Prelim-MODULE 2

PAMANTASAN NG CABUYAO
COLLEGE OF COMPUTING AND ENGINEERING
COURSE CODE: CPP111
COURSE DESCRIPTION: FEEDBACK CONTROL SYSTEM
COURSE INTENDED On the completion of the course, student is expected to be able to do the
LEARNING OUTCOMES: following:
1. Describe how control system works on different applications on

the industry.
2. Design and formulate control system representation using
diagrams.
3. Design different control system relevant to the industry using
simulation software’s and diagrams.
LEARNING MATERIAL FOR 2

WEEK NUMBER:
I. TITLE: Types to Control System
II. OBJECTIVES: By the end of this module you should be able to:
1. Understand the main part of the module is devoted to basic
methods, tools and elements for control-systems design.
2. Identify important advances that have taken place in the history of
modern computing,
3. Formulate different types of analysis in frequency domain to
explain the nature of stability of the system;
III. INTRODUCTION:
A system can be either closed or open:
A closed system is a system that is completely isolated from its

environment.
This is the definition commonly used in the system literature, which we

have chosen to follow. This is different from the thermodynamics
definition, which differentiates between systems that are “closed” (no
material flow) and “isolated” (no material or energy flow).
An open system is a system that has flows of information, energy, and/or

matter between the system and its environment, and which adapts to the
exchange.
All physical systems of interest to systems engineering are open systems.

However, there can be special cases in systems engineering where it is
convenient to treat a system as if it is closed, if there are no significant
external relationships or interactions to contend with.
IV. CONTENTS:
Lesson Coverage:
1. Types of Control System
LECTURE NOTES COMPILATION Page 1 of 14

1st Semester A.Y. 2021-2022
TYPES OF CONTROL SYSTEM
In order to define more precisely control systems, one can separate them into two different categories:
The open-loop Control Systems (no feedback systems)
The closed-loop Control Systems (feedback is used in part of the input given to the control system (or
controller))
In fact, feedback can be seen as a link between the output and the input of the system; it is used to obtain a more
accurate control by being compared to the input, in order to correct an error.
However, beside this purpose, feedback has numerous other effects, among which stability, bandwidth, overall
gain, impedance, and sensitivity can be noticed, effects which have their importance in any control application.
Control System Basics- Purpose & Methods
Primary Aim: • To regulate certain variables about constant values even when there are disturbances.
• To force some parameter to vary in a specific manner.
Control Methods: • ‘Manual’ control
• ‘Automatic’ control
4 main control purposes
1. For power amplification
e.g. in moving the radar antenna position to certain angle, small input power is amplified to produce high output
torque.
2. For remote control
e.g. in controlling the movements of robots working in contaminated areas where human presence should be
avoided.
3. For convenience of input form
e.g. in a temperature control system, the turn of a knob corresponds to certain desired room temperature.
4. For compensation for disturbance
e.g. to maintain antenna position in the presence of strong wind.
Manual Control
Human-aided control
Operator constantly observe the deviation and make corrections when necessary
Not consistent
Hundreds of variables to be controlled

Automatic Control
To replace humans with machines (nowadays, computers) to implement the control of the plant.
Measurement => sensors/transducers
Decision => computers
Control action è actuators
3 Main Control System Components
SENSOR CONTROLLER FINAL CONTROL ELEMENT
A. sense the physical signals
B. convert into electrical signals
e.g. thermocouple measures a temperature and converts it into voltage
A. The ‘brain’ of the control system
B. Does all the calculations and decision-making processes – computer
C. compares the desired and actual plant output è calculate the amount of control to be applied
A. accepts an input from the controller, which is then transformed into some proportional operation performed
on the process
B. Must be operated by an actuator
e.g. to control the yawing direction of a ship, the rudder (the final control element) is moved to certain angle by
a hydraulic actuator.
CLASSIFICATION
Control Systems may be classified in a number of ways depending on the purpose of classification.
1. Depending on the hierarchy, control systems may be classified as
a. Open-loop
b. Close – loop
c. Optimal
d. Adaptive
e. Learning
2. Depending on the presence of human being as part of the control system
a. Manual Controlled

