Automatic Control Engineering

• Reference Books :
• 1. Automatic Control Systems by Benjamin C Kuo
• 2. Automatic Control Engineering by Harrison and
Bollinger.
• 3. Modern Control Engineering by Katsuhiko
Ogata.
• 4. Automatic Control Systems by Narendra Singh
Beniwal and Ruby Beniwal.
• 5. Control Systems Engg by Nagrath and M Gopal.

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 Automatic Control Engineering
• 6.Automatic Control Engg By Revan.
• 7. Automatic Control Systems by S N Verma.
• 8. Modern Control Systems theory by Madan
Gopal.
• 9. Control Systems by Naresh K Sinha.
• 10. Feedback and Control Systems by Ivan
Williums.

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 Automatic Control Engineering
• Concepts:
• Simple open and closed loop systems, concept of feed
back, block diagrams, transfer functions.
Representation of Control Components and Systems
Representation, differential equations for mechanical
systems, electrical systems, hydraulic systems and
thermal systems, Integrating devices, hydraulic
servomotor, temperature control
system, speed control system, Liquid level Control
System, and Flow Control System,
Block representation of system elements, example of
the use of block diagrams, Block diagram Reduction.
[08]

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 Automatic Control Engineering
• A control system is the arrangement of
components connected in such a manner as to
maintain or alter any quantity of interest in
accordance with a desired manner.
• Example : Air Conditioning Unit.
• Quantity of interest : Temperature.
• Desired Manner : Maintaining at the set value.
• Arrangement of components : Complete
refrigeration system.

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 Introduction
• Automatic Control System : A control system which
requires no or minimum human intervention in its
operation is called automatic control system.
• Example : Washing machine.
• Objectives of Automatic control system :
• 1. Free human beings from repetitive tasks that can be
done easily and more economically by automatic control
devices.
• Example : Pythagoras was employed as a night watch man
of a city who was supposed to ring a bell once in an hour.
He had developed a mechanical device which would
automatically ring the bell once an hour. He had a nice
sleep at night.

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 Objectives
• 2. Modern complex controls can perform
functions which are beyond the physical abilities
of man to duplicate.
• Example : Machining the wing of an aero plane.
• The recent development in the large scale
integration of semi conductor devices has made it
practical to use computer as an integral part of
control system, making it cheaper and more
sophisticated.
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 Applications
• Applications of Automatic Control Systems:
• Process Industries : Temperature control ,
humidity control , flow control and viscosity
control etc.
• Manufacturing Industries : Tooling , handling
and assembling of mechanical parts.

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 Advantages
• Advantages of Automatic Control Systems:
• 1. Obtaining optimum performance of dynamic
systems. Example : Semi active damping of a
shock absorber for off road vehicles.
• 2. Quality improvement. Example : machining of
complex contour is possible through controlled
process. ( CNC)
• 3. High productivity and less unit cost.
• 4. Relieve the operator from routine repetitive
tasks.

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 Historical Development
• Historical development: • Governor of steam engine
• The first industrial
application of automatic
control was Watt’s Flyball
Governor used in Watt’s
steam engine in 1767 A D. Flyball Flyball
The objective of this
slide
device was to keep the

Steam
speed of the engine
nearly constant by
regulating the supply of 
steam to the engine. Valve

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 Historical Development
• Proper design would ensure the speed within the
narrow limit of specified value.
• But higher sensitivity lead to hunting of speed
around the specified value.
• James Clerk Maxwell did the complete
mathematical analysis ( in late 19th century)
• It was realised that all automatic control devices
work on the principle of feedback.
• Nyquist theory of stability was developed in 1930
A D.

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 Historical Development
• Hazen tried to develop some general theory of
servo mechanism in 1934 A D.
• During 2nd world war, it became necessary to
design and construct automatic air plane pilot ,
gun positioning system, radar tracking system and
other military equipment based on feedback
control principle.
• Peacetime applications followed after 2nd world
war. Ex: a) Automatic control of Machine tools ,
chemical process, and automatic regulation of
voltage and current in electric power plants.

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 Definitions
• System : A system is an arrangement of physical
components connected or related together in
such a manner as to form an entire unit and
perform certain objective.
• Control : The word control is usually taken to
mean regulate, direct or command.
• Control system : A control system is an
arrangement of physical components connected
or related together in such a manner as to
command , direct or regulate itself or another
system.

