1.

Introduction to Control Systems

1.1. Why Automatic Control

â Automatic control has played a vital role in the advance of engineering and
science.
â It has extreme importance in space-vehicle systems, missile-guidance sys-
tems, robotic systems, and the like.

â Furthermore, automatic control has become an important and integral part

of modern manufacturing and industrial processes.
â For example, automatic control is essential in
X the numerical control of machine tools in the manufacturing industries,
X in the design of autopilot systems in the aerospace industries,
X in the design of cars and trucks in the automobile industries.
1. Introduction to Control Systems
1.1. Why Automatic Control

â It is also essential in such industrial operations as controlling pressure,

temperature, humidity, viscosity, and flow in the process industries.
â Automatic control has the following distinct characteristics:
X It helps to attain optimal performance of dynamic systems,
X It improves productivity,
X It relievs the drudgery of many routine repetitive manual operations.
1. Introduction to Control Systems
1.2. Basic Terminologies in Control System

â The basic components in a control system include the input, control system
and the output.
â The input is the excitation, stimulus or command signal that is applied to
the control system.

â The output is the actual response that results from the control system.
â Controlled Variable: is the quantity or condition that is measured and
controlled. Normally, the controlled variable is the output of the system.
X E.g. Room temperature

â Manipulated variable: is the quantity or condition that is varied by the

controller so as to affect the value of the controlled variable.
X E.g. Moisture level in air, air flow rate.
1. Introduction to Control Systems
1.2. Basic Terminologies in Control System

â Desired output: It is the expected response of the system which is obtained

by appropriate application of the input.
â Actual output: It is the output that is obtained from the system after the
input pass through the control system components.

â Control: means measuring the system output and applying the manipulated
variable to the system to reduce deviation of the actual and desired output.
â System: is a combination of components that act together and perform a
certain objective.
â Plant: any physical object to be controlled
X E.g. a mechanical device, a heating furnace, a chemical reactor, or a
spacecraft
1. Introduction to Control Systems
1.2. Basic Terminologies in Control System

â Disturbances: is a signal that tends to adversely affect the value of the

output of a system.
â If a disturbance is generated within the system, it is called internal, while
an external disturbance is generated outside the system and is an input.

â Feedback Control: refers to an operation that, in the presence of distur-

bances, tends to reduce the difference between the output of a system and
some reference input and does so on the basis of this difference.
1. Introduction to Control Systems
1.3. Classification of Control Systems

â Control systems can be classified in to as two open loop control system and
closed loop control system.
â Those systems in which the output has no effect on the control action are
called open-loop control systems.

â In other words, in an open-loop control system the output is neither mea-

sured nor fed back for comparison with the input.
â One practical example is a washing machine. Soaking, washing, and rinsing
in the washer operate on a time basis.

â The machine does not measure the output signal, that is, the cleanliness
of the clothes.
â In any open-loop control system the output is not compared with the ref-
erence input.
1. Introduction to Control Systems
1.3. Classification of Control Systems

â Thus, to each reference input there corresponds a fixed operating condition;

as a result, the accuracy of the system depends on calibration.
â In the presence of disturbances, an open-loop control system will not per-
form the desired task.
â Open-loop control can be used, in practice, only if:
X the relationship between the input and output is known and
X there are neither internal nor external disturbances.

â Clearly, such systems are not feedback control systems. Note that any
control system that operates on a time basis is open loop.

r u(t) y
Controller Plant
1. Introduction to Control Systems
1.3. Classification of Control Systems

â Advantages: The advantages of open loop control system are:

X They are simple in construction
X They are convenient when the output is difficult to measure.
X Such systems are easy from maintenance point of view.
X Stability is not an issue.
X They are easy to design and are economical.

â Disadvantages: The disadvantages of open loop control system are:

X Accurate response is dependent on accurate calibration, thus they are
inaccurate and unreliable.
X The output is affected by the variation of the external environment
X They cant sense the internal disturbances
X Recalibration of the controller is required.
1. Introduction to Control Systems
1.3. Classification of Control Systems

â In a closed-loop control system the actuating error signal is fed to the

controller so as to bring the output of the system to a desired value.
â The term closed-loop control always implies the use of feedback control
action in order to reduce system error.

â An example would be a room temperature control system.

Disturbances

r + e u(t) y
− Controller Plant

ym

Measurements
1. Introduction to Control Systems
1.3. Classification of Control Systems

â One example of closed loop control system is temperature control of an

electric furnace.
â The temperature in the electric furnace is measured by a thermometer,
which is an analog device.

â The analog temperature is converted to a digital temperature by an A/D

converter and is fed to a controller.
â This digital temperature is compared with the reference input temperature,
1. Introduction to Control Systems
1.3. Classification of Control Systems

â If there is error, the controller sends out a signal to the heater, to bring the
furnace temperature to a desired value.
â Advantages: The advantages of closed loop control system are:
X Closed loop systems are accurate because the controller manipulates the
actuating signal to bring the error to zero.
X They can sense environmental changes as well as internal disturbances and
accordingly modifies error.
X They have high bandwidth (operating frequency range.)

â Disadvantages: The disadvantages of closed loop control system are:

X Closed loop systems are complicated, the design is time consuming and they
are costy.
X The system has to be designed by taking the instability issues into consid-
eration
X The stability problems are severe.
1. Introduction to Control Systems
1.4. Comparison of Open loop Vs Closed loop system

Open loop system

â The output does not affect the
input
â Output measurement is not
required for the system
operation
â They doesn’t have feedback and
comparator.
â They are naturally stable
â Simple to construct and are
cheap.
â Inaccurate and unreliable
â affected by disturbances
â They have narrow bandwidth.
1. Introduction to Control Systems
1.4. Comparison of Open loop Vs Closed loop system

Open loop system

Closed loop system
â The output does not affect the
â The output affects the input
input
â Output measurement is required
â Output measurement is not
for the system operation
required for the system
operation â They comprise feedback and
comparator.
â They doesn’t have feedback and
comparator. â Stability is the major
consideration during design.
â They are naturally stable
â Complex in construction and are
â Simple to construct and are
expensive.
cheap.
â Accurate and relible.
â Inaccurate and unreliable
â Are not affected by disturbnces
â affected by disturbances
â They have wide bandwidth.
â They have narrow bandwidth.