Dayananda Sagar College of Engineering

Department of Electronics and Instrumentation Engineering

(Accredited by NBA)
21EI44_Linear Control Systems

Introduction to Control Systems Types

of Control Systems with examples
Lecture-1

Dr V S Krushnasamy
Associate Professor
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 Syllabus

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 System

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 System

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 System
• A system is an entity the processes a set of
signals(inputs) to yield another set of
signals(outputs).
• A system may be made up of physical components
as in electrical , mechanical(or)hydraulic
systems(hardware realization.
• It may be an algorithm that computes an output
signal from an input signal(software realization).

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 Few FACTS
• A physical system consists of inter connected
components which are characterized by their terminal
relationship[input-output].
• A system is governed by laws of
interconnection.Example in electrical systems the
terminal relationship are the familiar relationship for R ,
L,C, Transformer , transistor and so on as well as the
law of interconnection[KVL/KCL].
• Using V-I/I-V/KVL/KCL we drive mathematical equations
relating the outputs to the inputs . These equations
then represent a mathematical model of the system.
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 Input

Input CONTROL Output

SYSTEM

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 Output

Input CONTROL Output

SYSTEM

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 Control

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 Control System

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 Control System

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 Difference Between System and Control
System

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 Difference Between System and Control
System

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 Fan :Can’t Say System

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 Fan :Can be a System

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 Fan can be a Control System

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 Control System

CONTROL- MAKE A SYSTEM BEHAVE AS DESIRED

SPEED CONTROL OF DC MOTOR

Voltage V(t) Speed ω(t)

DC MOTOR

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 I. Classification of Control System

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 Open Loop Control System

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 OLCS Example

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 OLCS Example

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 OLCS Example

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 OLCS Example

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 OLCS Example

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 Advantages of OLCS

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 Disadvantages of OLCS

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 Key Points about OLCS
 No feedback in OLCS
 Cannot tolerate disturbances
 Lower cost and complexity

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 When we choose OLCS?
 Low cost is a priority, as open loop control is
inexpensive.
 An output changes rarely or not at all.
Example :Cooling pumps
 No quantitative measurement is possible, as with
an inaccessible process.
 A process is erratic such as a sticking valve or
erratic sensor.
 Process disturbances are extremely rare.
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 Closed Loop Control System

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Block Diagram of Closed Loop Control System

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 Closed Loop Control System
• Control system in which the output has an
effect on the input quantity in such a manner
that the input quantity will adjust itself based
on the output generated is called CLCS.
• Open loop control system can be converted in
to Closed Loop control system by providing a
feedback.

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 Closed Loop Control System Examples

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 Advantages of CLCS

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 Disadvantages of CLCS

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 OLCS Vs CLCS

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 OLCS Vs CLCS

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 OLCS Vs CLCS

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 When we need CLCS
 Measurement is feasible.
 The process has a degree of predictability, i.e.,
a known approximate response to an input
control or controls.
 An output varies from a desired outcome and
is not "set and forget."

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 II. Classification of Control System

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 Linear Control System

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 Linear Control System
 A system whose output proportional to its input
is called as linear system.
Linear system satisfies two properties
 Additivity property
 Homogeneity property
 Homogeneity(Scaling) and Additivity both of
these properties combined in to one
property(Superposition) which is expressed as
follows
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 Non Linear Control System

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 Additivity Property

Homogeneity or Scaling Property

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 Difference Between Linear and Nonlinear
Control System

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 III. Classification of Control System

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 Time Varying / In-varying Control System

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 Time Invariance Vs Time Variant Property

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 Time Invariance Property
• A time invariant system is one that provides the
same output for same input irrespective of
when the input is given.
• If u(t)) then time invariance

If the input is delayed by T seconds the output is

the same as before but delayed by T. This property
is expressed in graphically in previous slide .

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 +…+

 The above Eq is LTI when constants.

 The above Eq is LT when are function of time.

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 Time Varying / In-varying Control System

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 IV. Classification of Control System

Classification of Control System

Continuous System Discrete System

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 Continuous Control System
• A system whose inputs and outputs are
capable of changing at any instant of time also
known as continuous control system.
• Systems whose inputs and outputs are
continuous-time signals are continuous –time
system.

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 Discrete Control system
• In discrete control system the signals appear
at discrete intervals of time.
• The components connected to the system
respond only to the discrete signals &variables
appears at discrete intervals.
• Systems whose inputs and outputs are
discrete-time signals are discrete–time
system.

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 Discrete Control system

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Advantages of Discrete over Analog
• Power requirement in case of discrete or digital system is
very less compared to analog control systems.
• Digital system has higher rate of accuracy and can
perform various complex computations easily compared
to analog systems.
• Reliability of digital system is more as compared to analog
systems. They also available in small and compact size.
• Losses in case of discrete systems are less as compared to
analog systems in general.
• Digital systems can handle nonlinear control systems
more effectively than analog systems.
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 Discrete Control system

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 V. Classification of Control System

Classification of Control System

SISO MIMO
(Single Input Single Output (Multiple Input Multiple
Control System) Output Control System)

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 SISO(Single Input Single Output)
• If single input variable is applied to the system
and the output variable is also single then the
system is called SISO system.
• Examples
– Voltage Regulators
– Servo Systems
– Temperature Controller

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 MIMO(Multiple Input and Multiple Output)

• If the input and output variables are more

than one than the system is called MIMO.

