MODULE-1

Introduction
Mathematical modeling,
Block diagram and Signal flow graph

Contents: Page no:

 Introduction 1
 Types of control system 1.b
 Control system components 2.b
 Comparison of open loop & closed loop control systems 3.b
 Application of control system 3.b
 Feedback control system 4
 Effects of feedback 4.b
 Types of feedback control systems 4.b
 Linear and nonlinear control system 5.b
 Time invariant and varying control system 5.b
 Mathematical modeling of control systems 6
 Mechanical systems 6.b
1. Translational mechanical systems 7
2. Rotational mechanical systems 15
 Electromechanical systems 17
1. Armature controlled DC motor 17
2. Field controlled DC motor 18
 Electrical analogous of mechanical systems 19.b
 Force-voltage analogy and Torque-voltage analogy 19.b
 Force-current analogy and Torque-current analogy 20
 Block diagrams 23.b
 Block diagram reduction 25
 Signal flow graph 34.b
 Mason's gain formula 35.b
 Control systems
 Introduction
 Control system engineering is the branch of engineering which deals with the principles
of control theory to design a system which gives desired behavior in a controlled manner.

 Control system engineering focuses on analysis and design of systems to improve the
speed of response, accuracy and stability of system.

 The two methods of control system include classical methods and modern methods.

 Classical method:
 In classical method, mathematical modeling is usually done in time domain, frequency
domain or complex's domain.

 Step response of a system is mathematically modeled in time domain differential analysis

to find its settling time, % overshoot etc.

 Laplace transforms are most commonly used in frequency domain to find the open loop
gain, phase margin, band width etc of the system.

 Concept of transfer function, sampling of data, poles and zeros, system delays all comes
under the classical control engineering stream.

 Modern method:
 Modern control engineering deals with Multiple Input Multiple Output (MIMO)
systems, State space approach, Eigen values and vectors etc.

 Instead of transforming complex ordinary differential equations, modern approach

converts higher order equations to first order differential equations and solved by vector
method.

 Requirement of Good Control System:

 Accuracy : Accuracy is the measurement tolerance of the instrument and defines the
limits of the errors made when the instrument is used in normal operating conditions.
Accuracy can be improved by using feedback elements. To increase accuracy of any
control system error detector should be present in control system.

 Sensitivity : The parameters of a control system are always changing with the change in
surrounding conditions, internal disturbance or any other parameters. This change can be
 expressed in terms of sensitivity. Any control system should be insensitive to such
parameters but sensitive to input signals only.

 Noise : An undesired input signal is known as noise. A good control system should be
able to reduce the noise effect for better performance.

 Stability : It is an important characteristic of control system. For the bounded input

signal, the output must be bounded and if the input is zero then output must be zero then
such a control system is said to be a stable system.

 Bandwidth : An operating frequency range decides the bandwidth of control system.

Bandwidth should be as large as possible for the frequency response of good control
system.

 Speed : It is the time taken by control system to achieve its stable output. A good control
system possesses high speed. The transient period for such system is very small.

 Oscillation : A small numbers of oscillation or constant oscillation of output tend to

system to be stable.

 Types of Control systems:

 Open loop control system & Closed loop control system

 Open Loop Control System:

 A control system in which the output quantity has no effect upon the input quantity is
called open loop control system(manual control system ).

 This system does not automatically correct the variation in its output .

 The output is not fedback to the input for correction.

 Changes in output due to disturbances are corrected by varying the input manually.
 Practical Examples of Open Loop Control System:
 Electric Hand Drier - Hot air (output) comes out as long as you keep your hand under
the machine, irrespective of how much your hand is dried.

 Automatic Washing Machine - This machine runs according to the pre-set time
irrespective of washing is completed or not.

 Automatic Tea/Coffee Maker - These machines also function for pre adjusted time
only.

 Timer Based Clothes Drier - This machine dries wet clothes for pre-adjusted time, it
does not matter how much the clothes are dried.

 Light Switch - Lamps glow whenever light switch is on irrespective of light is required
or not.

 Volume on Stereo System - Volume is adjusted manually irrespective of output volume

level.

 Advantages of Open Loop Control System:

• Simple in construction and design.

• Economical.

• Easy to maintain.

• Generally stable.

 Disadvantages of Open Loop Control System:

• They are inaccurate.

• They are unreliable.

• Any change in output cannot be corrected automatically.

 Closed loop control system:

• A control system in which the output quantity has an effect upon the input quantity is
called closed loop control system (Automatic control system ).

• Open loop control system can be converted in to closed loop control system by
providing a feedback. This feedback automatically makes the suitable changes in the
output due to external disturbance.
 Control System Components:

1) System, plant or process(open loop system)

2) Controller
3) Error detector
4) Feedback path elements(Sensor)

 The feedback path elements samples the output and converts to a signal of same type as
that of reference signal. The feedback signal is proportional to output signal and it is fed
to the error detector.

