Control System Theory

ESE439
Introduction to Control System
 CO - PO
Course Outcome 2
Able to derive the mathematical model and the
corresponding transfer function for linear-time
invariant electrical, mechanical, electromechanical
system.

Programme Outcome 4
Able to identify, formulate and solve engineering
problems
 Introduction
• Engineering is concerned with the understanding and
controlling the materials and forces of nature for the benefit
of mankind.
• Control systems engineers are concerned with understanding
and controlling segments of their environment often called
systems, to provide useful economic products for society.
• The twin goals of understanding and control are
complementary because effective systems control requires
that the systems be understood and modelled.
 Control System Definition

A control system consists of subsystems and

processes (or plants) assembled for the purpose of
controlling the output of the processes.

OBJECTIVES RESULTS
INPUT, R OUTPUT, Y
CONTROL SYSTEM

Basic components of a control system

 Types of control system
1 . Open loop system

• System has no feedback.

• Output is neither measured nor feedback for comparison
with the input.

Input or Output or
Reference Controller Process/plant Controlled
variable
 Example of open loop system

Conclusion: a control system which operates

according to time is said to be an open loop
system.
 Types of control system
2. Closed – loop system
The closed-loop system compensates for disturbances by
measuring the output response, feeding that measurement
back through a feedback path, and comparing that
response to the reference input at the summing junction. If
there is any difference between the two responses (error),
the system drives the plant to make a correction.

Output or
Input or
Reference
Controller Process Controlled
variable

Measurement
 Example of closed-loop system

There are many examples on closed loop system such as in industries and homes,
they are :
Servomechanism, process control system, automatic water heater, home heating
system with thermostatic control.
 Open loop vs closed-loop
Types of system Advantages Disadvantages

Open loop 1. Simple & easy to maintain 1. The system response very
2. No stability problem sensitive to external
3. Inexpensive disturbance and internal
variations in system
parameters.
2. Recalibration is necessary from
time to time in order to
maintain the required quality in
the output

Closed - loop 1. Possible to use relatively 1. Complex

inaccurate and inexpensive 2. Expensive
components to obtain the 3. Risk instability whereby it may
accurate control of a given tends to overcorrect error.
plant.
2. Feedback makes it not
sensitive to outside
disturbance and internal
variations in system
parameters
3. Better control of transient &
steady-state response
Basic elements in control system
 The function of basic elements
• Controller : a device drives a process or a plant.
• Final control element : changes the process variable
under command of the controller to affect the
regulation of the output.
• Process : progressively continuing operation which can
transform i/p to the desired o/p
• Plant : equipment or machine parts functioning
together to perform a particular operation.
• Measurement : measures the o/p response and
converts the o/p into the form used by the controller.
 Examples 1

A disturbance changes car speed and the driver make

changes to maintain the speed of the car at a prescribed
level. Sketch the block diagram to illustrate the feedback
system by identifying the 4 basic elements.
 Solution Example 1

Final control
Controller Process Actual
element
Output
Desired Input
Brain Brake pedal Car engine

Eyes/Odometer

Measurement
element
 Example 2

Figure above shows a human operated fluid-flow

control. Sketch the block diagram to illustrate the
feedback system.
 Solution Example 2

Final control
Controller element Process
Actual
Desired i/p
o/p
Brain Valve/Muscles/ Tank
Arm

Eyes

Measurement
element
 Example 3

A schematic diagram of a liquid level control system is shown below. The

automatic controller maintains the liquid level by comparing the actual level
with a desired level and correcting any error by adjusting the opening of the
pneumatic valve.
Draw a functional block diagram by identifying the controller, process,
input, output and sensor of the system.
Case Study: Antenna Azimuth Position Control

Antenna azimuth position control system could be used to

position a radio telescope antenna
The purpose of this system is to have the azimuth angle
output of the antenna follow the input angle of the
potentiometer
Schematic diagram of Antenna Azimuth Position Control
Functional block diagram of Antenna
Azimuth Position Control
 Antenna Azimuth Position Control
• The input command is an angular displacement.
The potentiometer converts the angular
displacement into a voltage
• Similarly, the output angular displacement is
converted to a voltage by the potentiometer in
the feedback path
• The signal and power amplifiers boost the
difference between the input and output
voltages. This signal will drives the plant
 Antenna Azimuth Position Control
• The system normally operates to drive the
error to zero. When the input and output
match, the error will be zero and the motor
will not turn.
• Thus, the motor is driven only when the
output and the input do not match. The
greater the difference between the input and
the output, the larger the motor input voltage,
and the faster the motor will turn
 Antenna Azimuth Position Control
• If the gain is increased, then for a given actuating signal,
the motor will be driven harder. The difference in the
response will be in the transients. Since the motor is
driven harder, it turns faster towards its final position.
• Also, because of the increased speed, increased
momentum could cause the motor to overshoot the final
value and be forced by the system to return to the
commanded position.