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 Definitions
• Automatic Control System : A control system
in which controlling action is performed with
minimum or without human intervention.
• Block Diagram : Pictorial representation of the
cause and effect
Input R Output C
relationship between Block

the input and output

of a physical system.
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 Definitions
• It provides the functional relationship between
the various parts of a control system.
• Input R(s): It is an excitation applied to a control
system (Reference signal R) from an external
energy source usually in order to produce
specified response from the control system.
• Output C(s) : It is the actual response ( controlled
output C) obtained from a control system. It may
or may not be equal to the specified response
implied by the input.
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 Definitions
• Summing point or Error detector: The error detector
produces a signal (E(s))which
is the difference between
the reference input (R(s))
R(s) E(s)
and the feedback signal +_
(C(s)). In design, the choice of error
detector is quite important and C (s)
must be carefully decided. This is
because any imperfection in error
detection will inevitably impair the performance
of entire system.
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 Definitions
• E(s) = R(s) – C(s)
• Addition or Subtraction signals are indicated
in the figure.
• Branch point or Take off point :
• This facilitates the C(s)
input or signal to be
C(s)
supplied to more R (s)
Block

than one block. C(s)

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 Definitions
• Controller : The controller consists of control
elements. The main function of the controller is
to compare the actual value of output with the
desired value of output , determine the deviation
and to produce the control signal which will
reduce the error to zero or to a minimum value.
• Actuating Signal E(s): This is called the error
signal or the control action which is either the
same or a modified signal which is to be fed to
the controller. This is designated by E(s).

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 Definitions
• Feed Back Signal : In closed loop control
system, the system permits the output to be
compared with the input to the system, so
that appropriate control action may be
performed as some function of controlled
output C(s) which is algebraically summed
with reference signal R(s) to generate an
actuating signal E(s).

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 Classification of control systems
• 1. Based on the presence or absence of feed
back signal
• a) open loop control system
• b) closed loop control system
• 2. Based on the nature of feedback action ( for
closed loop systems)
• a)Regulatory control system
• b) Follow up control system
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 Open loop control system

Control
Input Action Output
Controller Plant

• An open loop control system is one in which

control action is independent of output.

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 Closed loop control system

Input Actuating Controller Control Output

+ signal Plant
- Action

Feedback

• A closed loop system is one in which the

control action is somehow dependent on
output.
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 Regulatory control system
Outdoor Temperature
Thermostat
Actual Room
Desired
Temperature
Temperature signal Furnace Heat
setting + Home
-

Feedback
• The prime function of a regulatory control
system is to maintain the output essentially
constant, despite of unwanted disturbance to
the system. Example : A home heating system
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 Follow up Control system
• Follow up control system is a feed back control
system whose prime function is to keep the
control variable (output) in close
correspondence with a reference variable
(input) which is frequently changed.
• Example : 1. Lathe tracer system
• 2. Missile Launching system.

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 Examples of open loop control system
• 1. Automatic washing machine : Automatic washing machines
are calibrated by estimating any combination of the following
input quantities a) amount of detergent b) amount of bleach c)
amount of water d) temperature of water and e) cycle time
• In some washing machines one or more of these inputs are
predetermined by the manufacturer. The remaining quantities
must be estimated by the user and depends upon the factors
such as degree of hardness of water , type of detergent and type
or strength of bleach. Once this calibration has been determined
for specific type of wash (all white clothes , dirty clothes etc) it
does not normally to be re-determined during the life time of
the machine. If the machine brakes down and replacement of
parts are installed , re calibration is probably necessary.
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Examples of open loop control system
Once the washing parameters are set , the
washing machine operates for the set time. No
information regarding the cleanliness of cloth is
received by the relay system of the machine.
Hence the output (cleanliness) is not affecting
the washing time (input). Based on the
cleanliness of the cloth the operator can set the
controllable parameters in the next cycle.