b. Automatic Controlled
3. Depending on the presence of feedback, control system may be classified as
a. Open - loop
b. Close - loop
4. According to the main purpose of the system
a. Position
b. Velocity
c. Process
d. Temperature
e. Traffic, etc
Feedback control system may be classified in a number of ways depending on the purpose of classification.
1. According to the method of analysis and design, control system may be classified as linear control
system and nonlinear control system
2. Depending on whether the parameters of the system remain constant or vary with time, control systems
may be classified as time-varying control systems or time – invariant control system.
3. According to the type of signals used in the system, control may be classified as
a. Continuous-data control and discrete – data control
b. AC(modulated) control system and DC (unmodulated) control system
4. Depending on the application, control system may be classified as position control system, velocity
control system, process control system, traffic control system, etc.
5. Depending on the number of inputs and outputs, control systems may be classified as single-input-
single-output (SISO) control system and multi-input-multi-output (MIMO). MIMO is also known as
multivariable system.
6. Depending on the number of open loop poles of the system transfer function present at the origin of the
s-plane, control system may be classified as
a. Type-0
b. Type-1
c. Type-2 etc system
7. Depending on the order of the differential equation used to describe the system, control system may be
classified as first – order control system, second – order control system, etc.

8. Depending on the type of damping, control systems are classified as
a. Undamped
b. Underdamped
c. Critically damped
d. Overdamped
THE FEATURES OF A GOOD CONTROL SYSTEM.
Accuracy: Accuracy of a system means that how accurately the system works. It means if a system has very less
error then the system will be highly accurate. So, accuracy of control system should be high or error should be
less.
Sensitivity : Sensitivity of a control system should be less; it means it should be made in such a way that it will
be unaffected by external disturbances. If any disturbance comes in forward or feedback path then it should not
have much effect in output of control system, so those systems which have less sensitivity are considered as
good control system.
Bandwidth : bandwidth is a range of frequencies over which a control system can work. So, to have a good
control system, the bandwidth of system should be high.
Stability : Stability of a system means, if any disturbance comes in the system then how fast the system comes
in its original state. If it recovers its original state, then the system is called highly stable. And a good control
system should have high stability.
Speed : Speed of a control system should be high. We can think that a slow system is of no use, like if an
electric iron takes too much time to heat up its bottom then it will be of no use.
Oscillations : A good control system should have less oscillations. Actually, oscillations make the performance
of a system poor.
REPRESENTATION OF A SYSTEM
OPEN LOOP SYSTEM
Open-loop System with very few automatic control or feedback features built in to regulate the process variable
so as to maintain the desired output level or value.
For example, an electric clothes dryer. Depending upon the amount of clothes or how wet they are, a user or
operator would set a timer (controller) to say 30 minutes and at the end of the 30 minutes the drier will
automatically stop and turn-off even if the clothes where still wet or damp.
In this case, the control action is the manual operator assessing the wetness of the clothes and setting the process
(the drier) accordingly.

So in this example, the clothes dryer would be an open-loop system as it does not monitor or measure the
condition of the output signal, which is the dryness of the clothes. Then the accuracy of the drying process, or
success of drying the clothes will depend on the experience of the user (operator).
However, the user may adjust or fine tune the drying process of the system at any time by increasing or
decreasing the timing controllers drying time, if they think that the original drying process will not be met. For
example, increasing the timing controller to 40 minutes to extend the drying process. Consider the following
open-loop block diagram.
OPEN-LOOP CONTROL SYSTEM
Then an Open-loop system, also referred to as non-feedback system, is a type of continuous control system in
which the output has no influence or effect on the control action of the input signal. In other words, in an open-
loop control system the output is neither measured nor “fed back” for comparison with the input. Therefore, an
open-loop system is expected to faithfully follow its input command or set point regardless of the final result.
Also, an open-loop system has no knowledge of the output condition so cannot self-correct any errors it could
make when the preset value drifts, even if this results in large deviations from the preset value.
Another disadvantage of open-loop systems is that they are poorly equipped to handle disturbances or changes
in the conditions which may reduce its ability to complete the desired task. For example, the dryer door opens
and heat is lost. The timing controller continues regardless for the full 30 minutes but the clothes are not heated
or dried at the end of the drying process. This is because there is no information fed back to maintain a constant
temperature.
Then we can see that open-loop system errors can disturb the drying process and therefore requires extra
supervisory attention of a user (operator). The problem with this anticipatory control approach is that the user
would need to look at the process temperature frequently and take any corrective control action whenever the
drying process deviated from its desired value of drying the clothes. This type of manual open-loop control
which reacts before an error actually occurs is called Feed forward Control
The objective of feed forward control, also known as predictive control, is to measure or predict any potential
open-loop disturbances and compensate for them manually before the controlled variable deviates too far from
the original set point. So for our simple example above, if the dryers door was open it would be detected and
closed allowing the drying process to continue.
If applied correctly, the deviation from wet clothes to dry clothes at the end of the 30 minutes would be minimal
if the user responded to the error situation (door open) very quickly. However, this feed forward approach may
not be completely accurate if the system changes, for example the drop in drying temperature was not noticed
during the 30 minute process.