• Example : Boiler
– Steam pressure,Temperature,Water level are to be
controlled.

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 MIMO(Multiple Input and Multiple Output)

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 Stochastic and Deterministic Systems
• Stochastic control deals with uncertainty in the
model(response to input, external disturbance).
• In typical stochastic control problems, it is assumed
that there exist random noise and disturbances in
the model and controller, and the control design
must taken into account these random variations.
• Example
1.Queuing models
2.Markov Chains
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 Deterministic Control System
• Algorithm ,Model, Procedure, Process etc.,
Whose resulting behavior is entirely
determined by its initial state and input ,and
which is not random or stochastic.
• Example
1.Linear Programming
2.Time Table

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 Lumped Vs Distributed Control System

• The elements building a lumped system are thought of

being concentrated at singular points in space. The classical
example is an electrical circuit with passive elements like
resistor, inductance and capacitor. The physical quantities
current and voltage are functions of time (only). E. g. the
current at a capacitor with capacity C is given by

i(t)=C dv/dt

Where C is a constant (and so are R and L). This leads to

ordinary differential equations.
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 Lumped (DE)Vs Distributed(PDE) Control
System
• In contrast, the elements in distributed systems are
thought of being distributed in space, so that
physical quantities depend on both time and space.
• The classical example is the electrical line where
inductance, capacity and resistance are not
constant but functions of length x. This leads to
partial derivatives of i(t,x) and v(t,x) in t and x.
• They are not felt simultaneously. Not Physically
separable.

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 Causal Vs Non-Causal
 A causal (also known as nonanticipative) system
is one for which the output at any instant
depends upon only on the value of the .
 The value of the output at the present instant
depends only on the past and present values of
the input ,not on its future values.
Note
 In a causal system the output cannot start before
the input applied.
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 Non-Causal
• In a system the response starts before the
input,it means that the system knows the
input in the future and act on this knowledge
before input applied.
• A system that violates the condition of
causality is called non-causal(anticipative)
system.

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 Analog and Digital Systems
 A system whose input and output signals are
analog is an analog system.
Note
 A signal whose amplitude can take on any
value in a continuous range is an analog
signal.An analog signal amplitude can take on
any infinite number of values.

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 Analog and Digital Systems
 A system whose input and output signals are
digital is a digital system.
 Digital signals is one whose amplitude can
take on only a finite number of values.
Example
 Signals associated with a digital computer are
digital because they take on only two values
(Binary).
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 Analog and Digital Systems
Note
 The continuous time and discrete time qualify
the nature of signal along time (horizontal
axis)
 The term analog and digital qualify the nature
of signal amplitude (vertical axis)

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 Analog and Digital Systems
 Analog continuous time
 Analog discrete time
 Digital continuous time
 Digital discrete time
FACT
Analog is not necessarily continuous time and
digital need not be discrete time.

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 Analog Vs Digital

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Dynamic Vs Instantaneous Systems
 A system is said to be dynamic (or system with
memory),whose response at t is completely
determined by the input signals over past T sec is
a finite memory system with memory of T sec .
 Example :Network containing inductive &
capacitive elements.
 Time is the independent variable .All variables
that are associated with the system are functions
of time.
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Dynamic Vs Instantaneous Systems
 The output at any instant ‘t’ depends only on its input
at that instant.
Example resistive network.
 In these systems past history is irrelevant in
determining the response, such systems are called as
Instantaneous Systems.
 A system said to be instantaneous (or memory less)if
its output at any instant t depends utmost on the
strength of its inputs at the same instant t,and not on
any past or future values of the inputs.
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 Invertible and Non-Invertible Systems
 A system(S) performs certain operations on
input signals . If we can obtain the input x(t)
back from the corresponding output y(t) by
some operation , then system(S) is said to be
invertible.
 When several different inputs result in the
same output (ex as in rectifier),it is impossible
to obtain the input from the output and the
system is Non-invertible.
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 Stable Vs Unstable Systems
 If every bounded input applied to the input
terminal results in a bounded output,then the
system is said to be stable.
 If every bounded input applied to the input
terminal results in a unbounded output,the
systems said to be unstable.
System

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 Stable & Unstable Systems

System

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 Area of study (Boundary/ Scope)

SISO LTIV CAUSAL DYNAMIC SYSTEMS

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 NOTE
GIVEN TO FIND NAME
PARAMETER
INPUT AND OUTPUT SYSTEM SYNTHESIS

SYSTEM AND INPUT OUTPUT PREDICTION / ANALYSIS

SYSTEM AND OUPUT INPUT CONTROL

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To Remember Introduction to Control System

1.Consider a kitchen mixer unit to which an electric current is provided as input and
rotational speed of the speed blade is the output.Then,if one wants to obtain a
specific rotation speed, then one is solving the problem of
(a) Synthesis
(b)Prediction
(c) Control
(d)Estimation

Ans ?

2.In a typical control system layout, the element that takes the error signal as its input
and provides the system input as its output is called as the
(a) Plant
(b)Controller
(c)Actuator
(d)Sensor
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To Remember Introduction to Control System

3.The dynamics o f the element that takes the output of the

controller and realizes the input to the system is called as
(a)Plant dynamics
(b)Controller dynamics
(c) Sensor dynamics
(d)Actuator dynamics
4.In a dynamic system, all variables are functions of
(a)time
(b)space
(c) time AND space
(d) time OR space
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