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Examples of open loop control system
• 2. Automatic Toaster :
External power to Loss or addition of
operate relay heat

Desired Calibrated relays to Toaster Actual Toast

heating control heating Quality
time

• An automatic toaster system is represented in the block

diagram. In this the quality of toast depends upon the time
for which the toast is heated. Calibrated relays constitute
the controller of the system and control heating time of
toast in the toaster. Relays are operated from external

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Examples of open loop control system
• source of power and are adjusted by the calibrated dial to a
particular time for the desired quality of toast. The toaster
heating system is operates after the toast is fed to heating
chamber. Depending on the relay setting , either the
toaster is put off or the toasts are ejected from the heater
after the set interval of time with out considering the toast
quality. As the quality of toast is not going to influence the
relay setting , it is an open loop system. Also, the system
input is not influenced by external disturbances like
ambient temperature . The quality of toast is judged by the
user who is not a part of control system. Based on the
quality desired , the operator can change the relay settings
for the next batch of toasts.

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 Examples of open loop control system
• Traffic Flow Control system :
External Power Source

Relays to control
Desired Red, Yellow and Actual
glow time and
Traffic Flow Green Lamps Traffic Flow
sequence

Controller Controlled
Process
• A traffic flow control system is used on road to
regulate the flow of traffic as shown in the block
diagram. In this system , the traffic moves when
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Examples of open loop control system
the green lamp glows and stops moving when the read lamp
glows. Yellow light makes the traffic to get ready for movement.
The traffic on the road is mobile or stationary depending on the
duration and sequence of lamp glow. The duration and sequence
is controlled by relays which are operated from an external
power source. These relays are adjusted for a particular time of
duration and sequence for a particular value of time duration
and sequence thereby making the traffic stationary or moving.
Sequence and time duration are not influenced by actual traffic
i.e., the duration of green lamp glowing can neither be increased
when large traffic is present nor can be decreased when there is
no traffic on the road. Thus the desired traffic flow is not
affected by actual traffic flow i.e, the control action is
independent of output.

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 Examples of closed loop control
system
• Driving an automobile : (Not automatic control)

Drivers Eye Heading or

Heading or Steering direction of vehicle
+ Automobile
direction of road - Control

• The driver wants to keep the automobile in the

appropriate lane of the roadway. He
accomplishes this by constantly watching the
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 Examples of closed loop control
system
direction of automobile with respect to the
direction of road. In this, the direction or heading of
the road , represented by the painted guide line or
guide lines on either side of the lane may be
considered to be the input. The heading of the
automobile is the output of the system. The driver
controls the output by constantly measuring it with
his eyes and brain, and correcting it with his hands
on the steering wheel. The major components of
control system are driver’s eye , brain, hand and
muscles.

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 Characteristics of open loop control
system
• 1. Moderate accuracy : The accuracy of an
open loop control system depends on the
calibration. To calibrate means to establish
and re-establish the input output relation to
obtain desired accuracy.
• 2. Slow response to input command changes
thereby making the system slow and sluggish.
• 3. They are not generally troubled with
problems of instability.

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 Characteristics of closed loop control
system
• 1. Increased accuracy.
• 2. Reduced sensitivity of the ratio of output to
input to variation of system characteristics.
• 3. Reduced effects of non-linearities and
distortion.
• 4. Increased bandwidth. The bandwidth of a
system is that range of frequencies of the input
over which the system responds satisfactorily.
• 5. The system has a tendency towards oscillation
and instability.

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Difference between open loop and
closed control system
Basis Open loop Control Closed Loop Control
System System
Control action Independent of Depends on output
output
Feedback not provided Feed back is provided
Operator’s role Significant Less significant
Stability more More components are
required to ensure
stability
Accuracy Depends on Consistent accuracy
operators skill
Cost Easier and cheaper to Difficult to build due to
build complexities and costly.34
 Regulatory control system
• Home Heating System :
Bellows Fixed Movable
Contact Contact

Pressure Block

Dial for setting

Furnace
Bulb containing
desired
volatile liquid
Capillary Tube temperature
Thermostat

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 Regulatory control system
Outdoor Temperature
Thermostat
Actual Room
Desired
Temperature
Temperature signal Furnace Heat
setting + Home
-

Feedback
• The prime function of a regulatory control
system is to maintain the output essentially
constant, despite of unwanted disturbance to
the system. Example : A home heating system
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 Home heating system
• The thermostat is the controller in the system. It makes
comparison between the thermostat setting (desired
temperature) and the actual room temperature. If the
temperature is too low, the thermostat initiates the
signal to the furnace calling for heat. The furnace then
supplies the heat to the house. The figure shows the
block diagram indicating that the room temperature
information is supplied to the thermostat so that
comparison can be achieved. A change in the outdoor
temperature is a disturbance to the home heating
system. If the ambient temperature is falls, the room
temperature is likewise tend to decrease.