Then we can define the main characteristics of an “Open-loop system” as being:
• There is no comparison between actual and desired values.
• An open-loop system has no self-regulation or control action over the output value.
• Each input setting determines a fixed operating position for the controller.
• Changes or disturbances in external conditions does not result in a direct output change (unless the
controller setting is altered manually).
Any open-loop system can be represented as multiple cascaded blocks in series or a single block diagram with
an input and output. The block diagram of an open-loop system shows that the signal path from input to output
represents a linear path with no feedback loop and for any type of control system the input is given the
designation θi and the output θo.
Generally, we do not have to manipulate the open-loop block diagram to calculate its actual transfer function.
We can just write down the proper relationships or equations from each block diagram, and then calculate the
final transfer function from these equations as shown.
Open-loop System
The Transfer Function of each block is therefore:
The overall transfer function is given as:
Then the Open-loop Gain is given simply as:
When G represents the Transfer Function of the system or subsystem, it can be rewritten as: G(s) = θo(s)/θi(s)
Open-loop control systems are often used with processes that require the sequencing of events with the aid of
“ON-OFF” signals.
For example, a washing machines which requires the water to be switched “ON” and then when full is switched
“OFF” followed by the heater element being switched “ON” to heat the water and then at a suitable temperature
is switched “OFF”, and so on.
This type of “ON-OFF” open-loop control is suitable for systems where the changes in load occur slowly and
the process is very slow acting, necessitating infrequent changes to the control action by an operator.
Open-loop Control Systems Summary
We have seen that a controller can manipulate its inputs to obtain the desired effect on the output of a system.
One type of control system in which the output has no influence or effect on the control action of the input
signal is called an Open-loop system.

An “open-loop system” is defined by the fact that the output signal or condition is neither measured nor “fed
back” for comparison with the input signal or system set point. Therefore, open-loop systems are commonly
referred to as “Non-feedback systems”.
Also, as an open-loop system does not use feedback to determine if its required output was achieved, it
“assumes” that the desired goal of the input was successful because it cannot correct any errors it could make,
and so cannot compensate for any external disturbances to the system.
Open-loop Motor Control
So for example, assume the DC motor controller as shown. The speed of rotation of the motor will depend upon
the voltage supplied to the amplifier (the controller) by the potentiometer. The value of the input voltage could
be proportional to the position of the potentiometer.
If the potentiometer is moved to the top of the resistance the maximum positive voltage will be supplied to the
amplifier representing full speed. Likewise, if the potentiometer wiper is moved to the bottom of the resistance,
zero voltage will be supplied representing a very slow speed or stop.
Then the position of the potentiometers slider represents the input, θi which is amplified by the amplifier
(controller) to drive the DC motor (process) at a set speed N representing the output, θo of the system. The
motor will continue to rotate at a fixed speed determined by the position of the potentiometer.
As the signal path from the input to the output is a direct path not forming part of any loop, the overall gain of
the system will the cascaded values of the individual gains from the potentiometer, amplifier, motor and load. It
is clearly desirable that the output speed of the motor should be identical to the position of the potentiometer,
giving the overall gain of the system as unity.
However, the individual gains of the potentiometer, amplifier and motor may vary over time with changes in
supply voltage or temperature, or the motors load may increase representing external disturbances to the open-
loop motor control system.
But the user will eventually become aware of the change in the systems performance (change in motor speed)
and may correct it by increasing or decreasing the potentiometers input signal accordingly to maintain the
original or desired speed.
The advantages of this type of “open-loop motor control” is that it is potentially cheap and simple to implement
making it ideal for use in well-defined systems were the relationship between input and output is direct and not
influenced by any outside disturbances. Unfortunately, this type of open-loop system is inadequate as variations
or disturbances in the system affect the speed of the motor. Then another form of control is required.
Systems in which the output quantity has no effect upon the input to the control process are called open-loop
control systems, and that open-loop systems are just that, open ended non-feedback systems.
But the goal of any electrical or electronic control system is to measure, monitor, and control a process and one
way in which we can accurately control the process is by monitoring its output and “feeding” some of it back to
compare the actual output with the desired output so as to reduce the error and if disturbed, bring the output of
the system back to the original or desired response.

