University of Computer Studies (Taunggyi) Modern Control Systems

Introduction to Control Systems

1. Basic Concept of Control System

Control Engineering Focus: Concerned with efficient techniques to solve specific problems in
system control.
Six Fundamental Problems:
a) Identification Problem: Measure variables and convert data for analysis.
b) Representation Problem: Describe a system using an analytical or mathematical model.
c) Solution Problem: Determine the response of the system model.
d) Stability Problem: Perform qualitative analysis of system stability.
e) Design Problem: Modify existing systems or develop new ones.
f) Optimization Problem: Choose the best design from various options.
Two Approaches:
Conventional Approach Modern Approach
• Electrical-oriented. • Mechanical-oriented.
• Based on complex function theory. • Based on state variable theory

2. Control System

A control system is a system, which provides the desired response by controlling the
output. A control system is composed of interconnected subsystems and processes (or plants)
strategically assembled to achieve precise control over the outputs of the overall process. The
following figure shows the simple block diagram of a control system. Examples: Traffic lights
control system, washing machine.

Fig. Process to be controlled

2.1 Importance of Control in Production Processes

Control plays a crucial role in production processes, particularly within plant

operations, for several key reasons:
• Safety: Automation prevents accidents, protects the environment, and safeguards both
plant personnel and equipment.
• Product Quality: Continuous monitoring and adjustment of production parameters
ensure consistent and high-quality products.
• Plant Throughput: Control systems optimize production rates, contributing to
increased throughput and overall efficiency.

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• Labor Efficiency: Automation reduces the reliance on human labor, allowing for more
efficient and cost-effective plant operations.
By addressing these critical aspects, control systems in production processes contribute
to the overall success, sustainability, and competitiveness of industrial operations.

2.2 Classification of Control Systems

Natural Control System and Man-made Control System:

Natural Control System: Created by nature (e.g., solar system, animal digestive systems).
Man-made Control System: Created by humans (e.g., automobiles, power plants).

Automatic Control System and Combinational Control System:

Automatic Control System: Made using basic theories from mathematics and engineering.
Components: sensors, actuators, and responders.
Combinational Control System: Combination of natural and man-made control systems
(e.g., driving a car).

Time-variant Control System and Time-invariant Control System:

Time-variant Control System: Parameters vary with time (e.g., driving a vehicle).
Time-invariant Control System: Parameters do not vary with time (e.g., control system
with inductors, capacitors, and resistors).

Linear Control System and Non-linear Control System:

Linear Control System: Satisfies homogeneity and additive properties.
• Homogeneous property: f (αx) = α f ( x) for all α.
• Additive property: f ( x + y) = f ( x ) + f ( y )
Non-linear Control System: Does not satisfy homogeneity and additive properties (e.g., f(x)
= x3).

Continuous-Time Control System and Discrete-Time Control System:

Continuous-Time Control System: Performance depends on continuous time (e.g., armature
type speed control of motor).
Discrete-Time Control System: Performance depends on discrete time (e.g., microprocessor
type speed control of motor).

Deterministic Control System and Stochastic Control System:

Deterministic Control System: Output is predictable or repetitive for a certain input signal
or disturbance signal.
Stochastic Control System: Output is unpredictable or non-repetitive for a certain input
signal or disturbance signal.

Single-Input-Single-Output (SISO) Control System and Multi-Input-Multi-Output (MIMO)

Control System:
SISO Control System: One input and one output.
MIMO Control System: More than one input and more than one output.

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Open-Loop Control System and Closed-Loop Control System:

Open-Loop Control System: Control action depends only on the input signal, not on output
response.
Closed-Loop Control System: Control action depends on both input signal and output
response.

2.2.1. Open-loop control system and Closed-loop control system

Open-loop control system:
It is a control system where its control action only depends on input signal and does
not depend on its output response as shown in Fig.1.1.

Fig. An open-loop system

Examples: traffic signal, washing machine, bread toaster, etc.
Advantages:
• Simple design and easy to construct
• Economical
• Easy for maintenance
• Highly stable operation
Dis-advantages:
• Not accurate and reliable when input or system parameters are variable in nature
• Recalibration of the parameters are required time to time

Closed-loop control system:

It is a control system where its control action depends on both of its input signal and
output response as shown in Fig.1.2

Fig. A closed-loop system

Examples: automatic electric iron, missile launcher, speed control of DC motor, etc.
Advantages:
• More accurate operation than that of open-loop control system

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• Can operate efficiently when input or system parameters are variable in nature
• Less nonlinearity effect of these systems on output response
• High bandwidth of operation
• There is facility of automation
• Time to time recalibration of the parameters are not required
Dis-advantages:
• Complex design and difficult to construct
• Expensive than that of open-loop control system
• Complicate for maintenance
• Less stable operation than that of open-loop control system

2.2.2. Types of Feedback

The feedback used in the control systems are majorly classified into two types namely:
• Positive feedback
• Negative feedback

Positive Feedback

When the feedback is added to the input, it is called positive feedback. Positive
feedback boosts the error signal by adding the feedback to the input. This amplifies the signal
but also makes it unstable. It's used in certain cases like signal generators and oscillators for
increased speed and strength. However, due to its tendency to cause instability, positive
feedback has limited applications.

