatic Control Systems by Benjamin C. Kuo
4. Provided Lecture Notes
5. Suggested videos
Chapter. 1 Control System Background
What control system actually means??

Control system is that means by which any quantity of interest in a process/machine/ mechanism/ equipment etc. can be maintained
or altered in accordance with desired manner. For example; Temperature control system (Air conditioner; AC), traffic light controller,
washing machine, heating iron rod or immersion rod, etc.

Control system is any collection of components forming a system configuration that have cause and effect relationship among the
system variable. It can also be defined as an interconnection of components that will provide a desired system response.

Input Output
(desired response) Control System (Actual response)
Why control system so important?

Practically every aspect of our day-to-day activities is affected by some type of

control system. Control systems are found in abundance in all sectors of industry,
such as
• Quality control of manufactured products
• Machine-tool control
• Space technology and weapon system
• Computer control
• Transportation systems
• Power system
• Robotics
• Micro-Electro-Mechanical Systems
• Nanotechnology, and many others.
History of control system and its importance
• 1767
The first significant control device was James Watt’s fly ball governor. This was invented to keep the speed of engine constant by
regulating the supply of the steam engine.

• 1922
Minorsky developed automatic controller for ship steering. He also developed that behavior of any control system can be
described with the help of set of differential equations and so as its stability.

• 1932
Nyquist confirmed that stability of closed loop control system (CLCL) can be defined in easy way by observing response of open
loop system with steady state sinusoidal inputs.

• 1934
Servomechanism control system
• 1940
Frequency response technique using Bode diagram. Here, we design a linear closed loop control system with
related to specific performance.

• 1950
Root locus method for design and stability. Frequency response technique and root locus technique for SISO
(Single Input Single Output).

• 1960
State variable technique for MIMO (Multiple Input Multiple Output) was developed.

• 1960, to present
Complex Automatic control system

In Automatic control system, the existing values of a quantity or condition are measured and compare it with the
desired value and the difference of these two values is used to initiate the action for reducing the difference.
There are many advantages of automatic control system…
• Cost of energy or power reduces
• Cost of processing materials in industries reduces
• Quality of products improve
• Productivity increases and so on..
Control System : Characteristics and Basic Features

Fig: Components (block diagram) of a control system

• Command Input
It is externally generated signal which generate reference input and independent of feedback path

• Reference Input
It is desired parameter of control system to which our system is to be designed i.e., desired value (or output) for the
controlled variable.

• Input Transducer
Input transducer converts non-electrical signal into electrical signal.

• Error Detector
The error detector gives out error signal. The error signal is defined as difference of desired output and actual output.
The error should be as minimum as possible.

• Controller or Control Element

It regulates the error signal from error detector.
• Noise and Disturbance Signal
Unwanted signal such as: noise in amplifier, wind signal in RADAR etc. It affects the output of the system.

• Controlled System/ Plant/ Process

It is the part of the system which does control

• Controlled Variable
The quantity which is measured and controlled. The actual output of system.

• Manipulated Variable
It is that quantity which is varied by the controller so as to affect the value of controlled variable.

• Feedback
The output transducer (or output sensor) sense the actual output of the system and passes it to the error detector in a
regulated format. The feedback may be either positive or negative.
Types of Control system and Their Comparison
1. Open loop Control System (OLCS)

• Non feedback control system.

• Control action is independent of the desired output.
• Output is not compared with the reference input.
• The system can’t work according to the actual output. In fact, it works according to reference signal.
• Open loop can be used in practice only if the relationship between the input and output is known and if there
is no external or internal disturbance.
• Examples: Traffic light controller, washing machine, immersion rod, etc.
Advantages of OLCS
• Simple
• Economical
• Less maintenance is required
• Proper calibration is not a problem

Disadvantages of OLCS
• Open loop systems are less accurate
• These are not reliable
• These are slow
• Optimization is not possible

Note: Time basis system are OLCS

2. Closed Loop Control System (CLCS)

• Also known as feedback control systems.

• Control action is dependent on the desired output.
• One or more feedback path.
• In this system the output is compared with the reference input and error signal is produced. The error is fed to the
controller to reduce the error and desired output is obtained.
• Unwanted signal are highly reduced through feedback path and the system is fast.
• CLCS are “parameter basis” control system, other than time.
• As it is continuously maintaining the actual output at desired output, such systems are more reliable.
• Examples: Air conditioner (AC), refrigerator, governor action in hydropower, etc.

Advantages of CLCS
• These systems are more reliable.
• Closed loop system is faster.
• A number of variable can be handled simultaneously.
• Optimization is possible.

Disadvantages of CLCS
• Expensive.
• Maintenance difficult.
• Complex design.
• Complicated installation.
Comparison between OLCS and CLCS
S.N Open loop control system Closed loop control system
1. OLCS are simple and economical CLCS are complex and expensive

2. Less maintenance is required and easy for More maintenance is required and difficult for
maintenance maintenance
3. These are not reliable. These are reliable

4. If calibration is good, they perform accurately. They are accurate because of feedback.

5. Slower Faster

6. Optimization is not possible Optimization is possible

7. No feedback With feedback

Some open loop systems that we see in everyday life are;
1. Traffic Light Controller
For automatic control of traffic, the lamps of three different colors (red, green and yellow) are used. The time for
each lamp is fixed. The operation of each lamp doesn’t depend upon the density of the traffic but depends upon
fixed time. Thus, we can say that the control system which operates on the time basis is open loop system.

2. Immersion Rod
Immersion rod is another example of open loop control system. The rod heats the water but how much heating is
required is not sense by the rod because of no feedback to the rod.

3. Washing Machine
Automatic washing machine is the example of the open loop control systems in the machine, the operating time is
set manually. After the completion of set time; the machine will stops, with the result we may or may not get the
desired (output) amount of cleanliness of washed clothes because there is no feedback provided to the machine for
desired output.
Some closed loop control systems that we see in everyday life are discuss here;
1. Automatic Temperature Control System [ Air Conditioner : AC]

• In a room we need to regulate the temperature and humidity for comfortable living. Air-conditioners are provided with
thermostat. By measuring the actual room temperature and compared it with desired temperature, an error signal is
produced, the thermostat turns ON the compressor or OFF the compressor.
2. Governor action in hydropower

• The governor receive the frequency signal from the output of generator and it is compared with standard frequency
signal. From these results, governor output signal is coming out to control the value of water at the entrance to the
turbine.
• To maintain the generator at a constant 50 Hz frequency, it is necessary to maintain the generator shaft at a constant
rotational speed.
Some Past Questions:
1. Draw the close loop control system configurations showing major components. Discuss the advantage and
disadvantages of closed loop systems.
2. What is open loop and closed loop control system? Draw the block diagram of closed loop control system and
explain the role of each block.
3. Starting with an example of a system that you see in everyone life, explain what do you understand by closed
loop system and importance of feedback in it?
4. What is control system? Draw the block diagram of a closed loop control system and briefly explain the function
of each block. Mention also advantages of closed loop system over open loop system.
5. Construct a general block diagram of a control system showing the different blocks, variables and hence briefly
point out their meanings.
6. What kind of control system is governor system in hydropower station? Illustrate with necessary blocks and
variables.
7. Define linear time invariant system. Justify the statement “Modern complex systems are more pronounced with
closed loop control system”.