Control Systems

4EN225
 Textbooks
1. “Modern Electronic Instrumentation and
Measurement Techniques”, A.D. Helfrick and
W.D. Copper, 5th Edition, Pearson Education
2. “Control System Engineering”, I.J. Nagrath,
M. Gopal, New Age International Publications
3. “Modern Control Engineering”, Katsuhiko
Ogata, 5th Edition, Prentice Hall.
 Course Outcomes
CO After the completion of the course the Bloom’s Cognitive
student should be able to
Level Descriptor

CO1 Discuss characteristics of various types Understanding Describe,

of sensors, open and closed loop Discuss,
systems, Mathematical models, Error Determine
constants, Design specifications for
second order system, stability etc.
CO2 Illustrate measurement of temp, Applying Construct,
pressure circuits, mathematical models, Solve
transfer function using Block diagram
and signal flow graph, Compensating
networks, State space model

CO3 Examine time response analysis, stability Applying Examine,

using Routh-Hurwitz criteria, Nyquist Sketch
criteria, Root locus, Bode plots, etc.
 Module 1
Introduction:
Different types of Transducers, Transducer
selection factors, Types of errors and sources of
errors, Mathematical models of physical system,
Open loop and closed loop systems,
regenerative feedback, Transfer function, Block
diagrams and reduction techniques including
signal flow graphics, deriving transfer function,
control system components
 Why Control Systems required?
• Desire of human to harness the materials and forces of nature
to their advantage
• Early examples of control devices
– Clock regulating systems
– Mechanism for wind-mills
• Major impact on the Industrial revolution
– Modern Industrial Plants
– Aircraft
– High speed trains
• Modern civilization
– Refrigerator, Air conditioner, Automobile
Requires Sophisticated control systems and the role control
engineers have to play there
 Proper Control achievements
• Enhanced product quality
• Waste minimization
• Environmental protection
• Greater throughput for a given installed
capacity
• Greater yield
• Higher safety margins
 Applications
• Automatic controls in heating and air
conditioning systems
• Quality control of manufactured goods
• Automatic assembly line
• Machine tool control
• Space technology
• Power systems
• Robotics and so on…
 Examples
• Control systems are required in complex
machines, devices
– Aircraft control systems
– Anti-lock braking systems
– Manufacturing processes
 Definitions
• System: A system is an arrangement or
combination of different physical components
connected in such a manner so as to form an
entire unit to attain a certain objective
• Control: It means to regulate, direct or command
a system so that the desired objective is attained.
• Control system: The control system is that means
by which any quantity of interest in a machine,
mechanism or other equipment is maintained or
altered in accordance with a desired manner.
 Control System
• Control System consists of
– Input (Cause)
– Output (Effect)
– Way to achieve input and output
– Control action
Input Output
Plant

Operation
 Control System Elements
• Plant: It is defined as portion of the system which is to
be controlled or regulated. It is also known as Process
• Input: The stimulus or excitation applied to a system
from an external source in order to produce output
• Output: The actual response obtained from a system
• Controller: It is the element within the system itself or
external to the system and it controls the plant
• Disturbances: Signals which disturbs the system
– internal or external
 Types of Control systems
Two types of Control systems
– Open loop systems
– Closed loop systems
• Open Loop: A system in which the control action is
totally independent of the output of the system is
called as open loop system
• Closed Loop: A system in which the control action is
somehow dependent on the output is called as closed
loop system
– Feedback permits the output to be compared with the
reference input so that appropriate control action is
formed.
 Open and Closed Loop systems
• Open loop systems Controlled
output
Ref input u(t)
c(t)
R(t) Controller Process

• Closed loop systems Manipulated Controlled

Command Ref input Error signal m(t) output
I/P r(t) signal e(t) c(t)
Reference Process
+ Controller
selector -
Feedback
c(t)
signal b(t) Feedback
Open Loop System
Closed Loop System
 Closed Loop System

