MBEYA UNIVERSITY OF SCIENCE

AND TECHNOLOGY

COLLEGE OF ENGINEERING AND TECHNOLOGY

DEPARTMENT OF MECHANICAL AND INDUSTRIAL ENGINEERING

MODULE_ME 6324: CONTROL SYSTEM

COURSE CREDIT: 06

Dr. M.K. Mlela

Open-loop vs. closed-loop control

2
 Types of Feedback

• If either the output or some part of the output is returned

to the input side and utilized as part of the system input,
then it is known as feedback.
• Feedback plays an important role in order to improve the
performance of the control systems. In this part, let us
discuss the types of feedback & effects of feedback.

There are two types of feedback −

• Positive feedback
• Negative feedback

3
 Types of Feedback
Positive Feedback

• The positive feedback adds the reference input, R(s) and

feedback output. The following figure shows the block
diagram of positive feedback control system.
The transfer function of
positive feedback control
system is,

(Eq 1)

4
 Types of Feedback
Negative Feedback

• The negative feedback reduces the error between the

reference input, R(s) and the system output. The
following figure shows the block diagram of negative
feedback control system.
Transfer function of negative
feedback control system is,

(Eq 2)

5
 Feedback control and sensitivity.
Effect of Feedback on Overall Gain

• From Equation above, we can say that the overall gain of

negative feedback closed loop control system is the ratio
of 'G' and (1+GH). So, the overall gain may increase or
decrease depending on the value of (1+GH).
• If the value of (1+GH) is less than 1, then the overall gain
increases.
• If the value of (1+GH) is greater than 1, then the overall
gain decreases.

The quantities G and H are function of frequency and can be adjusted to

make the denominator less than unity
6
 Feedback control and sensitivity.
Effect of Feedback on Sensitivity

• Sensitivity is the extent to which the system responds

to changes in parameters like gain, impedance, etc.
Sensitivity is also said to be the ratio of the extent of
change of one of the above mentioned parameter to a
small change of the determining parameters.

Sensitivity of the overall gain of negative feedback closed loop

control system (T) to the variation in open loop gain (G) is defined as

(Eq 3)

Where, ∂T is the incremental change in T due to incremental change in G.

We can rewrite Eq 3 as
(Eq 4)

7
 Feedback control and sensitivity.
Effect of Feedback on Sensitivity

• Do partial differentiation with respect to G on both sides

of Eq 2.
(Eq 5)

From Eq 2, you will get

(Eq 6)

Substitute Eq 5 and Eq 6 in Eq 4.

So, we got the sensitivity of the overall gain of closed

loop control system as the reciprocal of (1+GH).
8
 Feedback control and sensitivity.

Effect of Feedback on Sensitivity

• So, Sensitivity may increase or decrease depending on
the value of (1+GH).
• If the value of (1+GH) is less than 1, then sensitivity
increases.
• If the value of (1+GH) is greater than 1, then sensitivity
decreases.
• In general, 'G' and 'H' are functions of frequency. So,
feedback will increase the sensitivity of the system gain
in one frequency range and decrease in the other
frequency range. Therefore, we have to choose the
values of 'GH' in such a way that the system is
insensitive or less sensitive to parameter variations

9
 Feedback control and sensitivity.

Effect of Feedback on Stability

• A system is said to be stable, if its output is under
control. Otherwise, it is said to be unstable.
• In Equation 2, if the denominator value is zero (i.e., GH =
-1), then the output of the control system will be infinite.
So, the control system becomes unstable.
• Therefore, we have to properly choose the feedback in
order to make the control system stable

10
 Feedback control and sensitivity.

Effect of Feedback on Noise

• To know the effect of feedback on noise, let us compare
the transfer function relations with and without feedback
due to noise signal alone.
Consider an open loop control system with noise signal as
shown below.

The open loop transfer function due to noise signal alone is

(Eq 7)

11
 Feedback control and sensitivity.

Effect of Feedback on Noise

• To know the effect of feedback on noise, let us compare
the transfer function relations with and without feedback
due to noise signal alone.
Consider a closed loop control system with noise signal as
shown below.

The closed loop transfer function due to noise signal alone is

(Eq 8)

It is obtained by making the other input R(s) equal to zero

12
 Feedback control and sensitivity.

Effect of Feedback on Noise

• Compare Equation 7 and Equation 8, In the closed loop
control system, the gain due to noise signal is decreased
by a factor of (1+GaGbH) provided that the term
(1+GaGbH) is greater than one.

13
Requirements of a Good Control System
The essential requirements of a good Control
System can be listed as follows:
a) Accuracy: Accuracy must be very high as
error arising should be corrected. Accuracy
can be improved by the use of feedback
element.
b) Sensitivity: A good control system senses
quick changes in the output due to an
environment, parametric changes, internal and
external disturbances.
c) Noise: Noise is a unwanted signal and a good
control system should be sensitive to these
type of disturbances.
Requirements of a Good Control System
d) Stability: The stable systems has bounded
input and bounded output. A good control
system should response to the undesirable
changes in the stability.
e) Bandwidth: To obtain a good frequency
response, bandwidth of a system should be
large.
f) Speed: A good control system should have
high speed that is the output of the system
should be fast as possible.
g) Oscillation: For a good control system
oscillation in the output should be constant or at
least has small oscillation.
 PID

Controller
 1.Introduction
• A controller is a device that generates an
output signal based on the input signal it
receives. The input signal is actually an
error signal, which is the difference between
the measured variable and the desired
value as can be shown in feedback control
system ( Fig.1).