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 Home heating system
However room temperature is fed back to
thermostat provides with the information
required to initiate a longer furnace heating
cycle. The home heating system is an example of
regulatory control system because it employs
feedback to maintain the room temperature
around the set value despite of change in
outdoor temperature and also it responds to the
change in the thermostat setting.
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 Follow up control system
• Lathe Tracer System:

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 Follow up control system

Desired Actual
Position Position
from from
template Error Signal Actuating Motion template
+ Cross
- system
slide
Tracer
Head

• Follow up control system is a feed back control system

whose prime function is to keep the control variable
(output) in close correspondence with a reference
variable (input) which is frequently changed.

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 Follow up control system
• A lathe tracer system is used to illustrate a follow up system.
• The purpose of lathe tracer system is to produce contours on
the parts corresponding to that of template. Such a system
permits rapid reproduction of parts with a fair amount of
flexibility. A new contour can be turned by fixing a new
template.
• The template is mounted rigidly to the bed of the lathe. The
tracer head, with the finger like stylus which contacts the
template, is fastened to the cross slide and therefore
maintains fixed position relative to the cutting tool. As long as
the tracer head faithfully follows the template , the cutting
tool will reproduce closely the desired contour.
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 Follow up control system
The cross feed is controlled by the tracer system while the axial
motion is obtained by engaging lathe carriage feed.
Referring to the block diagram, the tracer head is the controller of
the system. A particular point on the template corresponds to the
desired position of the cutting tool. The tracer head can make
comparison between the desired position and the actual position
because it bears a fixed relation to the tool position. If there is an
error, the tracer head initiates a signal to an actuating system which
moves the cross slide and the cutting tool to the desired position.
Feed back is accomplished because , the tracer head is mounted on
the cross slide. The tracer will correct the disturbances such as
position variation caused by tool loading change , its prime function
is to keep the cutting tool in correspondence with the ever changing
contour of the template. 42
 Follow up control system
• Missile Launching and Guidance System

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 Missile Launching and Guidance
System
• The missile launching and guidance system is an example of
military application of follow up control system. The target plane
is sited by rotating antenna which then locks in and continuously
tracks the target. Depending on the position and velocity of the
plane as given by the radar output data, the launch computer
calculates the firing angle in terms of launch command signal,
which when amplified through a fire amplifier drives the
launcher. The launcher angular position is fed back to the
launcher computer and missile is triggered as soon as the error
between the launch command signal and the missile firing angle
becomes zero. After being fired the missile enters the radar beam
which is tracking the target. The control system contained within
the missile receives the guidance signal from the beam which
automatically adjusts the control surface of the missile such that
the missile rides along the beam and finally lands on the target. 44
 Requirements of a control system
• Stability : How meaningful (usable) the
response is ?
• Accuracy : How close the actual output to the
desired output ?
• Speed of response : How fast the control
action is performed ?

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 Requirements of a control system
• 1. Stability : A stable control system is one in
which , the response to an input, be it a reference
change or a disturbance , must reach and
maintain a useful value within a reasonable
period of time. An unstable control system, by
way of comparison, produce persistent or even
violent oscillations of the output or will drive the
output to some extreme limiting value. The
response characteristic of an unstable system is
unsatisfactory.

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 Requirements of a control system
• Accuracy : A control system must be accurate within specified
limit. This means that the system must be capable of reducing
error to some tolerable value. No control system is able to
maintain zero error at all times because an error is required to
initiate corrective action. Even systems which are
mathematically capable of reducing the system error to zero
(under ideal conditions), do not actually accomplish this
because of slight imperfections inherent in the component
making up the system. Many control systems do not require
extreme accuracy. The accuracy is decided by the application.
It is always desirable to design a control system with wider
limit of accuracy which will reduce the cost.