The quantity of the output being measured is called the “feedback signal”, and the type of control system which
uses feedback signals to both control and adjust itself is called a Close-loop System.
A Closed-loop Control System, also known as a feedback control system is a control system which uses the
concept of an open loop system as its forward path but has one or more feedback loops (hence its name) or
paths between its output and its input. The reference to “feedback”, simply means that some portion of the
output is returned “back” to the input to form part of the systems excitation.
Closed-loop systems are designed to automatically achieve and maintain the desired output condition by
comparing it with the actual condition. It does this by generating an error signal which is the difference between
the output and the reference input. In other words, a “closed-loop system” is a fully automatic control system in
which its control action being dependent on the output in some way.
So for example, consider our electric clothes dryer from the previous Open-loop tutorial. Suppose we used a
sensor or transducer (input device) to continually monitor the temperature or dryness of the clothes and feed a
signal relating to the dryness back to the controller as shown below.
Closed-loop Control
This sensor would monitor the actual dryness of the clothes and compare it with (or subtract it from) the input
reference. The error signal (error = required dryness – actual dryness) is amplified by the controller, and the
controller output makes the necessary correction to the heating system to reduce any error.
For example, if the clothes are too wet the controller may increase the temperature or drying time. Likewise, if
the clothes are nearly dry it may reduce the temperature or stop the process so as not to overheat or burn the
clothes, etc.
Then the closed-loop configuration is characterized by the feedback signal, derived from the sensor in our
clothes drying system. The magnitude and polarity of the resulting error signal, would be directly related to the
difference between the required dryness and actual dryness of the clothes.
Also, because a closed-loop system has some knowledge of the output condition, (via the sensor) it is better
equipped to handle any system disturbances or changes in the conditions which may reduce its ability to
complete the desired task.
For example, as before, the dryer door opens and heat is lost. This time the deviation in temperature is detected
by the feedback sensor and the controller self-corrects the error to maintain a constant temperature within the
limits of the preset value. Or possibly stops the process and activates an alarm to inform the operator.
As we can see, in a closed-loop control system the error signal, which is the difference between the input signal
and the feedback signal (which may be the output signal itself or a function of the output signal), is fed to the
controller so as to reduce the systems error and bring the output of the system back to a desired value. In our
case the dryness of the clothes. Clearly, when the error is zero the clothes are dry.
The term Closed-loop control always implies the use of a feedback control action in order to reduce any errors
within the system, and its “feedback” which distinguishes the main differences between an open-loop and a
closed-loop system.
The accuracy of the output thus depends on the feedback path, which in general can be made very accurate and
within electronic control systems and circuits, feedback control is more commonly used than open-loop or feed
forward control.

Closed-loop systems have many advantages over open-loop systems. The primary advantage of a closed-loop
feedback control system is its ability to reduce a system’s sensitivity to external disturbances, for example
opening of the dryer door, giving the system a more robust control as any changes in the feedback signal will
result in compensation by the controller.
Then we can define the main characteristics of Closed-loop Control as being:
• To reduce errors by automatically adjusting the systems input.
• To improve stability of an unstable system.
• To increase or reduce the systems sensitivity.
• To enhance robustness against external disturbances to the process.
• To produce a reliable and repeatable performance.
Whilst a good closed-loop system can have many advantages over an open-loop control system, its main
disadvantage is that in order to provide the required amount of control, a closed-loop system must be more
complex by having one or more feedback paths.
Also, if the gain of the controller is too sensitive to changes in its input commands or signals it can become
unstable and start to oscillate as the controller tries to over-correct itself, and eventually something would break.
So we need to “tell” the system how we want it to behave within some pre-defined limits.
Closed-loop Summing Points
For a closed-loop feedback system to regulate any control signal, it must first determine the error between the
actual output and the desired output. This is achieved using a summing point, also referred to as a comparison
element, between the feedback loop and the systems input. These summing points compare a systems set point
to the actual value and produce a positive or negative error signal which the controller responds too. where:
Error = Set point – Actual
The symbol used to represent a summing point in closed-loop systems block-diagram is that of a circle with two
crossed lines as shown. The summing point can either add signals together in which a Plus ( + ) symbol is used
showing the device to be a “summer” (used for positive feedback), or it can subtract signals from each other in
which case a Minus ( − ) symbol is used showing that the device is a “comparator” (used for negative feedback)
as shown.
Summing Point Types
Note that summing points can have more than one signal as inputs either adding or subtracting but only one
output which is the algebraic sum of the inputs. Also the arrows indicate the direction of the signals. Summing
points can be cascaded together to allow for more input variables to be summed at a given point.

