CONTROL SYSTEM

Lecture-1
Definition:
A control system is an interconnection of components forming a
system configuration to provide a desired system response.

Input : stimulus
Control Output : Response

Desired response system Actual Response

A Control System consists of subsystems and processes assembled for

the purpose of obtaining a desired output with desired performance,
given a specified input.
LIFT AN EXAMPLE:

Here input or desire response is 4 level. Output or

actual response is not fully 4.
Basic Components of a Control System:

Plant
Controlled Variable
Expected Value

Controller
Actuator
Sensor
Disturbance
Basic Block of Control System:
Disturbance

n
r e u y
+ Controller Actuator Plant
Expected Controlled
value - Error variable

Sensor
Here, the signal
comparison point is transferred
its output equals the along two
algebraic sum of all input separate routes.
signals.
measures a physical quantity
and converts it into a signal
which can be read by an
observer or by an instrument..
Details of Components:
1. Plant: a physical object to be
Plant controlled such as a mechanical device, a
heating furnace, a chemical reactor or a
spacecraft.

2. Controlled variable: the

Controlled variable controlled by Automatic
variable
Control System , generally refers to
the system output.

3. Expected value : the desired value

Expected
value
of controlled variable based on
requirement, often it is used as the
reference input
 4.Controller: an agent that can calculate the
Controller
required control signal.

5.Actuator: a mechanical device that takes

Actuator energy, usually created by air, electricity, or liquid,
and converts that into some kind of motion.

6.Sensor : a device that measures a physical

Sensor quantity and converts it into a signal which can be
read by an observer or by an instrument.

7. Disturbance: the unexpected factors

Disturbance disturbing the normal functional relationship between
the controlling and controlled parameter variations.
Terms/Usages in Control System
• Plant/ Process – The plant or process is the physical system.
• Actuators – Actuators are used to apply forces or torques to
the physical system.
• Sensors – Sensors are used to measure system behavior.
• Dynamic system – A dynamic system is one whose behavior
changes over time.
• Target Value – The desired operating point of the system.
• Measured Value – The actual operating point of the system. It
is affected by several internal and external factors of a system.
Terms/Usages in Control System

• Difference Value – This is the difference between the target value and
the measured value which is translated into feedback.
• Control Input – This is the main adjusting point of the control system.
• Control Algorithm – Determines how to best regulate the control input
to make the difference value as close to zero as possible. It does
this by periodically looking at the difference value and adjusting the
control input.
Movement of Hand:

Desired Output
Neural Hand Position
position Control algorithm Signal Muscle
(Brain) Actuator Plant
Reference Controller
Input

Eye
Sensor

Closed loop
Formal Education Process:
Disturbances: parties,
chatting, games

Desired
Principles Teaching Students Performance
Performance activities
instructions
Reference Controller Actuator Plant
Input

Homework,
Exams, quizzes
Sensor
Car Driving:

Error
Steering
Driver Automobile
Mechanism Actual course
Desired - of travel
course of controller actuator plant
travel

Measurement/
Visual perception
sensor
Speed Adjustment:
Road grade
Desired Control Actual
v signal
velocity des Calculation Auto velocity v
Engine
element body
Reference Error Controlled
input variable
Controller Actuator Plant

Sensor

Speedometer
Measured
velocity
Sensor noise
Disturbance
Open-loop Control Systems:

• Open-loop control systems: The systems in which the output has no

effect on the control action.
Control Disturbance
System signal System
input Input output
CONTROLLER PLANT
Transducer

• The output is neither measured nor fed back for comparison with the input.
• For each reference input, there corresponds a fixed operating conditions.
• In the presence of disturbances, an open-loop system will not perform the
desired task.
Some comments on open-loop control systems

• Simple construction and ease of

maintenance. Good
• Less expensive than a closed-loop system.
• No stability problem.

• Recalibration is necessary from

time to time. Bad

• Sensitive to disturbances, so less accurate.

When should we apply open-loop control?

The relationship between the input and output is exactly known.
There are neither internal nor external disturbances.
Closed-loop Control Systems:
• Closed-loop control systems are often referred to as feedback control systems.
• Feedback: the return to the input of a part of the output of a machine, system, or
process.
• The idea of feedback:
• Compare the actual output with the expected value.
• Take actions based on the difference (error).
• Feedback is a key idea in the discipline of control.

Expected Control System

value Error signal output
CONTROLLER PLANT
Main Advantages of Feedback:

• Reduce disturbance effects

• Make system insensitive to variations
• Stabilize an unstable system
• Create well-defined relationship between output and reference
• Allows high performance in the presence of uncertainty
 Open-loop vs. Closed-loop
Open-loop control Closed-loop control

Simple structure Complex structure

low cost High cost

Less accuracy and no High accuracy and

resistance to disturbance resistance of disturbance

Low ability to correct

Ability to correct error
error

May oscillate and become

Generally stable
unstable

Highly sensible to
Less sensible to disturbance
disturbance
Basic Requirements for Control Systems

• Stability: refer to the ability of a system to recover

equilibrium
• Quickness: refer to the duration of transient process
before the control system to reach its equilibrium
• Accuracy: refer to the size of steady-state error when the
transient process ends
(Steady-state error=desired output – actual output)
Why do we need Control System?

1. Eliminate redundant manual control.

2. Power amplification

3. Remote control

4. Convenience of input form

5. Compensation for disturbance

6. Improve effectiveness of system