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 Requirements of a control system
• Example : A home heating system can be designed for an
+
accuracy of −0.10 C. Such a high accuracy is not required
because human being can not sense this small variation in
temperature. He can sense a change of 10C.
• Brahmo’s missile launching system can launch missiles to an
accuracy of 3 m radius from the target.
• Speed of Response: A control system must complete its
response to some input within acceptable period of time.
Although the system may be stable and exhibit the
required accuracy, it has a no real value if the time required
to respond fully to some input is far greater than the time
interval between inputs. In this case the system may never
“catchup”.

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 Requirements of a control system
• In the design of a control system, compromise
must be made between the above said
factors. If it is desired to increase the accuracy
beyond a limit , the corrective action for a
small error signal will large. In a sensitive
controller, this may lead to instability.

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 Examples of closed loop control
systems
• Speed Control system :

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 Speed Control system
• Figure shows a typical speed control system
for gas turbines, steam turbines or diesel
engines. The position of the throttle lever is
sets the desired speed of the engine. The
speed control is drawn in some reference
operating position so that the value of all the
lower case parameters are zero. The positive
direction of motion of these parameters is
indicated by the arrowhead on each.
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 Speed Control system
• The centre of gravity of the flyballs is at a distance of Ri
from the axis of rotation. The flyballs are geared directly to
the output shaft, so that the speed  of the flyballs is
proportional to the output speed. A lever which is pivoted
transmits the centrifugal force from the flyballs to the
bottom of lower spring seat. The lever and the pivot rotate
with the flyballs as a single unit. If the speed of the engine
drops below the reference value, then the centrifugal force
of flyballs decreases, thus decreasing the force exerted on
the bottom of the spring. This causes x to move downward,
which in turn moves e downward. Fluid (oil) then flows to
the bottom of the piston to increase y and thus open wider
the flow control valve. By supplying more fuel , the engine
speed will increase until equilibrium is again reached.

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 Speed Control system
• For steam turbine, the flow control valve
admits steam rather than the fuel.
• Suppose that the throttle lever is moved to a
higher speed setting , which in turn causes z
to move downward. This causes x to move
downward. Moving x downward opens the
fuel flow rate which increases the speed.

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 Water Level System
Support

Pulleys

Stopper cord Ball Float

Qin

tank
Water Stop valve
Qout

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 Water Level System
• The ball float, floats on water . As the ball
ascends , the stopper moves down and partly
closes the inlet pipe, thereby reducing the
flow to the tank. When the level in the tank
gets closer to the top of the tank, the stopper
completely closes the inlet pipe and the flow
stops. When the ball descends , the flow starts
again.

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 Electrical system
• Voltage Control System
Servo
Amplifier

V
Field Servo
Regulator Motor

Figure A

Figure B

56
 Electrical system
• Figure A shows the scheme for controlling the voltage
at an electrical power station which is manually
controlled. A human operator is required to adjust the
field rheostat in order to keep the voltage close to the
desired value.
• Figure B shows an automatic voltage regulating system
which works on comparing the actual value of the
voltage with the desired value. The difference or error
is supplied to servomotor after suitable amplification.
The servomotor drives a shaft coupled to field rheostat
to alter the resistance in the field winding in such a
manner that the error is reduced. A feedback is utilised
for automatic control.
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A Constant Tension Paper Reeling
System
Paper Sheet
Winding Roll
Spring

Idler Mechanical
Idler Link

Jockey

D C Supply

Drive
Motor
Field

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 A Constant Tension Paper Reeling
System
• The above figure shows the schematic diagram of
a paper reeling system used in paper mill. The
basic need of paper reeling is that the papers are
pulled on to the winding roll at nearly constant
tension. A reduction in tension leads to loose roll,
increased tension might result in tearing of paper
sheet. If the speed N of the windup roll is
constant, the linear velocity V= DN of the paper
increases with the increase in diameter D of the
roll. Tension control can be achieved by suitably
varying the speed N so that V = constant.

59
 A Constant Tension Paper Reeling
System
• In the scheme shown in the above figure , the
paper sheet passes over two idling and one
jockey pulleys. The jockey pulley is constrained to
move in vertical direction only with its weight,
paper tension and spring force. Any change in the
paper tension moves the jockey pulley in vertical
direction, upward for increased tension and
downward for decreased tension. This vertical
motion of jockey pulley is used to change the
field current of the drive motor and hence the
speed of the windup roll which adjusts the
tension.
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 Robot Control System
Feedback

Input
Device

Work Peripheral Power

Actuator Controller
Table Equipment Source
Output
Device

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 Robot Control System
• Advantages of robot :
• 1 Increased productivity
• 2.Handle monotonous jobs as well complex
jobs without error.
• 3.Working under extreme environmental
condition.(high or low temperature, high or
low pressure, underwater explorations, space
explorations etc).
• 4. industries: Assembly lines
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 Robot Control System
• An industrial robot consists an arm , a wrist
and hand which have limited mobility. The
objects are identified by pattern recognition
by optical means. The robot scans the
background of the objects and identifies the
object and its orientation. Each component is
identified by the robot from the code attached
to the component. The robot picks up the
component and moves to the appropriate
place for assembly.
63
 Robot Arm Positioning System
Arm

Hand
Wrist
Position Position output Servo Valve Oil Pump
sensor signal

Memory
device
Amplifier

64
 Robot Arm Positioning System
• The figure shown above represent schematically a robot arm
positioning system. The robot arm has 5 degrees of freedom
(linear motion of arm , 3 degrees of freedom of wrist, pitch ,
roll and yaw motions and one degree of freedom for grasping
the object). A servo system is used to position the arm and
wrist. Power source may be a D C motor (for medium power)
or stepper motor (for small power).
• The movement in the sequential form is taught to the arm by
actually moving the arm for the first time wherein the data
pertaining to path and location is stored in a memory device
(computer). Afterwards the robot repeats the path faithfully ,
the sequence of movements.
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 Robot hand grasping force control
system

Grasping Micro Stepper 1

force Computer Motor
set point
Force Feedback
Slip Feedback
• [1] Slip sensing device consisting of light emitting
diode , slit disc and photo transmitter.
• Grasping force should be moderate. Low grasping force
makes the object be dropped and high grasping force
crushes the object.

66
 Servo Mechanism
• Servo Mechanism:
Amplifier Generator Motor

VE M Gear
G

Gear

A B

R C Load
100V
67
 Servo Mechanism
• The term servo means service. The servo mechanism
assists the operator to perform a certain task. Figure
shows a mechanism used to position the load at
desired angle R. It consists of a motor (M) generator
(G) set with constant field current (if) of the motor.
There are two potentiometers one for the input and
the other for the feedback. Let R be the desired angle
of rotation of the load and C be the controlled
position of load. If C= R, the error E= R-C =0 and
the generator voltage VE =KP E = 0. This means
the load is positioned at the correct location.

68
 Servo Mechanism
• If C≠ R, the error E= R-C ≠0 ; This error produces
an error voltage VE which is amplified and supplied to
the armature. Thus the armature current of the motor
produces an output torque which rotates the arm B so
that E becomes zero.
• Let KP = 100 volts/radian; R = C= 0.5 radian, the load
is set at desired position. If it is needed to move load to
a position 0.6 radians, then move arm A to position R=
0.6radians; Since C= 0.5 radians, the error E= 0.1
radian, VE = KP E = 10 Volts and the motor rotates till
the arm B is positioned at C= 0.6 radians .

69
 Application of control theory in Non
Engineering Field
• Economic Inflation Problem :
Cost of
Living
Initial + Present K1 Product K2
Wages + Wage Industry Cost

Wage Increment Dissatisfaction

Factor d
• The production cost in any factory depends on the
wages given to the employees. As the cost of living
increases the dissatisfaction of the employees
increases and they demand higher wages.

70
 Application of control theory in Non
Engineering Field
• This dissatisfaction is fed back to the
management. As a result , the present wage of
the employee (Initial wage + wage increment)
increases. This, on the other hand increases
the cost of production. Thus the product cost
and the cost of leaving are related forming a
closed loop control system.

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 Application of control theory in Non
Engineering Field
• Social Pattern of Epidemic Desease:
Rate of
Daily Infectious Disease Producing
+ Contacts K1 Contacts
Contacts C -

K2

• Figure shows the block diagram indicating the

dynamics of epidemics of human beings and
animals. A normal healthy community has
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 Application of control theory in Non
Engineering Field
• a certain rate of daily contacts C. When an
epidemic disease affects this community , the
social pattern of contacts is altered as shown in
block diagram. The factor K1 contains the
statistical fraction of infectious contacts that
actually produces the disease , while the factor K2
accounts for the isolation of sick people and
medical immunization. Since isolation and
medical immunization reduces the infectious
contacts , the system has a negative feedback
loop.