Human Body: Temperature Control

Closed Loop Control
 Sensors
• Automation tasks are possible because of
Sensors.
• Different types of Sensors: To make our lives
easier
– by turning on the lights by detecting our presence
– adjusting the room temperature
– detect smoke or fire
– open garage doors as soon as our car is near the
door and many other tasks.
 Sensors/Transducers
• Sensor as an input device which provides an
output (signal) with respect to a specific
physical quantity (input).
• Provides input to a main control system
 Transducers
• In order to use electrical methods and techniques
for measurement, manipulation and control,
Transducers are used.
• Definition: It is a device that converts signals from
one energy domain to another (usually electrical)
domain.
• Physical parameters such as Mechanical
force/displacement, heat, light intensity, humidity
may be converted into electrical energy by
transducers.
 Classification
• Active and Passive transducers
– Active transducers are those which require no
external excitation signal or a power signal.
– Passive transducers require external power signal and
directly generates output response.
• Based on means of detection used
– Electric, Biological, Chemical, Radioactive etc.
• Based on conversion phenomenon
– Photoelectric, Thermoelectric, Electrochemical,
Electromagnetic, Thermo-optic, etc.
• Analog and Digital
 Types of Transducers
• Commonly used transducers for measuring one of the
physical properties like Temperature, Resistance,
Capacitance, Conduction, Heat Transfer etc.
– Temperature
– Proximity
– Accelerometer
– IR Sensor (Infrared Sensor)
– Pressure
– Light
– Ultrasonic
– Smoke, Gas and Alcohol
– Touch
– Color
– Humidity
– Tilt
– Flow and Level
 Temperature Measurements
Transducer senses the temperature i.e. it measures the
changes in the temperature.
• Resistance Thermometer, Thermistor, Thermocouple
Applications: Temperature Sensors are used
everywhere like computers, mobile phones,
automobiles, air conditioning systems, industries etc.
 Temperature Measurements
• Resistance Thermometer or Resistance Temp
Detector (RTD)
• Resistance Thermometer: Resistance of pure metal
(Platinum, copper or nickel) wire with a large positive
temp coefficient of resistance varies with
temperature.
• Relation between temp and resistance of conductors

• It is probe type for immersion in the medium whose

temp is to be measured or controlled.
 RTD
• The following are the requirements of the
conductor used in the RTDs.
– The resistivity of the material is high so that the
minimum volume of conductor is used for
construction.
– The change in resistance of the material
concerning temperature should be as high as
possible.
– The resistance of the material depends on the
temperature.
RTD Characteristics
 Thermistor
• Thermistors or Thermal resistors are semiconductor devices
that behaves as resistance with high negative temp
coefficient of resistance.
• High sensitivity to temp change (6% decrease in R for every 1
degree centigrade rise in temp
• Extremely well suited for precision temp measurement
• Widely used in lower temp range of -100 to +300
• Composed of a sintered mixture of metallic oxides such as
manganese, nickel, cobalt, copper, iron and uranium.
• Resistance Range 0.5 to75 MΩ
• Wide variety of shapes and sizes.
Thermistor Resistance
 Thermocouple
• Thermocouple: An emf is generated across the junction of two
dissimilar metals or semiconductors when the junction is
heated.
• When the junction experiences a change in temperature, a
voltage is created in mV
• Used in many industrial and scientific applications
• Thermocouples are typically selected because of their low
cost, high temperature limits, wide temperature ranges, and
durable nature.
• A thermocouple is often enclosed in a protective sheath to
isolate it from the local atmosphere. This protective sheath
drastically reduces the effects of corrosion.
 Thermocouple Types
• Type K Thermocouple (Nickel-Chromium / Nickel-Alumel): The type K is
the most common type of thermocouple. It’s inexpensive, accurate,
reliable, and has a wide temperature range (-270 to 1260 C).
• Type J Thermocouple (Iron/Constantan): The type J is also very common.
It has a smaller temperature range (-210 to 760) and a shorter lifespan at
higher temperatures than the Type K.
• Type T Thermocouple (Copper/Constantan): The Type T is a very stable
thermocouple and is often used in extremely low temperature (-270 to
370) applications such as cryogenics or ultra low freezers.
• Type E Thermocouple (Nickel-Chromium/Constantan): The Type E has a
stronger signal & higher accuracy than the Type K or Type J at moderate
temperature ranges of 1,000F and lower. See temperature chart (linked)
for details.
• Type S Thermocouple (Platinum Rhodium - 10% / Platinum): The Type S
is used in very high temperature applications. It is commonly found in the
BioTech and Pharmaceutical industries. It is sometimes used in lower
temperature applications because of its high accuracy and stability.
Thermocouple Characteristics