Control Systems

Control systems: Feedback, open loop and closed loop control, Steady state error, Stability analysis, Root locus,

State space, Bode plots, block diagram reduction, Introduction to PI, PD, PID control systems, Transfer Function:

Zero order, First Order, Second Order systems, Systems in feedback loops
 A control system manages commands, directs or regulates the behavior of other devices or systems using control
loops.
 It can range from a single home heating controller using a thermostat controlling a domestic boiler to large
Industrial control systems which are used for controlling processes or machines.
 A control system is a system, which provides the desired response by controlling the output. The following figure
shows the simple block diagram of a control system.

Examples − Traffic lights control system, washing machine

 Traffic lights control system is an example of control system. Here, a sequence of input signal is applied to this
control system and the output is one of the three lights that will be on for some duration of time. During this
time, the other two lights will be off. Based on the traffic study at a particular junction, the on and off times of
the lights can be determined.
 Accordingly, the input signal controls the output. So, the traffic lights control system operates on time basis.
Classification of Control Systems
Based on some parameters, we can classify the control systems into the following ways.
Continuous time and Discrete-time Control Systems
 Control Systems can be classified as continuous time control systems and discrete time control systems based on
the type of the signal used.
 In continuous time control systems, all the signals are continuous in time. But, in discrete time control systems,
there exists one or more discrete time signals.
SISO and MIMO Control Systems
 Control Systems can be classified as SISO control systems and MIMO control systems based on the number of
inputs and outputs present.
 SISO (Single Input and Single Output) control systems have one input and one output. Whereas, MIMO (Multiple
Inputs and Multiple Outputs) control systems have more than one input and more than one output.
Open Loop and Closed Loop Control Systems
Control Systems can be classified as open loop control systems and closed loop control systems based on the
feedback path.
In open loop control systems, output is not fed-back to the input. So, the control action is independent of the desired
output.

Here, an input is applied to a controller and it produces an actuating signal or controlling signal. This signal is given
as an input to a plant or process which is to be controlled. So, the plant produces an output, which is controlled. The
traffic lights control system which we discussed earlier is an example of an open loop control system
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
In closed loop control systems, output is feed back to the input. So, the control action is dependent on the desired
output.

 The error detector produces an error signal, which is the difference between the input and the feedback signal.
 This feedback signal is obtained from the block (feedback elements) by considering the output of the overall
system as an input to this block.
 Instead of the direct input, the error signal is applied as an input to a controller. So, the controller produces an
actuating signal which controls the plant.
 In this combination, the output of the control system is adjusted automatically till we get the desired response.
Hence, the closed loop control systems are also called the automatic control systems.
 Traffic lights control system having sensor at the input is an example of a closed loop control system.
Advantages:
 More accurate operation than that of open-loop control system
 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
Feed back: The output or some part of the output is returned to the input side and utilized as part of the system input,
then it is known as feedback. Feedback plays an important role in order to improve the performance of the control
systems.
Types of Feedback
There are two types of feedback −
 Positive feedback
 Negative feedback
Positive Feedback The positive feedback adds the reference input, R(s) and feedback output C(s). The following
figure shows the block diagram of positive feedback control system
Transfer function of positive feedback control system is

Where,
 T is the transfer function or overall gain of positive feedback control
system.

Negative Feedback
Negative feedback reduces the error between the reference input, R(s) and system output C(s).

Transfer function of negative feedback control system is

Where,
 T is the transfer function or overall gain of negative 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.
TRANSFER FUNCTION
The relationship between input and output of a system is given by the transfer function. For a linear time−invariant system the
response is separated into two parts : the forced response and free response. The forced response depends upon the initial values of
input and the free response depends only on the initial conditions on the output.
The transfer function P(s) of a continuous system is defined as

The denominator is called the characteristic polynomial.

The transform of the response may be rewritten as
Y(s) = P(s).U(s) + (terms due to all initial values)
If all the initial conditions are assumed zero then
Y(s) = P(s) U(s) And the output as a function of time y(t) is simply
Definition
The transfer function is defined as the ratio of Laplace transform of output to Laplace transform of input under assumption that all
initial conditions are zero.
For example :
Properties

1. It is the Laplace transform of its impulse response

2. The system transfer function can be determined from the system differential equation by taking the Laplace transform and

ignoring all terms arising from initial values.

3. The system differential equation can be obtained from the transfer function by replacing the s variable with d/dt.

4. The stability of a time−invariant line system can be determined from the characteristic equation. Consequently, for continuous

systems, if all the roots of the denominator have negative real parts, the system is stable.

5. The roots of the denominator are system poles and roots of the numerator are system zeros. The system transfer function can

then be specified to within a constant by specifying the system poles and zeros. This constant k, is system ‘gain factor’.

6. Transfer, function does not contain any information about the physical structures ∴system with different physical structure can

have same transfer function.

7. Transfer function is the property of the system and does not depend upon the type of input.
CONTINUOUS SYSTEM TIME RESONSE

The Laplace transform of the response of a continuous system to a specific input is given by
Y(s) = P(s) U(s) when all initial conditions are zero.
The inverse Laplace transform y(t) = L-1 [P(s) U(s)] is then the time response and y(t) may be determined by finding the
poles of P(s) U(s) and evaluating the residues at these poles.

Advantages of Transfer Function

1) It is a mathematical model and gives the gain of given system.
2) As it uses a Laplace approach, it converts integro-differential time domain equation to simple algebraic equation.
3) Once transfer function is known, any output for any given input can be calculated.
4) It helps in determining the important information about the system i.e., poles, zeros, characteristics equations.
5) It helps in the stability analysis of the system.
Disadvantages of Transfer Function
1) Transfer function is valid only for linear time invariant system.
2) Effects arising due to initial conditions are totally neglected. Hence initial conditions loose their importance.
OLES AND ZEROS OF A TRANSFER FUNCTION
Poles
The value of s for which the system magnitude | G(s) | becomes infinity are called poles of G(s). When pole values
are not repeated, such poles are called as simple poles. If repeated such poles are called multiple poles of order equal
to the number of times they are repeated.

For example in equation (1) : poles are at s = -5 and s = -7.

The pole at s = -5 is simple pole and the pole at s = -7 is multiple pole of 2nd order multiplicity.

Zeros
The value of s for which the system magnitude | G(s) | becomes zero are called zeros of transfer function G(s). When
they are non repeated, they are called simple zero, otherwise they are called multiple zeros.
For example in equation (1), zeros are at s = -3 and s = -1.5.
The zero at s = -3 is simple zero whereas the zero at s = -1.5 is repeated of order three.
Steady State Error