 The error signal generated by the error detector is the difference between reference signal
and feedback signal.

 The controller modifies and amplifies the error signal to produce better control action.

 The modified error signal is fed to the plant to correct its output.
 Practical Examples of Closed Loop Control System:
• Automatic Electric Iron - Heating elements are controlled by output temperature of the
iron.

• Servo Voltage Stabilizer - Voltage controller operates depending upon output voltage of
the system.

• Water Level Controller - Input water is controlled by water level of the reservoir.

• Missile Launched and Auto Tracked by Radar - The direction of missile is controlled
by comparing the target and position of the missile.

• An Air Conditioner - An air conditioner functions depending upon the temperature of

the room.

• Cooling System in Car - It operates depending upon the temperature which it controls.

 Advantages of Closed Loop Control System:

• Closed loop control systems are more accurate even in the presence of non-linearity.

• Highly accurate as any error arising is corrected due to presence of feedback signal.

• Bandwidth range is large.

• Facilitates automation.

• The sensitivity of system may be made small to make system more stable.

• This system is less affected by noise.

 Disadvantages of Closed Loop Control System:

• They are costlier.

• They are complicated to design.

• Required more maintenance.

• Feedback leads to oscillatory response.

• Overall gain is reduced due to presence of feedback.

• Stability is the major problem and more care is needed to design a stable closed loop
system.
 Comparison of Closed loop and Open loop Control Systems

Open loop control system Closed loop control system

1 The feedback element is absent. The feedback element is always present.

2 An error detector is not present. An error detector is always present.

3 It is stable one. It may become unstable.

4 Easy to construct. Complicated construction.

5 It is an economical. It is costly.

6 Having small bandwidth. Having large bandwidth.

7 It is inaccurate. It is accurate.

8 Less maintenance. More maintenance.

9 It is unreliable. It is reliable.

10 Examples: Hand drier, tea Examples: Servo voltage stabilizer,

maker Density based traffic control system

 Applications of control systems:

 Automatic assembly line

 Machine tool control
 Space technology and weapon systems
 Computer control
 Power Systems
 Robotics
  Micro Electro Mechanical Systems(MEMS)
 Nano technology
 Smart transportation systems
 Ship stabilization systems
 Intelligent Systems
 Temperature control systems
 Steering control of automobiles
 Voltage stabilizer system
 Idle speed control of automobiles
 Industrial sewing machine
 Sun tracking control of solar collectors

 Missile launching systems

 Feedback control system-Closed loop Control system

R = Input signal E = Error signal

G = Forward path gain H = Feedback path gain
C = Output signal B = Feedback signal

 When the feedback signal is positive then system called positive feedback system. For
positive feedback system, the error signal is the addition of reference input signal and a
feedback signal.
 When the feedback signal is negative then the system is called negative feedback system.
For negative feedback system, the error signal is given by the difference of reference input
signal and the feedback signal.
  Positive feedback system: Negative feedback system:

𝐶 𝐶
𝐺=  𝐶 = 𝐺𝐸 𝐺=𝐸  𝐶 = 𝐺𝐸
𝐸
𝐸=𝑅+𝐵 𝐸 =𝑅−𝐵
𝐵 = 𝐶𝐻 𝐵 = 𝐶𝐻
Therefore, 𝐶 = 𝐺(𝑅 + 𝐶𝐻) Therefore, 𝐶 = 𝐺(𝑅 − 𝐶𝐻)
𝐶 = 𝐺𝑅 + 𝐺𝐶𝐻 𝐶 = 𝐺𝑅 − 𝐺𝐶𝐻
𝐶 − 𝐺𝐶𝐻 = 𝐺𝑅 𝐶 + 𝐺𝐶𝐻 = 𝐺𝑅
𝐶 1 − 𝐺𝐻 = 𝐺𝑅 𝐶 1 + 𝐺𝐻 = 𝐺𝑅
𝑪 𝑮 𝑪 𝑮
= =
𝑹 𝟏−𝑮𝑯 𝑹 𝟏+𝑮𝑯

 Effects of feedback:

Transfer function of negative feedback control system is,

𝑪 𝑮
=
𝑹 𝟏 + 𝑮𝑯

 Effect of feedback on Overall gain:

• From Equation , the overall gain of negative feedback closed loop control system is the
ratio of 'G' and (1+GH). So, the overall gain may increase or decrease depending on the
value of (1+GH).
• If the value of (1+GH) is less than 1, then the overall gain increases. In this case, 'GH'
value is negative because the gain of the feedback path is negative.
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