CONTROL SYSTEMS

Introduction

Dr. Malaya Kumar Hota (Prof.), SENSE, VIT University

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Text Book:
[1] Norman S. Nise, “Control Systems Engineering”, John Wiley &
Sons, 6th Edition, 2010.

Reference Books:
[1] I.J. Nagarth and M. Gopal, “Control Systems Engineering”, New
Age International, 5th Edition, 2011.

[2] K. Ogata, “Modern Control Engineering”, Pearson Education, 5th

Edition, 2011.

[3] FaridGolnaraghi and Benjamin C Kuo, “Automatic Control

Systems”, John Wiley & Sons, 9th Edition, 2009.

[4] R.C. Dorf and R.H. Bishop, “Modern Control Systems”, Pearson
Education, 12th Edition, 2014
System:
Collection of components or elements to perform the
specified task.

Types of System:
• Electrical system
• Mechanical system
• Electromechanical system
• Hydraulic system
• Pneumatic system
• Thermal system
Control System (or) Controlled System?
The output quantity of the system is controlled by
varying the input quantity.

Types of Control System:

• Open loop control system

• Closed loop control system
 Open loop control system

An open-loop control system is one in which the control action

is independent of the output.

Disturbance Disturbance

+ +
+ Process or Plant +
Controller to be
Input controlled Output
or or
Reference Controlled
or Variable
Set value
Example of Open loop Control System:

1. Electric Hand Drier: Hot air comes out as long as you keep your
hand under the machine irrespective of how much your hand is dried.
2. Light Switch: Lamp glows whenever light switch is on
irrespective of light is required or not.
3. Timer Based Clothes Drier: This machine dries wet clothes for
pre-adjusted time, no matter how much the cloths are dried.
4. Washing Machine: This machine runs according to the pre-set
time irrespective of the washing is completed or not.
5. Immersion Water Heater: This heater will start to function once
it is switched on.
 Closed loop control system or Automatic Control System

A closed-loop control system is one in which the control

action is somehow dependent on the output.

Desired Disturbance Disturbance

Correction
output element + Output
+ Process or
+
+ + Plant
or
Controller Actuator
to be
Input Controlled
controlled
or - Variable
Reference
or
Set value Actual
output Feedback element
(Transducer
or sensor)
Example of Closed loop Control System:

1. Automatic Electric Iron: Heating elements are controlled by

output temperature of the iron.
2. Air Conditioner: An air conditioner temperature depends on the
temperature of the room.
3. Water Level Controller: Input water is controlled by the water
level of the reservoir.
4. Missile Launched and Auto Tracked by Radar: The direction of
the missile is controlled by comparing the target and position of the
missile.
5. Cooling system in cars: It operates depending upon the
temperature which it controls.
Open loop drying system
No knowledge of the output condition so cannot self-correct any errors
Open loop drying system
No knowledge of the output condition so cannot self-correct any errors

Poorly equipped to handle disturbances. Ex: The dryer door opens and
heat is lost.
Closed loop drying system or Automatic drying System

Control action depends on the output.

Open loop control system Closed loop control system
Advantages: Advantage:
Always a stable system Accurate output
Economic system Reliable output
Disadvantages: Disadvantages:
Inaccurate output Costlier
Unreliable output Designing a stable CL system
is tedious
 Classifications of Control System

Continuous Time Feedback System

If the signals in all parts of a control system are continuous

functions of time, the system is classified as continuous time

feedback control system.
Classifications of Control System

Discrete Data Feedback Control

Systems
Discrete data control systems are those systems in which at
one or more pans of the feedback control system, the signal is
in the form of pulses. Usually, the error in such system is
sampled at uniform rate and the resulting pulses are fed to
the control system.
 Classifications of Control System

Linear Control Systems

An element is said to be linear if it obeys the principle of super
position and homogeneity.
 Classifications of Control System

Non-Linear Control Systems

Any system which does not obey superposition principle is said to
be a non-linear system.

Physical systems are in general non-linear and analysis of such

systems is very complicated. Hence these systems are usually
linearized.
 Classifications of Control System

Time Invariant Systems

When the input to a system is delayed by T seconds, if the output
is also delayed by the same time T, the system is said to be a
time invariant system.
 Mathematical Modeling

If a system is composed of linear, lumped and time invariant

elements, its behavior can be modelled by either linear algebraic
equations or linear differential equations with constant
coefficients.

If the input output relations are algebraic, the system is said to be

a static system.

If the relations are described by differential equations (the most

used) , the system is said to be a dynamic system.

Another most useful and common mathematical model is the

Transfer function of the system.
 Transfer Function

It is defined as the ratio of Laplace transform of the output to the

Laplace transform of the input. It is assumed that all initial
condition in the system are zero.
 Electrical Systems
Obtain the relation between the applied voltage and the
current in the form of

(a) Differential equation

(b) Transfer function.