Closed-loop System Transfer Function
The Transfer Function of any electrical or electronic control system is the mathematical relationship between
the systems input and its output, and hence describes the behavior of the system. Note also that the ratio of the
output of a particular device to its input represents its gain. Then we can correctly say that the output is always
the transfer function of the system times the input. Consider the closed-loop system below.
Typical Closed-loop System Representation
Where: block G represents the open-loop gains of the controller or system and is the forward path, and block H
represents the gain of the sensor, transducer or measurement system in the feedback path.
To find the transfer function of the closed-loop system above, we must first calculate the output signal θo in
terms of the input signal θi. To do so, we can easily write the equations of the given block-diagram as follows.
The output from the system is equal to: Output = G x Error
Note that the error signal, θe is also the input to the feed-forward block: G
The output from the summing point is equal to: Error = Input - H x Output If H = 1 (unity feedback) then:
The output from the summing point will be: Error (θe) = Input - Output
Eliminating the error term, then: The output is equal to: Output = G x (Input - H x Output)
Therefore: G x Input = Output + G x H x Output
Rearranging the above gives us the closed-loop transfer function of:
The above equation for the transfer function of a closed-loop system shows a Plus ( + ) sign in the denominator
representing negative feedback. With a positive feedback system, the denominator will have a Minus ( − ) sign
and the equation becomes: 1 - GH.
We can see that when H = 1 (unity feedback) and G is very large, the transfer function approaches unity as:
Also, as the systems steady state gain G decreases, the expression of: G/(1 + G) decreases much more slowly.
In other words, the system is fairly insensitive to variations in the systems gain represented by G, and which is
one of the main advantages of a closed-loop system.
Multi-loop Closed-loop System
Whilst our example above is of a single input, single output closed-loop system, the basic transfer function still
applies to more complex multi-loop systems. Most practical feedback circuits have some form of multiple loop
control, and for a multi-loop configuration the transfer function between a controlled and a manipulated variable
depends on whether the other feedback control loops are open or closed.

Consider the multi-loop system below.
Any cascaded blocks such as G1 and G2 can be reduced, as well as the transfer function of the inner loop as
shown.
After further reduction of the blocks we end up with a final block diagram which resembles that of the previous
single-loop closed-loop system.
And the transfer function of this multi-loop system becomes:
Then we can see that even complex multi-block or multi-loop block diagrams can be reduced to give one single
block diagram with one common system transfer function.
Closed-loop Motor Control
So how can we use Closed-loop Systems in Electronics. Well consider our DC motor controller from the
previous open-loop tutorial. If we connected a speed measuring transducer, such as a tachometer to the shaft of
the DC motor, we could detect its speed and send a signal proportional to the motor speed back to the amplifier.
A tachometer, also known as a tacho-generator is simply a permanent-magnet DC generator which gives a DC
output voltage proportional to the speed of the motor.
Then the position of the potentiometers slider represents the input, θi which is amplified by the amplifier
(controller) to drive the DC motor at a set speed N representing the output, θo of the system, and the tachometer
T would be the closed-loop back to the controller. The difference between the input voltage setting and the
feedback voltage level gives the error signal as shown.
Closed-loop Motor Control
Any external disturbances to the closed-loop motor control system such as the motors load increasing would
create a difference in the actual motor speed and the potentiometer input set point.
This difference would produce an error signal which the controller would automatically respond too adjusting
the motors speed. Then the controller works to minimize the error signal, with zero error indicating actual speed
which equals set point.
Electronically, we could implement such a simple closed-loop tachometer-feedback motor control circuit using
an operational amplifier (op-amp) for the controller as shown.
Closed-loop Motor Controller Circuit
This simple closed-loop motor controller can be represented as a block diagram as shown.