73
 Multi- Variable control System

Input Variables Output Variables

Controller Plant

Feedback Path
Elements

• In multi variable control system, the number of

variables to be controlled simultaneously is more than
one. Example inverted pendulum control system.

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Inverted Pendulum Control System
Constant Bob
Armature

Current Circuit
Pivot point x

Motor Carriage

x Analogue
Field Drive  Computer
Circuit Scaled
Control  𝑥 
x
Signals
DAC Digital A DC
Computer

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Inverted Pendulum Control System
• Figure shows a control system in which inverted pendulum is
pivoted to the carriage. For stability , the pivot point is exactly
below the centre of gravity of the bob. To maintain the
inverted pendulum in the stable position, the carriage is
moved such that pivot comes exactly below the pendulum.
Here the variables are  (angular position),𝑥 (the
displacement of carriage) which are measured using a
potentiometer. This information is fed to an analogue
computer where the velocity 𝑥 and angular velocity  are
calculated by different circuits. These informations are
supplied to a computer in the digital form using ADC. DAC
processes the data in digital computer and produces
control signals to change the field current of the motor.
Thus the error  is minimised by changing the speed of lead
screw so that the pivot comes exactly below the bob.

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 Sampled Data and Digital Control
System

Input r(t) e(t) e*(t) Data Hold h(t) Controlled c(t)

+ Process
- Sampler (filter)

• Sampled data and digital control systems differ

from continuous systems in that the signals at
one or more points of the system are in the form
of either a pulse or a digital code.

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 Sampled Data and Digital Control
System
• Sampled data ---- Pulsed data
• Digital control ----Digital Computer based control
• Sampled data system receives data only intermittently at
specific interval of time. The error signal in the control
system may be supplied intermittently, in which the
control system receives no information about the error
signal during the period between the consecutive pulses.
• In the block diagram r(t) is the continuous signal applied
to the system. The error signal e(t) is sampled by sampling
device , sampler and the output of the sampler is a
sequence of pulse. Example : Printwheel Control System
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 Printwheel Control System

Keyboard R Microprocessor Power

Controller Amplifier

D C Motor C Position
Encoder

Print Wheel
Feedback

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 Printwheel Control System
• The block diagram shown above represents a
printwheel control system of a word processor or an
electronic typewriter. The print wheel, which typically
has 96 to 100 characters, is to be rotated to position
the desired character in front of the hammer for
printing. The character selection is done from the key
board. Once a certain key, say A is depressed, a
command for the printwheel to rotate from the
present position to next position is initiated. The micro
processor computes the direction and the distance to
be traversed and sends out the control logic signal to
the power amplifier, which in turn controls the motor
that drives the printwheel. The position of the print

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 Printwheel Control System
• wheel is detected by position sensor whose
output is compared with the desired position in
the micro processor. The motor is thus controlled
in such a way as to drive the printwheel to the
desired position. The control signal produced by
the microprocessor should be able to move the
printwheel from the present position to desired
position sufficiently fast so that printing can be
done accurately within specified time. This is a
discrete data system because the micro processor
receives signals in pulses and outputs digital data.

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 Printwheel Control System

• Printing :The reference

print wheel
Position of
(input) function is a
step function (desired Positioning t1 Printing t2

position). Since the electric motor has time

inductance and mechanical load has inertia , the

print wheel can not move instantaneously. It will
follow the response as shown and settles at the
desired position after time t1. Printing is done
during t1 to t2. After t= t2, the system is ready to
receive new command.

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 1. Questions
1. With block diagrams explain the types of control systems.
2. Mention non engineering applications of Control systems.
3. How is follow up system is different from regulatory system.
4. List the advantages of automatic control system.
5. Explain servo mechanism with block diagram.
6. Define feedback and give examples of positive and negative
feedback.
7. What is meant by Multi - variate control system? Give example.
8. With example explain regulatory and follow up control systems.
9. Compare open loop system with closed loop system.
10. Explain the working of speed control system of a steam engine.
11. Explain the desirable characteristics of a control system.

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•THANK YOU

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