Classification of Control Systems

Broadly control systems can be classified as,

1. Natural Control Systems: The biological systems, systems inside human being are of natural
type.

Ex.1: The perspiration system inside the human being is a good example of natural control
system. This system activates the secretion glands, secreting sweat and regulates the temperature of
human body.

2. Manmade Control Systems: The various systems, we are using in our day to day life are
designed and manufactured by human beings. Such systems like vehicles, switches, various
controllers etc. are called manmade control systems.

Ex.2: An automobile system with gears, accelerator, braking system is a good example of
manmade control system.

3. Combinational Control Systems: Combinational control system is one, having combination

of natural and manmade together: i.e. driver driving a vehicle. In such system for successful operation
of the system, it is necessary that natural systems of driver along with systems in vehicles which are
manmade must be active.

But for the engineering analysis, control systems can be classified in many different ways.
Some of the classifications are given below.

4. Time Varying and Time – Invariant Systems: Time varying control systems are those in
which parameters of the systems are varying with time. It is not dependent on whether input and
output are functions of time or not. For example, space vehicle whose mass decreases with time, as it
leaves earth. The mass is a parameter of space vehicle system. Similarly in case of a rocket,
aerodynamic damping can change with time as the air density changes with the altitude. As against
this if even though the inputs and outputs are functions of time but the parameters of system are
independent of tie, which are not varying with time and are constants, then system is said to be time
invariant system. Different electrical networks consisting of the elements as resistances, inductances
and capacitances are time invariant systems as the values of the elements of such system are
constant and not the functions of time. The complexity of the control system design increases
considerably if the control system is of the time varying type. This classification is shown in the figure.

Input Output Input Output

Parameters of system Parameters of system
are constant and not are constant functions
f(t) functions of time f(t) of time

(a) Time invariant System (b) Time Variant System

5. Linear and Nonlinear Systems: A control system is said to be linear if superposition principle
applies to it. For linear systems the response to several forcing functions can be calculated by
considering one forcing function at a time and adding the results.

The system is said to be linear if it satisfies following two properties,

i) Additive property that is for any x and y belonging to the domain of the function f , we have
f(x+y) = f(x) + f(y)
ii) Homogeneous property that is for any x belonging to the domain of the function f and for
any scalar constant α, we have
F(α x) = α . f(x)

These two properties together constitute a principle of superposition.

Hence the transformation, operation, function which satisfies above two properties is called linear in
nature.

The function f(x) = X2 is nonlinear as,

(X1 + X2)2 = X12 +X22

and ( α x)2 = α (x)2

It is very difficult to have a linear system satisfying the above two properties perfectly. All the physical
systems are non linear to some extent. But if the presence of certain nonlinearity is not affecting the
performances of system much as per the above two properties and deviation of system from the
principle of superposition is negligible the presence of nonlinearity is neglected and the system can
be assumed to be linear from the analysis point of view.

In practice most of the physical systems are nonlinear in nature because of different non-linearities
present in the system i.e. saturation, friction, dead zone. Etc. Such systems are nonlinear systems for
which principle of superposition cannot be applied. Procedures for finding the solutions of nonlinear
system problems are complicated and time consuming. Because of this difficulty generally nonlinear
systems are treated as linear systems for a limited range of operation with some approximation. Then
number of linear methods can be applied for analysis of such systems.

6. Continuous Time and Discrete Time Control Systems: In a continuous time control system
all system variables are the functions of continuous time variable‘t’. The Speed control of a DC motor
using a tachogenerator feedback is an example of continuous data system. At anytime‘t’ they are
dependent on time. In discrete time systems one or more system variables are known only at certain
discrete intervals of time. They are not continuously dependent on the time. Microprocessor or
computer based systems use such discrete time signals. The reasons for using such signals in digital
controllers are,

1) Such signals are less sensitive to noise.

2) Time sharing from one equipment with other channels is possible.

3) Advantageous from point of view of size, speed, memory, flexibility etc.

The systems using such digital controllers or sampled signals are called sampled data systems:

Continuous time system uses the signals as shown in the figure which are continuous with time while
discrete system uses the signals as the figure.
Signal
Signal

Time Time

(a) Continuous Signal

7. Deterministic and Stochastic Control Systems: A Control system is said to be

deterministic when its response to input as well as behavior to external disturbances is predictable
and repeatable. If such response is unpredictable, system is said to be stochastic in nature.

8. Lumped Parameter and Distributed Parameter Control Systems: Control system that
can be described by ordinary differential equations is called lumped parameter control system. For
example electrical networks with different parameters as resistance, inductance, etc. are lumped
parameter systems. Control systems that can be described by partial differential equations are called
distributed parameter control systems. For example, transmission line having its parameters
resistance and inductance totally distributed along it. Hence description of transmission line
characteristics is always by use of partial differential equations.

9. Single Input Single Output (SISO) and Multiple Input Multiple Output (MIMO) Systems :
A system having only one input and one output is called single input single output system. For
example a position control system has only one input (desired position) and one output (actual output
position). Some systems may have multiple type of inputs and multiple outputs, these are called
multiple input multiple output systems.

10. Open Loop and Closed Loop Systems : This is another important classification, The
features of both these types are discussed in detail in coming sections.