Control Systems

Engineering
What is Control System?

-a system which consists of number of components connected together

to perform a specific function, which the output is controlled by the
input.

2 Control System Configuration

1.) Open-Loop System

2.) Closed-Loop System
Control System Configurations

Open-Loop System
Advantages
1.Simple & Economical
2.Easier to Construct
3.Stable

Disadvantages
1.Inaccurate
2.Cannot compensate disturbances
Control System Configurations

Closed-Loop System
Advantages
1.Accurate
2.Less affected by disturbance

Disadvantages
1.Complex and costlier
2.Not stable
Introduction to Block
Diagrams
Elements of Block Diagram

Block Summing
Junction

Break Point Signal

Single Block Diagram Representation

C(s)=G(s)R(s)
Block Diagram Components

C(s)=G(s)R(s)
Definitions

G(s)=Direct Transfer Function = Forward T.F.

H(s)=Feedback Transfer Function
G(s)H(s)=Open Loop Transfer Function
C(s)/R(s)=Closed Loop Transfer Function or Control Ratio
C(s)/E(s)=Feed Forward Transfer Function
C(s)=Output or Controlled Variable
R(s)=Input or Reference
Transfer Function

Transfer function of a control system is the ratio of laplace

transform of output to laplace transform of input

 
𝐿𝑇 𝑂𝑢𝑡𝑝𝑢𝑡 𝐶 ( 𝑠)
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = =𝐺 ( 𝑠 ) =
𝐿𝑇 𝐼𝑛𝑝𝑢𝑡 𝑅 ( 𝑠)
Transfer Function, C(s)/R(s)

Types of Feedback

Positive Feedback Negative Feedback

 Effects of Feedback in Control System
 

On Gain:

As value increases, the gain of the system decreases;

As value decreases, the gain of the system increases.

 Effects of Feedback in Control System
 
On Sensitivity:

Sensitivity is a measure of the dependence of a system's characteristics on

those of a particular element. The lesser the sensitivity, the better on the system.
This measures the robust of the system, if the disturbance in plant will make it
lose stability or not.
 Effects of Feedback in Control System

On Stability:
 

The stability is controlled by the feedback,

Block Diagram Simplification

1.𝐶𝑎𝑠𝑐𝑎𝑑𝑒
  ( 𝑆𝑒𝑟𝑖𝑒𝑠 ) 𝐶𝑜𝑛𝑛𝑒𝑐𝑡𝑖𝑜𝑛
Block Diagram Simplification

𝑃𝑎𝑟𝑎𝑙𝑙𝑒𝑙 𝐶𝑜𝑛𝑛𝑒𝑐𝑡𝑖𝑜𝑛
 
Block Diagram for Summing Junctions

 𝐶 ( 𝑠 ) =𝐺 ( 𝑠 ) [ 𝑅 ( 𝑠 ) ± 𝑋 ( 𝑠 )]
 𝐶 ( 𝑠 ) =𝐺 ( 𝑠 ) 𝑅 ( 𝑠)± 𝐺 ( 𝑠 ) 𝑋 ( 𝑠)

 𝐶 ( 𝑠 ) = 𝑅 ( 𝑠 ) 𝐺 ( 𝑠)± 𝑋 (𝑠)

 𝐶 ( 𝑠 ) =𝐺 ( 𝑠 ) [ 𝑅 (𝑠 ) ± 𝑋 /𝐺 (𝑠 )]
Block Diagram for Branch Points
Block Diagram Reduction Rules
Ex.1 Solving for Transfer Function, C(s)/R(s)

 𝐶 ( 𝑠 ) = 𝐸 ( 𝑠 ) 𝐺 ( 𝑠 ) , 𝑤h𝑒𝑟𝑒
 𝐶 ( 𝑠 ) = [ 𝑅 ( 𝑠 ) − 𝐵 ( 𝑠 ) ] 𝐺 ( 𝑠 ) , 𝑤h𝑒𝑟𝑒
 𝐶 ( 𝑠 ) =[ 𝑅 ( 𝑠 ) − 𝐻 ( 𝑠 ) 𝐶 (𝑠)] 𝐺 ( 𝑠)
 𝐶 ( 𝑠 ) =𝐺 ( 𝑠) 𝑅 ( 𝑠 ) − 𝐺 ( 𝑠) 𝐻 ( 𝑠 ) 𝐶 (𝑠)

 𝐺 ( 𝑠 ) 𝑅 ( 𝑠)=𝐶 ( 𝑠 ) +𝐺 (𝑠 ) 𝐻 ( 𝑠 ) 𝐶 ( 𝑠)
 𝐺 ( 𝑠 ) 𝑅 ( 𝑠)=𝐶 ( 𝑠 ) [1+𝐺 ( 𝑠 ) 𝐻 ( 𝑠 ) ]

 𝐸 ( 𝑠 ) = 𝑅 ( 𝑠 ) − 𝐵 (𝑠 )   𝐶 ( 𝑠) 𝐺 ( 𝑠)
𝑇𝐹 =𝐺 ( 𝑠 ) = =
 𝐵 ( 𝑠 ) = 𝐻 ( 𝑠 ) 𝐶 ( 𝑠) 𝑅 ( 𝑠) 1+𝐺 ( 𝑠 ) 𝐻 ( 𝑠 )
New Single Block Diagram formed from solved TF

 𝑅( 𝑠)  𝐶 (𝑠)
  𝐺 (𝑠 )
1+𝐺 ( 𝑠 ) 𝐻 ( 𝑠 )
Ex.2 Reduce the block diagram into a single transfer
function
Ex.2 Reduce the block diagram into a single transfer
function
Ex.2 Reduce the block diagram into a single transfer
function

𝐶
  ( 𝑠 ) =𝐺 3 ( 𝑠 ) 𝐺 2 ( 𝑠 ) {𝑅 ( 𝑠 ) 𝐺 1 ( 𝑠 ) − 𝐶 ( 𝑠 ) [ 𝐻 1 ( 𝑠 ) − 𝐻 2 ( 𝑠 ) + 𝐻 3 ( 𝑠 ) ] }
 𝐶 ( 𝑠 ) = 𝑅 ( 𝑠 ) 𝐺 3 ( 𝑠 ) 𝐺 2 ( 𝑠 ) 𝐺 1 ( 𝑠 ) − 𝐶 ( 𝑠 ) 𝐺 3 ( 𝑠 ) 𝐺 2 ( 𝑠 ) [ 𝐻 1 ( 𝑠 ) − 𝐻 2 ( 𝑠 ) + 𝐻 3 ( 𝑠 ) ]

 𝑅 ( 𝑠 ) 𝐺 3 ( 𝑠 ) 𝐺 2 ( 𝑠 ) 𝐺 1 ( 𝑠 ) =𝐶 ( 𝑠 )+𝐶 ( 𝑠 ) 𝐺 3 ( 𝑠 ) 𝐺 2 ( 𝑠 ) [ 𝐻 1 ( 𝑠 ) − 𝐻 2 ( 𝑠 ) + 𝐻 3 ( 𝑠 ) ]
  𝑅 ( 𝑠 ) 𝐺 3 ( 𝑠 ) 𝐺 2 ( 𝑠 ) 𝐺 1 ( 𝑠 ) =𝐶 ( 𝑠 ) ¿
Ex.2 Reduce the block diagram into a single transfer
function

  𝐶 ( 𝑠) 𝐺 3 ( 𝑠 ) 𝐺2 ( 𝑠 ) 𝐺 1 ( 𝑠 )
𝑇𝐹 = =
𝑅( 𝑠) 1+𝐺 3 ( 𝑠 ) 𝐺 2 ( 𝑠 ) [ 𝐻 1 ( 𝑠 ) − 𝐻 2 ( 𝑠 ) + 𝐻 3 ( 𝑠 ) ]