Contents

1 Introduction to Control Systems 3

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Terminologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
3 Examples of control systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.1 Furnace Temperature Control Systems . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.2 Room Temperature Control System . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.3 Temperature Control of Passenger Compartment Car . . . . . . . . . . . . . . . . 5
4 Classification of Control Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

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M. Marzougui Automatic Control Systems Lecture Notes

Chapter
Introduction to Control Systems
1

1 Introduction
A control system is a dynamic system which as time evolves behaves in a certain prescribed way, generally
without human interference. Control theory deals with the analysis and synthesis of control systems.
The essential components of a control system are:

the plant, which is the system to be controlled;

one or more sensors, which give information about the plant and

the controller, the heart of the control system, which compares the measured values to their
desired values and adjusts the input variables to the plant.

The general bloc diagram of a control system is as follows:

Desired Controller
value S
+ Actuator Process or Plant

sensor

2 Terminologies
Before we can discuss control systems, some basic terminologies must be defined.

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

Manipulated Variable: The manipulated variable is the quantity or condition that is varied by
the controller so as to affect the value of the controlled variable. Normally, the controlled variable
is the output of the system.

Controller: Controller means measuring the value of the controlled variable of the system &
applying the manipulated variable to the system to correct or to limit the deviation of the measured
value to the desired value.

Actuator: Device that can influence the process and change the process output

Plant or Process: A plant is a piece of equipment, which is a set of machine parts functioning
together. The purpose of which is to perform a particular operation. Example: Furnace, Space
craft etc.,

System A system is a combination of components that works together and performs certain ob-
jective.

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Disturbance: A disturbance is a signal that tends to affect the value of the output of a system.
If a disturbance is created inside the system, it is called internal. While an external disturbance is
generated outside the system.

Feedback Control: 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. Here only unpredictable disturbances are so specified, since
predictable or known disturbances can always be compensated for within the system.

Open loop System: Those systems in which the output has no effect on the control action are
called open-loop control systems. In other words, in an open loop control system the output is
neither measured nor fed back for comparison with the input. One practical example is a washing
machine. The machine does not measure the output signal, that is, the cleanliness of the clothes.

Closed loop System: Feedback control systems are often referred to as closed-loop control sys-
tems. In a closed loop control system the actuating error signal, which is the difference between
the input signal and the feedback signal (which may be the output signal itself or a function of the
output signal and its derivatives and/or integrals), is fed to the controller so as to reduce the error
and bring the output of the system to a desired value.The term closed loop control always implies
the use of feedback control action in order to reduce system error.

3 Examples of control systems

3.1 Furnace Temperature Control Systems

Consider the schematic diagram of the temperature control of an electric furnace.

The temperature in the electric furnace is measured by a thermometer, which is an analog device.

The analog temperature is converted to a digital temperature by an A/D converter.

The digital temperature is fed to a controller through an interface.

This digital temperature is compared with the programmed input temperature, and if there is any
discrepancy (error), the controller sends out a signal to the heater, through an interface, amplifier,
and relay, to bring the furnace temperature to a desired value.
Microcontroller

Interface Amplifier Relay

Electric Furnace

A/D
Interface
converter

The controlled system is the electric furnace and the controlled variable is the temperature in the
furnace.

The temperature in the furnace is converted to electrical voltage via the thermometer and the A/D
converter.

The difference between the desired temperature (reference) and the actual temperature in the
furnace is the error signal .

M. Marzougui Automatic Control Systems Lecture Notes

4. Classification of Control Systems 5

Controller Actuator Plant

Desired In- (t)
put Temper- + Amplifier Relay Furnace

ature

Thermometer
Sensor

3.2 Room Temperature Control System

Vcc

Room
Us Thermocouple sensor(D)
Potentiometer

R1
v+ v
Heater (R)
Reference

Ue
A

Uc = Vsat
e : External Temperature

(M)
Motor

hot water connection

(V) Valve

In this control system the plant is the home and the heating equipment.
The sensor generally consists of a temperature transducer inside the home, sometimes complemented
by an outside temperature transducer.
The controller is usually combined with the inside temperature sensor in the thermostat, which
switches the heating equipment on and off as necessary.
The actuator is the motor combined with the valve.

Actuator Plant
Controller
Desired In- (t)
put Temper- + Moteur Valve Heater Room

ature

Thermocouple
sensor

3.3 Temperature Control of Passenger Compartment Car

4 Classification of Control Systems

The Control System can be classified mainly depending upon,

M. Marzougui Automatic Control Systems Lecture Notes

6 Chapter 1 Introduction to Control Systems

Method of analysis & design, as Linear & Non-Linear Systems.

The type of the signal, as Time Varying, Time Invariant, Continuous data, Discrete data systems
etc.,
The type of system components, as Electro Mechanical, Hydraulic, Thermal, Pneumatic Control
systems etc.,
The main purpose, as Position control & Velocity control Systems.

1. Linear & Non-Linear Systems: In a linear system, the principle of superposition can be applied.
In non-linear system, this principle cant be applied. Therefore a linear system is that which obeys
superposition principle & homogeneity.
2. Time Varying & Time Invariant Systems: While operating a control system, if the parameters
are unaffected by the time, then the system is called Time Invariant Control System.
Most physical systems have parameters changing with time. If this variation is measurable during
the system operation then the system is called Time Varying System.
If there is no non-linearity in the time varying system, then the system may be called as Linear
Time varying System.

M. Marzougui Automatic Control Systems Lecture Notes