Fig. Positive Feedback

The transfer function of a control system with positive feedback is given by the
following expression,
𝐺
𝑇𝐹 = 1 − 𝐺𝐻 ……. Equation (1)

Where,
• TF is the transfer function or overall gain of positive feedback control system.
• G is the open loop gain, which is function of frequency.
• H is the gain of feedback path, which is function of frequency.

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Negative Feedback

When the feedback is subtracted from the input, it is called a negative feedback.
Negative feedback lessens the error signal by subtracting it from the input. This gradual
reduction helps the system reach and maintain the desired output. In case of negative feedback,
the system is guided by the difference between the input signal and the feedback signal, which
is called the error signal. Most control systems use negative feedback because it brings stability,
ensuring accurate and steady system responses in different applications.

Fig. Negative Feedback

The transfer function of a control system having negative feedback is given by the
following expression,
𝐺
𝑇𝐹 = 1+𝐺𝐻 …... Equation (2)

Where,
• TF is the transfer function or overall gain of positive feedback control system.
• G is the open loop gain, which is function of frequency.
• H is the gain of feedback path, which is function of frequency.

2.2.3. Effects of Feedback

Feedback is a fundamental concept in control systems that profoundly influences

system behavior. Its effects can be observed in various aspects, shaping the performance and
reliability of the controlled system.
Overall Gain:
• Feedback often enhances the overall gain of a system.
• It ensures controlled and optimized amplification, contributing to improved
responsiveness and efficiency.
Sensitivity:
• Feedback reduces sensitivity to disturbances or variations in the system.
• This reduction in sensitivity enhances the system's robustness, making it less
susceptible to external factors.
Stability:
• Negative feedback, in particular, enhances system stability.
• It helps prevent oscillations and ensures a smooth, controlled response to input changes.

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Noise Reduction:
• Feedback mitigates the impact of external noise on the system.
• By reducing the influence of unwanted signals, feedback improves the signal-to-noise
ratio, leading to a more accurate system output.
Understanding and utilizing feedback effectively is crucial in designing control systems
that are not only responsive but also stable and resilient to external influences. The thoughtful
application of feedback mechanisms contributes significantly to the overall performance and
reliability of control systems in various applications.

2.2.3.1. Effect of Feedback on Overall Gain

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).
Effect of (1+GH) on Overall Gain:
• (1+GH) < 1: If the value of (1+GH) is less than 1, the overall gain increases.
• (1+GH) > 1: Conversely, if the value of (1+GH) is greater than 1, the overall gain
decreases.

2.2.3.2. Effect of Feedback on Sensitivity

Sensitivity of the overall gain of negative feedback closed loop control system (T) to
the variation in open loop gain (G) is defined as:
𝜕𝑇
𝑃𝑒𝑟𝑐𝑒𝑛𝑡𝑎𝑔𝑒 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑇
𝑆𝐺𝑇 = 𝑇
𝜕𝐺 = …………. Equation (3)
𝑃𝑒𝑟𝑐𝑒𝑛𝑡𝑎𝑔𝑒 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝐺
𝐺

Where, ∂T is the incremental change in T due to incremental change in G. We can rewrite

Equation 3 as
𝜕𝑇 𝐺
𝑆𝐺𝑇 = ……………. Equation (4)
𝜕𝐺 𝑇

Do partial differentiation with respect to G on both sides of Equation 2.

𝜕𝑇 𝜕 𝐺 (1+𝐺𝐻) .1 − 𝐺(𝐻) 1
= 𝜕𝐺 (1+𝐺𝐻) = = ……….. Equation (5)
𝜕𝐺 (1+𝐺𝐻)2 (1+𝐺𝐻)2

From Equation 2, you will get

𝐺
= 1 + 𝐺𝐻 …………….. Equation (6)
𝑇

Substitute Equation 5 and Equation 6 in Equation 4.

1 1
𝑠𝐺𝑇 = 2
(1 + 𝐺𝐻) =
(1 + 𝐺𝐻) 1 + 𝐺𝐻

So, we got the sensitivity of the overall gain of closed loop control system as the reciprocal of
(1+GH). So, Sensitivity may increase or decrease depending on the value of (1+GH).
Effect of (1+GH) on Sensitivity:
• (1+GH) < 1: If the value of (1+GH) is less than 1, then sensitivity increases.
• (1+GH) > 1: If the value of (1+GH) is greater than 1, then sensitivity decreases.

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2.2.3.3. Effect of Feedback on Stability

• A system is said to be stable, if its output is under control. Otherwise, it is said to be

unstable.
• In Equation 2, if the denominator value is zero (i.e., GH = -1), then the output of the
control system will be infinite. So, the control system becomes unstable.

2.2.3.4. Effect of Feedback on Noise

Consider an open loop control system with noise signal as shown below.

The open loop transfer function due to noise signal alone is

𝐶(𝑠)
= 𝐺𝑏 ………… Equation (7)
𝑁(𝑠)

It is obtained by making the other input R(s) equal to zero.

Consider a closed loop control system with noise signal as shown below.

The closed loop transfer function due to noise signal alone is

𝐶(𝑠) 𝐺
= 1+ 𝐺 𝑏𝐺 ………… Equation (8)
𝑁(𝑠) 𝑎 𝑏𝐻

It is obtained by making the other input R(s) equal to zero. Compare Equation 7 and 8,
In the closed loop control system, the gain due to noise signal is decreased by a factor of
(1+GaGbH) provided that the term (1+GaGbH) is greater than one.

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