Control System

SOE-D-EE303
By Rupesh Patel
Unit 1

System

~ A group of things or parts that work together

~ A set of ideas or rules for organizing something; a particular way of doing something

A "system" is defined as a arrangement of components or elements that interact or

relate with each other to perform a specific function or set of functions. These
components can include physical devices, mathematical models, software, or any
combination, and they work together to process inputs and produce desired outputs.

Thus a system has an input, an output and a way to achieve this input-output
objective
 Control System
A Control System is a system that manages,
commands, directs, or regulates the behavior of
other devices or systems to achieve a certain
objective
Types of Systems in Control Systems:

● Linear vs. Nonlinear Systems:

Linear systems follow the principle of superposition, meaning the output is directly proportional
to the input. Nonlinear systems do not have this property and can exhibit more complex
behaviors.
● Time-Invariant vs. Time-Variant Systems:
Time-invariant systems have parameters that do not change with time, while time-variant
systems have parameters that can change over time.
● Continuous-Time vs. Discrete-Time Systems:
Continuous-time systems operate over continuous time intervals, described by differential
equations. Discrete-time systems operate at discrete time intervals, described by difference
equations.
● Open-Loop vs. Closed-Loop Systems:
Open-loop systems operate without feedback, meaning the output is not fed back to influence
the input. Closed-loop systems use feedback to adjust the input based on the output to achieve
the desired performance.
 Linear Control Systems:

● Description: These systems follow linear relationships between input and output. The principle of superposition applies, and
the system's response is proportional to the input.
● Example: A simple electrical circuit with resistors and capacitors can often be modeled as a linear system.

Nonlinear Control Systems:

● Description: Nonlinear systems do not follow a linear relationship between input and output. The system's behavior can be
more complex and may require advanced control strategies.
● Example: A pendulum or a car's suspension system, where responses can be highly nonlinear.

Time-Variant Control Systems:

● Description: In time-variant systems, the system parameters change over time. The control strategy must account for these
variations.
● Example: An aircraft's control system, where aerodynamic properties may change with different flight conditions.

Time-Invariant Control Systems:

● Description: Time-invariant systems have parameters that remain constant over time. The system's behavior does not change
with time.
● Example: A well-maintained electrical circuit with fixed resistors and capacitors.

The experiment
Discrete-Time Control Systems:

● Description: These systems operate with discrete time intervals, meaning that they process inputs and update outputs at specific
time steps.
● Example: Digital signal processors used in digital filtering.

Continuous-Time Control Systems:

● Description: Continuous-time systems operate with continuous time signals, meaning that inputs and outputs are processed
continuously.
● Example: Analog control systems like those used in analog audio processing.

Open-Loop Control Systems:

● Description: In open-loop systems, the control action is independent of the output. There is no feedback mechanism to correct
errors.
● Example: A washing machine that runs through a set cycle regardless of how clean the clothes are.

Closed-Loop Control Systems (Feedback Systems):

● Description: Closed-loop systems use feedback to compare the actual output with the desired output. The system adjusts its input
based on the feedback to achieve the desired result.
● Example: A thermostat that adjusts the heating system based on the current room temperature to maintain the desired
temperature.
The experiment
• Example 1: Consider the clothes dryer whose control action is done
manually by the operator. Depending on the wetness of the clothes suppose
the operator set the timer for 30 minutes. After 30 minutes the timer will
stop even after the clothes are wet
• The dryer stops working even if the desired output is not obtained. This
shows that the system has no feedback. Here clothes dryer is the example of
the open loop system and the timer is the controller of the system.
Example 2:
• The automatic washing machine is the example of the open loop system. The
operator manually sets the operating time of the machine. The machine stops
operating after the set time, even the desire cleanliness of clothes are not
obtained. This happens because the machine has no feedback system which
signals the control action of the system for desired output.
• The open loop system is simple, require less maintenance. Also, it is fast in
operation and very economical. But the accuracy of the system is less, and it is
less reliable
 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.
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
• 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. The transfer function can be given as
Hypothesis
Requirements of a good control system

● Accuracy
● Sensitivity
● Stability
● Speed of Response
● Robustness
● Simplicity
● Flexibility
● Noise
● Bandwidth how much frequency range
● Less Oscillation
●
 Block Diagram Reduction
• Basic Elements of Block Diagram
• The basic elements of a block diagram are a block, the summing
point and the take-off point. Let us consider the block diagram of a
closed loop control system as shown in the following figure to
identify these elements
 Numericals
• Example : Consider the block diagram shown in the following figure. Let us
simplify (reduce) this block diagram using the block diagram reduction rules.
Example 2

10

6-2=4 10

1
4/5 10

8/(1+8*1) = 8/9
Example 3
Example 4
Example 5
Example 6
 Signal Flow Graph
• “A signal flow graph of a control system is a simpler version of a block diagram. It
replaces blocks, summing symbols, and take-off points with branches and nodes”.

• The transfer function is referred as transmittance in signal flow graph.

• Transmittance: In signal flow graphs, the transfer function is called transmittance, shown
by the branches connecting the nodes.
• Rules for Drawing: Signals follow the direction of the arrows on branches, and the input
signal at a node is the sum of all incoming signals.
• Calculating Transfer Function: Calculate node inputs to find the overall relationship
between input and output, then use this to determine the transfer function.
• Mason’s Gain Formula: This formula helps determine the overall transmittance of the
signal flow graph, using path transmittances and graph determinants.
Conversion of Block Diagrams into Signal Flow Graphs
Construction of Signal Flow Graph
 Conversion of Block Diagrams into Signal Flow Graphs

Example
Branch is a line segment which joins two nodes. It has both gain
and direction. For example, there are four branches in the above
signal flow graph. These branches have gains of a, b, c and -d.
Construction of Signal Flow Graph

Question1 - Construct a signal flow graph by considering the following algebraic equations −
Construction of Signal Flow Graph
Construction of Signal Flow Graph
Construction of Signal Flow Graph
Construction of Signal Flow Graph
Mason’s Gain formula
“The relationship between the input variables and the output variables of a signal flow
diagram is given by the net gain of the input and output nodes, called the total gain of the
system.”
Construction of Signal Flow Graph
Construction of Signal Flow Graph
Mathematical Modelling of Electrical Systems
1. https://www.youtube.com/watch?v=GJDuBCPBaRU&list=PL-JvKqQx2AtfAwafk0QaEK2x4eZibiw3s&index
=4
2. https://www.youtube.com/watch?v=WrVk_lT60dk&list=PLWPirh4EWFpGpH_Rb6Q4iQ6vGGRA6MORZ&i
ndex=4
3. https://www.youtube.com/watch?v=ibLzmOSOk0g&list=PL5HcKRwhHZzfmz0Dl3-WELUWAr4LL41DS&in
dex=3
4.