Fig.1. Feedback control system

 A sensor measures and transmits the current
value of the process variable(PV) back to the
controller.
• Controller error(e(t)) at current time t is computed as set-
point(SP) minus measured process variable as in (1).
e(t) = SP – PV (1)
• The controller uses this e(t) in a control algorithm to
compute a new controller output signal.
• The controller output signal is sent to the final control
element (e.g. valve, pump, heater, fan) causing it to
change.
• The change in the final control element causes a change in
a manipulated variable
• The change in the manipulated variable (e.g. flow rate of
liquid or gas) causes a change in the PV
Controller Modes: In industry there are many control
modes as follows:
1) ON-OFF controller/two position controller as
temperature controller used for domestic heating
system.
2) Three-position controller
3) Proportional Action Control
4) Integral/Reset Action Control
5) Derivative/Rate Action Control
6) P+I Control
7) P+D Control
8) P+I+D Control
• A proportional-integral-derivative controller (PID controller
or three term controller) is a control loop feedback
mechanism widely used in industrial control systems and
a variety of other applications requiring continuously
modulated control.

• A PID controller continuously calculates an error value

e(t) as the difference between a desired set point (SP)
and a measured process variable (PV) and applies a
correction based on proportional, integral, and derivative
terms (denoted P, I, and D respectively) which give the
controller its name.
 PID control

What is a PID Controller?

• PID control stands for proportional–integral–
derivative control.

• PID control is a feedback mechanism used in a

control system.

• By calculating and controlling three parameters –

the proportional, integral and derivative of how
much a process variable deviates from the
desired set point value – we can achieve different
control actions for specific work.
21
 PID control

What is a PID Controller?

• A PID controller is an instrument used in
industrial control applications to regulate
temperature, flow, pressure, speed and other
process variables.

• PID (proportional integral derivative) controllers

use a control loop feedback mechanism to control
process variables and are the most accurate and
stable controller.

22
PID control

• PID control the actuating signal consists of

proportional error signal added with
derivative and integral of the error signal.
Therefore, the actuating signal for PID
control is: e (t )  e(t )  K de(t )  K e (t )dt
a d
dt
i 
The Laplace transform of the actuating signal
incorporating PID control is
Ki
Ea ( s )  E ( s )  sK d E ( s )  E ( s)
s
 Ki 
or Ea ( s )  E ( s ) 1  sK d  
 s  23
 • P depend on the present error
P_controller

• I on the accumulation of past

I_controller errors

• D is the prediction of future errors.

D_controller Based on current rate of change
The Characteristics of P, I, and D Controllers
• A proportional controller (Kp) will have the effect
of reducing the rise time and will reduce but
never eliminate the steady state error.
• An integral control (Ki) will have the effect of
eliminating the steady-state error for a
constant or step input, but it may make the
transient response slower
• A derivative control (Kd) will have the effect of
increasing the stability of the system,
reducing the overshoot, and improving the
transient response.
 The Characteristics of P, I, and D Controllers
• In fact, changing one of these variables can change the
effect of the other two.
• With the PID controller we can set the P+I+D values so
that we will not have any Over or undershoot and reach
set point directly.
• PID controller has all the necessary dynamics: fast reaction
on change of the controller input (D mode), increase in
control signal to lead error towards zero (I mode) and
suitable action inside control error area to eliminate
oscillations (P mode).
This combination of {Present + Past + Future} makes it
possible to control the application very well.
 Proportional Controller
• In a proportional controller the output (also called the
actuating/control signal) is directly proportional to the
error signal. The position of Kp can be as shown in Fig.2

Fig.2. Proportional controller

Control signal = Kp * e(t) (2)

If the error signal is a voltage, and the control signal is also a

voltage, then a proportional controller is just an amplifier.
 Proportional Controller
• In a proportional controller, steady state error tends to
depend inversely upon the proportional gain, so if the
gain is made larger the error goes down as in (3).

SSE  1 1  KpG  (3)

Where SSE is the steady state error
• Proportional controller helps in reducing the steady
state error, thus makes the system more stable.
• Slow response of the over damped system can be made
faster with the help of these controllers.
• P controller has the advantage of reducing down the
steady state error of the system , but along with that it
also has some serious disadvantages. These properties
can be shown in Fig.3
Fig.3. Response of PV to step change of SP vs time, for three values of Kp
(Ki and Kd held constant)
Disadvantages of P Controller
1. Due to presence of these controllers we
have some offsets in the system.
2. Proportional controllers also increase the
maximum overshoot of the system.
3. It directly amplifies process noise.

To avoid these errors and to make the

controller more accurate and practical, we use
the advanced and modified version of it known
as the Proportional Integral Controllers (PI)
and Proportional Derivative Controllers (PD)
 Integral Controller
• An integral term increases action in relation not only to
the error but also the time for which it has persisted.
So, if applied force is not enough to bring the error to
zero, this force will be increased as time passes.
• A pure "I" controller could bring the error to zero,
however, it would be both slow reacting at the start
(because action would be small at the beginning,
needing time to get significant), brutal (the action
increases as long as the error is positive, even if the
error has started to approach zero), and slow to end
(when the error switches sides, this for some time will
only reduce the strength of the action from "I", not make
it switch sides as well), prompting overshoot and
oscillations (see Fig.4).
Fig.4. Response of PV to step change of SP vs time, for three values of
Ki (Kp and Kd held constant)
 Derivative Controller
• A derivative term does not consider the error
(meaning it cannot bring it to zero: a pure D
controller cannot bring the system to its set-
point), but the rate of change of error, trying to
bring this rate to zero.
• It aims at flattening the error trajectory into a
horizontal line, damping the force applied, and
so reduces overshoot (error on the other side
because too great applied force).
Fig.5. Response of PV to step change of SP vs time, for three values of
Kd (Kp and Ki held constant)
35