Introduction to Feedback &

Control Systems
POCHOLO JAMES M. LORESCO,PECE

Control System Definition

A Control System consist of subsystem
and processes (or plants) assembled for
the purpose of controlling the output of the
processes.
An arrangement of physical components
that is connected or related in such
manner to command, correct or regulate
itself or another system

Input; stimulus
Desired response

Control System

Output; response
Actual Response

We build control systems for four

primary reasons
1)
2)
3)
4)

Power Amplification
Remote Control
Convenience of input form
Compensation for disturbance.

A radar Antenna positioned by the lower power rotation

of a knob at the input, requires a large amount of power
for its output rotation.
A control system can produce the needed power
amplification or Power Gain

Robots designed by control system principles can

compensate for human disabilities.
Control systems are also useful in remote or dangerous
locations.

Rover was built to work in contaminated areas at Three

Mile Island in Middleton, PA, where a nuclear accident
occurred in 1979. The remote controlled robots long arm
can be seen at the front of the vehicle.

History of Control Systems

Feedback control systems are older than
humanity. Numerous biological control
systems were built into the earliest
inhabitants of our planet

History Of Control Systems

DATE

CONTROL SYSTEM

APPLICATION

FOUNDER

300 B.C.

LIQUID-LEVEL CONTROL

WATER CLOCK

KTESIBIOS

OIL LAMP

PHILON

1681

STEAM PRESSURE

SAFETY VALVE

Denis Papin

17th century

Temperature
Control system

Egg hatching device

Cornelis Drebbel

1745

Speed control

windmill

Edmund Lee

1809

Movable louvers

William Cubitt

18th century

Fly ball Speed Governor

James Watt

Stability Criterion for 3rd order

system

James Clerk Maxwell

Stability Criterion for 5TH

order system

WILLIAM KINGDON
CLIFFORD

1868
1874

STABILITY

History Of Control Systems

DATE

CONTROL SYSTEM

APPLICATION

FOUNDER

STABILITY

STABILITY

ROUTH-HURWITZ
CRITERION FOR STABILITY

ROUTH

Stability of nonlinear systems

Lyapunov

1892
1922

Compensation & adaptive

control

Automatic steering

Sperry gyroscope

Early 1920 &

early 1930

Analysis of feedback
amplifiers

Bell telephone laboratories

H.W. Bode & H. Nyquist

1948

Feedback system

GRAPHICAL TECHNIQUE

Walter r. Evans

Control System Used In Manufacturing

Haptic Interaction

Robot-aided Surgery

Human Augmentation

Basic Components Of Control

Systems
SET
POINT

ERROR

Compensating
Network/
controller

CONTROL
ACTION

Transducer
FEEDBACK

Plant

OUTPUT

Open loop System without feedback

Input Is the stimulus or command applied

to a control system
Output The actual response obtained
from a control system

Closed loop feedback control system (with feedback)

Block diagrams of control systems:

a. open-loop system;
b. closed-loop system

Definitions
Plant (or process, or control system) g2 the system controlled by the
feedback control system.
Controlled output c the output variable of the plant, under the control
of the feedback control system
Forward Path is the transmission path from the summing point to the
controlled output c
Feed forward (control) elements g1 Typically includes controllers,
compensators, amplifiers.
Control Signal is the output signal of the feed forward elements g1
applies as input to plant g2

Feedback path is the transmission path from the controlled output c

back to the summing point
Feedback elements h establish the functional elements between the
controlled output c and the primary signal b
Reference input r an external signal applied to the feedback of the
control system usually at the first summing point.
Primary feedback signal b - is the function of the controlled output c,
algebraically summed with the reference input r

Actuating (or error) signal reference input signal r plus or minus the
primary signal b

Open-loop control system A control

system in which the control action is
independent of the output

Closed-loop control system Is one in

which the control action is somehow
dependent on the output

Feedback
Feedback is a characteristic of closed loop
control systems which distinguish them
from open loop system

It is the property of a closed loop system

which permits the output to be compared
into the input of the system so that the
appropriate control may be formed as
some function of the output and input.

Two outstanding features of open

loop systems
1) Their ability to perform accurately is
determined by their calibration problems
of instability
2) They are not usually troubled by
problems of instability

Calibrate to establish or reestablish the

input-output relation to obtain the desired
system accuracy.

Advantages Of Open-loop Systems

It is easy to design
It is cheaper.

Disadvantages Of Open-loop
Systems
It has no disturbance compensation.

Advantages Of Closed-loop Systems

It compensates for disturbances by measuring the output response,
feeding the measurement back through a feedback path, and
comparing the response to the input.
It has greater accuracy.
It is less sensitive to noise, disturbances and changes to the
environment.

Disadvantages Of Closed-loop Systems

It is more complex.
It is more expensive.

Examples
1) Most automatic toasters are open loop
systems because they are controlled by
a timer.
2) An autopilot mechanism of an airplane is
a closed-loop (feedback) control system

Advantages of Control Systems

With control systems we can move large
equipment with precision that would
otherwise be impossible

Early Elevators ere

controlled by hand ropes or
an elevator operator.
There are safety breaks at
that time an innovation in
early elevators

Elevator input and output

Design Of Control Systems

OBJECTIVES IN DESIGNING CONTROL
SYSTEMS
PERFORMANCE
QUALITY

ACCURACY

Criteria In Designing Control Systems

TRANSIENT RESPONSE
PHYSICAL ENTITIES CHANGE THEIR STATE ( e.g. POSITION OR
VELOCITY) TO A PATH THAT IS RELATED TO THE PHYSICAL DEVICE AND
THE WAY IT ACQUIRES AND DISSIPATES ENERGY.
STEADY-STATE RESPONSE
THE APPROXIMATION
RESPONSE.

TO

THE

COMMANDED

OR

DESIRED

STABILITY
THIS COULD BE ATTAINED TOHAVE THE SYSTEM CONTROLLABLE.
FOR A CONTROL SYSTEM TO BE USEFUL, THE NATURAL RESPONSE MUST
EVENTUALLY PPROACH ZERO, THUS LEAVING ONLY THE FORCED
RESPONSE.

Design Analysis
Total Response = Natural Response + Forced Response
Output
Response

Must approach zero

depending on the
system

Dependent on the
input

Total Response = FREE Response + Forced Response

= Transient Response + Steady-State Response
Free Response a solution to DE where input is 0
Forced Response initial value is zero

References
Nise, Norman(2011 ). Control System
Engineering 6th Edition. Wesley & SonsEdition
Distefano et.al(2014)Schaums Outline of
Feedback and Control Systems, 2nd Edition
Dorf, Richard C. & Bishop Robert H. (2010)
Modern Control Systems 12th Edition