Block Diagram for the Feedback Controller
A closed-loop motor controller is a common means of maintaining a desired motor speed under varying load
conditions by changing the average voltage applied to the input from the controller. The tachometer could be
replaced by an optical encoder or Hall-effect type positional or rotary sensor.
Closed-loop Systems Summary
We have seen that an electronic control system with one or more feedback paths is called a Closed-loop System.
Closed-loop control systems are also called “feedback control systems” are very common in process control and
electronic control systems.
Feedback systems have part of their output signal “fed back” to the input for comparison with the desired set
point condition. The type of feedback signal can result either in positive feedback or negative feedback.
In a closed-loop system, a controller is used to compare the output of a system with the required condition and
convert the error into a control action designed to reduce the error and bring the output of the system back to the
desired response. Then closed-loop control systems use feedback to determine the actual input to the system and
can have more than one feedback loop.
Closed-loop control systems have many advantages over open-loop systems. One advantage is the fact that the
use of feedback makes the system response relatively insensitive to external disturbances and internal variations
in system parameters such as temperature. It is thus possible to use relatively inaccurate and inexpensive
components to obtain the accurate control of a given process or plant.
However, system stability can be a major problem especially in badly designed closed-loop systems as they
may try to over-correct any errors which could cause the system to loss control and oscillate.

V. REFERENCES: Hudson D. (2020), Python for Beginners, Larsen and Keller, Penn Plaza NY, USA
Tockey S. (2020), How to Engineer Software, Wiley IEEE Press, Piscataway, USA
Pomperada J. (2019), Python Programming for Beginners.Mindshapers INC,

Intramuros Manila, PH
VI. ASSESSMENT TASK:
Assessment task is posted as scheduled in our MS Team.
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Prelim-MODULE 2

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PAMANTASAN NG CABUYAO

COLLEGE OF COMPUTING AND ENGINEERING

COURSE CODE: CPP111

COURSE DESCRIPTION: FEEDBACK CONTROL SYSTEM

1. Describe how control system works on different applications on

LEARNING MATERIAL FOR 2

I. TITLE: Types to Control System

A closed system is a system that is completely isolated from its

This is the definition commonly used in the system literature, which we

An open system is a system that has flows of information, energy, and/or

All physical systems of interest to systems engineering are open systems.

1. Types of Control System

LECTURE NOTES COMPILATION Page 1 of 14

TYPES OF CONTROL SYSTEM

The open-loop Control Systems (no feedback systems)

Control System Basics- Purpose & Methods

• To force some parameter to vary in a specific manner.

Control Methods: • ‘Manual’ control

4 main control purposes

1. For power amplification

2. For remote control

3. For convenience of input form

4. For compensation for disturbance

e.g. to maintain antenna position in the presence of strong wind.

Hundreds of variables to be controlled

LECTURE NOTES COMPILATION Page 2 of 14

Measurement => sensors/transducers

Decision => computers

Control action è actuators

3 Main Control System Components

SENSOR CONTROLLER FINAL CONTROL ELEMENT

A. sense the physical signals

B. convert into electrical signals

e.g. thermocouple measures a temperature and converts it into voltage

A. The ‘brain’ of the control system

B. Does all the calculations and decision-making processes – computer

B. Must be operated by an actuator

1. Depending on the hierarchy, control systems may be classified as

2. Depending on the presence of human being as part of the control system

LECTURE NOTES COMPILATION Page 3 of 14

3. Depending on the presence of feedback, control system may be classified as

4. According to the main purpose of the system

a. Continuous-data control and discrete – data control

b. AC(modulated) control system and DC (unmodulated) control system

c. Type-2 etc system

LECTURE NOTES COMPILATION Page 4 of 14

8. Depending on the type of damping, control systems are classified as

THE FEATURES OF A GOOD CONTROL SYSTEM.

OPEN LOOP SYSTEM

LECTURE NOTES COMPILATION Page 5 of 14

OPEN-LOOP CONTROL SYSTEM

LECTURE NOTES COMPILATION Page 6 of 14

Then we can define the main characteristics of an “Open-loop system” as being:

• There is no comparison between actual and desired values.

The Transfer Function of each block is therefore:

The overall transfer function is given as:

Then the Open-loop Gain is given simply as:

Open-loop Control Systems Summary

LECTURE NOTES COMPILATION Page 7 of 14

Open-loop Motor Control

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LECTURE NOTES COMPILATION Page 9 of 14

Then we can define the main characteristics of Closed-loop Control as being: