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CONTROL SYSTEMS
UG Programme

MODULE - I

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Introduction
• A control system consists of subsystems and
processes (or plants) assembled for the
purpose of obtaining a desired output with
desired performance, given a specified input.
Output : Response
Input : Stimulus
CONTROL
Desired SYSTEM
Actual response
response

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Definitions
1. Controlled Variable and Manipulated
Variable:
• The control variable is the quantity or
condition that is measured and controlled.

• The manipulated variable is the quantity or

condition that is varied by the controller so as
to affect the value of the controlled variable.

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Definitions
2. Plant
• A plant may be a piece of equipment, perhaps
just a set of machine parts functioning together.
In control systems, any physical object to be
controlled is called a plant.

3. System
• A system is a combination of components that
act together and perform a certain objective.
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Open Loop Control Systems

Input Controller Plant Output

• Systems in which the output has no effect on the

control action are called open loop control systems.
• In an OL control system, the o/p is neither
measured nor fed back for comparison with the
reference input
• To each reference input there corresponds a fixed
operating condition.
• Hence, the accuracy of the system depends on
calibration.
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Open Loop Control Systems (Contd.)

• In the presence of disturbances, an OL control
system will not perform the desired task.

• OL control s/m can be used in practice only if the

relationship between the input and output is
known and if there are neither internal nor
external disturbances.

• Note : Any control system that operates on a

time basis is open loop. Eg: Traffic control

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Closed Loop Control System

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Closed Loop Control System

• A s/m that maintains a prescribed relationship
between the output and the reference input by
comparing them and using the difference as a means
of control is called a feedback control system.

• Feedback control systems are often referred to as

closed loop control systems.

• The actuating error signal (which is the difference

between the o/p s/l and the feedback s/l) is fed to
the controller so as to reduce the error and bring the
o/p of the s/m to a desired value.
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Transfer Function

X(s) Y(s)
G(s)

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Properties of Transfer Function

• The TF model of a s/m is a mathematical model

• Valid only for zero initial conditions.

• TF is a property of a system itself, independent

of the magnitude and nature of the input or
driving function.

• It does not provide information about the

physical structure of the system

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Procedure for deriving Transfer Functions

• It is assumed that there is no loading. That is, no power is
drawn at the output of the system
• If the system has more than one non-loading elements in
tandem, then the TF of each element is determined
independently and overall TF is obtained multiplying the
individual TF’s
• In case of systems consisting of elements which load each
other, the overall TF should be derived by basic analysis
without regard to the individual TF’s
• The system should be approximated by a linear lumped
constant parameters model by making use of suitable
assumptions.
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Mechanical Elements
• The mechanical elements that are commonly
used in control systems are:

 Mass
 Spring
 Dashpot
 Lever
 Gear Trains

• There are translational and rotational versions.

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Mechanical Elements (Contd.)

• These are passive (Non-energy producing devices)
• Driving inputs
 Force and Motion sources which causes elements to respond

• Each of these elements has one of the two possible

energy behaviours.
 Stores all energy supplied to it
 Dissipates all energy into heat by some kind of frictional effect

• Spring stores energy as potential energy

• Mass stores energy as kinetic energy
• Damper dissipates energy into heat.
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Translational motion

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Rotational Motion

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Force/Torque –Voltage Analogy

Mechanical Mechanical Electrical Systems
translational systems rotational systems
Force, F Torque, T Voltage, e
Mass, M Moment of inertia, J Inductance, L
Viscous friction Viscous friction Resistance, R
coefficient, f coefficient, f
Spring Stiffness, K Torsional spring
Stiffness, K
Displacement, x Charge, q
Current , i

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Force/Torque –Current Analogy

Mechanical Mechanical rotational Electrical Systems
translational systems
systems
Force, F Torque, T Current , i
Mass, M Moment of inertia, J Capacitance, C
Viscous friction Viscous friction
coefficient, f coefficient, f
Spring Stiffness, K Torsional spring
Stiffness, K
Displacement, x Magnetic flux
linkage
Voltage, e

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Electromechanical
Systems : Armature Control

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Electromechanical Systems :
Armature Control (Cond.)

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Electromechanical Systems :
Field Control

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Block Diagram representation

• A block diagram of a system is a pictorial
representation of the functions performed by each
component and of the flow of signals.

• System variables are linked to each other through

functional blocks.

• Block – A symbol for the mathematical operation

• Arrow – Represent signals

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Block Diagram representation

• Summing point :

 A circle with a cross is the symbol of summing point

 The + or – sign at each arrowhead indicates whether the signal is
added or subtracted
 It is important that the quantities being added or subtracted have the
same dimensions and the same units
• Branch Point :

 Point from which the signal from a block goes concurrently to other
blocks or summing points.

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block pickoff point

summer

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Block Diagram representation

Y (s)  G ( s) E (s)
E ( s )  R ( s )  H ( s )Y ( s )

Y ( s )  G ( s )[ R ( s )  H ( s )Y ( s )]  G ( s ) R ( s )  G ( s ) H ( s )Y ( s )
Y ( s) G (s)
T ( s)  
R( s) 1  G ( s) H ( s)
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original equivalent

A  A B A B C A  AC AC  B
 
   
B C C B

C
 A  A B A B C
A  A B C

 

B B C

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original equivalent
B
A A AG  B
A AG AG  B G G
G 
 
 1
B G
B

A A B ( A  B )G ( A  B )G
G A
 G 
 
B G
B

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original equivalent

AG AG
A A
G G

AG AG
G

AG AG
A A
G G

A 1 A
G

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Signal flow graph

• A signal flow graph is a diagram that
represent a set of simultaneous linear
algebraic equations.
• It consists of a network in which nodes are
connected by directed branches.
• Each node represent a system variable and
each branch connected between the node
acts as a signal multiplier.
• The direction of signal flow is indicated by an
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Signal Flow Graph (Contd.)

Term Explanation
Node Point representing a variable or a signal
Transmittance Real or complex gain between nodes
Branch Directed line segment joining two nodes
Source/input node Node having only outgoing branches – corresponding
to independent variable
Sink/Output node Node that has only incoming branches – corresponding
to a dependent variable
Mixed node Has both incoming and outgoing branches
Path Traversal of connected branches in the direction of
arrows
Loop A loop is a closed path
Loop gain The product of the branch transmittance of a loop
Non-touching loops Loops that do not possess any common nodes
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Properties of signal flow graph

• A branch indicates the functional dependence of
one signal on another

• A node adds the signals of all incoming branches

and transmits this sum to all outgoing branches

• A mixed node, which has both incoming and out

coming branches, may be treated as output node by
adding an outgoing branch of unity transmittance

• Signal flow graph is not unique

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Block diagrams and corresponding

signal flow graphs

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Block diagrams and corresponding

signal flow graphs

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Mason’s Gain formula

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