Introduction

A control system is a system, which provides the desired response by controlling the output.
The following figure shows the simple block diagram of a control system.

Here, the control system is represented by a single block. Since, the output is controlled by varying
input, the control system got this name. We will vary this input with some mechanism.
Example:
i. An air conditioner maintaining the temperature of the room.
ii. A car moving from rest to a speed of 100 Km/hr.
iii. A lift moving upwards or downwards.
Advantage of using Control System:
i. Power Amplification
ii. Remote Control
iii. Convenience of input form
iv. Compensation for disturbance
 Time Response Analysis
The primary purpose of the time response analysis is to evaluate the system's performance with respect
to time. The time-response graph is shown below:

It comprises of two parts, transient part and the steady state part. After applying an input to the control
system, the output takes some time to reach the steady condition. The response during this stage is known
as transient response and constitutes the transient part of the graph, as shown above. The graph when
achieves the steady start after the transient part is known a steady part.

Transient Response:

It is a part of the time response that reaches 0 (zero) when the time becomes very large. In the graph
analysis containing poles and zeroes, the poles lying on the left half of the s-plane gives the transient
response. We can also say that it is a part of the response where output continuously increases or
decreases. The transient response is also known as the temporary part of the response.

Or

Transient response is defined as the change in the response of the system from the equilibrium state.

Steady-state response:

The response that comes after the transient response is called the steady-state response. In the graph
analysis containing poles and zeroes, the poles on the imaginary axis give the steady-state response. We
can also say that it is a part of the response where output remains constant. The output can also vary
periodically with constant amplitude and frequency. The steady-state response is also known as the
steady-state part of the response. It is a function of the input signal and hence also known as the forced
response of the system.
 Open Loop and Closed Loop Control Systems
Control Systems can be classified as open loop control systems and closed loop control systems based on
the feedback path. In open loop control systems, output is not fed-back to the input. So, the control action
is independent of the desired output. The following figure shows the block diagram of the open loop control
system.

Here, an input is applied to a controller and it produces an actuating signal or controlling signal. This signal
is given as an input to a plant or process which is to be controlled. So, the plant produces an output, which
is controlled. The traffic lights control system is an example of an open loop control system.
In closed loop control systems, output is fed back to the input. So, the control action is dependent on the
desired output.
The following figure shows the block diagram of negative feedback closed loop control system.

The error detector produces an error signal, which is the difference between the input and the
feedback signals. This feedback signal is obtained from the block (feedback elements) by
considering the output of the overall system as an input to this block. Instead of the direct input,
the error signal is applied as an input to a controller. So, the controller produces an actuating signal
which controls the plant. In this combination, the output of the control system is adjusted
automatically till we get the desired response. Hence, the closed loop control systems are also
called the automatic control systems. Traffic lights control system having sensor at the input is an
example of a closed loop control system.
The differences between the open loop and the closed loop control systems are mentioned in the
following table.

Types of Control System:

1. Linear system
2. Non-linear system
3. Time variant system
4. Time invariant system
5. Linear time variant system
6. Linear time invariant system
Assignment: Discuss details six types of Control System.
 Control Systems – Feedback
Types of Feedback:
There are two types of feedback:
• Positive feedback
• Negative 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.

For the time being, consider the transfer function of positive feedback control system is,
𝐺
𝑇 = 1−𝐺𝐻 ---------------------------------------------- 1

Negative Feedback:
Negative feedback reduces the error between the reference input, 𝑅(𝑠) and system output. The
following figure shows the block diagram of the negative feedback control system.

Transfer function of negative feedback control system is,

𝐺
𝑇 = 1+𝐺𝐻 ---------------------------------------------- 2

Where,
T is the transfer function or overall gain of positive feedback control system.
G is the open loop gain, which is function of frequency.
H is the gain of feedback path, which is function of frequency.
Effects of feedback:
1. Gain
2. Sensitivity
3. Stability
Effects of Feedback on Overall Gain:
𝐺
Here the transfer function of Negative feedback is, 𝑇 = 1+𝐺𝐻.

Now, 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. In this case, ‘GH’ value is
negative because the gain of the feedback path is negative.
If the value of (1+GH) is greater than 1, then the overall gain decreases. In this case, ‘GH’ value
is positive because the gain of the feedback path is positive.
In general, ‘G’ and ‘H’ are functions of frequency. So, the feedback will increase the overall gain
of the system in one frequency range and decrease in the other frequency range.
Effect of Feedback on Sensitivity:
Sensitivity of the overall gain of negative feedback closed loop control system (T) to the variation
in open loop gain (G) is defined as
𝜕𝑇
% 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑇 𝑇 𝜕𝑇 𝐺
𝑆= = 𝜕𝐺 = × 𝑇 ----------------------------------------------------1
% 𝐶ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝐺 𝜕𝐺
𝐺

𝐺
For negative feedback system, the transfer function is, 𝑇 = 1+𝐺𝐻 ---------------------------------2
𝐺
Or = (1 + 𝐺𝐻) ----------------------------3
𝑇

Do partial differentiation with respect to G on both sides of Equation 1.

𝜕𝑇 𝜕 𝐺 (1+𝐺𝐻)×1−𝐺𝐻 1
= 𝜕𝐺 (1+𝐺𝐻) = = (1+𝐺𝐻)2 --------------------------------4
𝜕𝐺 (1+𝐺𝐻)2

𝜕𝑇 𝐺 1 1
Now, 𝑆 = ×𝑇 = (1 + 𝐺𝐻) =
𝜕𝐺 (1+𝐺𝐻)2 (1+𝐺𝐻)

So, we got the sensitivity of the overall gain of closed loop control system as the reciprocal of
(1+GH). 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. In this case, ‘GH’ value is
negative because the gain of feedback path is negative.
If the value of (1+GH) is greater than 1, then sensitivity decreases. In this case, ‘GH’ value is
positive because the gain of feedback path is positive.
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.
 Control Systems − Mathematical Models
The control systems can be represented with a set of mathematical equations known as
mathematical model. These models are useful for analysis and design of control systems. Analysis
of control system means finding the output when we know the input and mathematical model.
Design of control system means finding the mathematical model when we know the input and the
output.
The following mathematical models are mostly used.
Differential equation model
Transfer function model
State space model
Differential Equation Model:
Differential equation model is a time domain mathematical model of control systems. Follow these
steps for differential equation model.
Apply basic laws to the given control system.
Get the differential equation in terms of input and output by eliminating the intermediate
variable(s).
Example: Consider the following electrical system as shown in the following figure. This circuit
consists of resistor, inductor and capacitor. All these electrical elements are connected in series.
The input voltage applied to this circuit is 𝑣𝑖 and the voltage across the capacitor is the output
voltage 𝑣𝑜.

Mesh equation for this circuit is,

Substitute, the current passing through capacitor in the above equation.

The above equation is a second order differential equation.

Transfer Function Model:
Transfer function model is an s-domain mathematical model of control systems. The Transfer
function of a Linear Time Invariant (LTI) system is defined as the ratio of Laplace transform of
output and Laplace transform of input by assuming all the initial conditions are zero.
If 𝑥(𝑡) and 𝑦(𝑡) are the input and output of an LTI system, then the corresponding Laplace
transforms are 𝑋(𝑠) and 𝑌(𝑠).
Therefore, the transfer function of LTI system is equal to the ratio of 𝑌(𝑠) and 𝑋(𝑠).

The transfer function model of an LTI system is shown in the following figure.

Here, we represented an LTI system with a block having transfer function inside it. And this block
has an input 𝑋(𝑠) & output 𝑌(𝑠).
Example: