Learning Module 1.

Introduction to Control Systems

Course Packet 1. Definition of Control Systems

Control System
- is a system which provides the desired response by controlling the output- that is, output
is controlled by varying input.
- Consists of interconnected components to achieve a desired purpose
- defined as a system of devices that manages, commands, directs, or regulates the
behavior of other devices or systems to achieve a desired result.
- Control Loops – process designed to maintain a process variable at a desired set point.

Below figure shows the simple block diagram of a control system wherein the output is controlled
by varying input, the control system got this name.

The main feature of a control system is that there should be a clear mathematical relationship
between the input and output.

Examples − Traffic lights control system, washing machine, air conditioner, refrigerator, toilet
tank, car cruise control, power systems, space technology, robotics, etc

1. Traffic lights control system is an example of control system. Here, a sequence of input
signal is applied to this control system and the output is one of the three lights that will be
on for some duration of time. During this time, the other two lights will be off. Based on the
traffic study at a particular junction, the on and off times of the lights can be determined.
Accordingly, the input signal controls the output. So, the traffic lights control system
operates on time basis.

2. National Income
 3. Coordinated control system for a boiler-generator

4. Fluid-flow control

Requirements of A Good Control System

1. Accuracy > Measurement of tolerance of the instrument and defines the limits of the
errors made when the instrument is used in normal operating conditions.
2. Sensitivity < Measurement of changes of the parameters in a control system with the
change in surrounding conditions, internal disturbance, or any other parameters.
3. Noise < Any undesired input signal
4. Stability > For bounded input signal, output must be bounded. For zero input, output must
be zero.
5. Bandwidth > Operating frequency range
 6. Speed > Time taken to achieve its stable output (transient period<)

Control System Design Process

Engineering design is the process of conceiving or inventing the forms, parts, and details of a
system to achieve a specified purpose. The iterative nature of design allows us to handle the
design gap effectively while accomplishing necessary trade-offs in complexity, performance,
and cost.

Course Packet 2. System Configurations

Based on some parameters, we can classify the control systems into the following ways.

1. Based on the type of the signal used

a. Continuous time control systems - all the signals are continuous in time
b. Discrete time control systems - there exists one or more discrete time signals

2. Based on the number of inputs and outputs

a. SISO (Single Input and Single Output) control systems have one input and one output
b. MIMO (Multiple Inputs and Multiple Outputs) control systems have more than one
input and more than one output.

2 Major Types of Control Systems

Control Systems can be classified as open loop control systems and closed loop control systems
based on the feedback path.
1. Open loop control systems,
- Output is not fed-back to the input; the control action is independent of the desired output.
2. Closed loop control systems
- Output is fed back to the input; the control action is dependent on the desired output.

The differences between the open loop and the closed loop control systems are mentioned in
the following table.
Open Loop Control Systems Closed Loop Control Systems
Control action is independent of the desired Control action is dependent of the desired
output. output.
Feedback path is not present. Feedback path is present.
These are also called as non-feedback These are also called as feedback
control systems. control systems.
Easy to design. Difficult to design.
These are economical. These are costlier.
Inaccurate. Accurate.
Less maintenance More maintenance
Stable May be unstable
Small bandwidth Large bandwidth
 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.

The feedback loop is the tool that takes the system output into consideration and enables the
system to adjust its performance to meet the desired result of the system. In any control system,
the output is affected due to external factors, so one signal is taken from the output and is fed
back to the input. This signal is compared with a reference input and determines the error signal
which is applied to the controller. This way, the output is corrected.

Types of Feedback

There are two types of feedback −

● Positive feedback
● Negative feedback

Positive Feedback
The positive feedback adds the reference input, R(s)R(s) and feedback output. The following
figure shows the block diagram of positive feedback control system.

(Equation 1)
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.

Negative Feedback
 Negative feedback reduces the error between the reference input, R(s)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,

(Equation 2)
Where,
● T is the transfer function or overall gain of negative 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. Effect of Feedback on Overall Gain

● From Equation 2, we can say that 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.

2. 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
 (Equation 3)

Where, ∂T is the incremental change in T due to incremental change in G.

We can rewrite Equation 3 as

(Equation 4)
Do partial differentiation with respect to G on both sides of Equation 2.

(Equation 5)
From Equation 2, you will get

(Equation 6)
Substitute Equation 5 and Equation 6 in Equation 4.

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.
In general, 'G' and 'H' are functions of frequency. So, feedback will increase the sensitivity of the
system gain in one frequency range and decrease in the other frequency range. Therefore, we
have to choose the values of 'GH' in such a way that the system is insensitive or less sensitive
to parameter variations.
3. 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.

4. Effect of Feedback on Noise

To know the effect of feedback on noise, let us compare the transfer function relations with and
without feedback due to noise signal alone.
Consider an open loop control system with noise signal as shown below.

The open loop transfer function due to noise signal alone is

(Equation 7)
It is obtained by making the other input R(s)R(s) equal to zero.
Consider a closed loop control system with noise signal as shown below.

The closed loop transfer function due to noise signal alone is

(Equation 8)
It is obtained by making the other input R(s)R(s) equal to zero.
Compare Equation 7 and Equation 8,
In the closed loop control system, the gain due to noise signal is decreased by a factor
of (1+GaGbH)(1+GaGbH) provided that the term (1+GaGbH)(1+GaGbH) is greater than one.

Course Packet 3. System Time Response

Control systems analysis and design focus on three primary objectives:

1. Producing the desired transient response

2. Reducing steady-state errors
3. Achieving stability

A system must be stable to produce the proper transient and steady state response. Transient
response is important because it affects the speed of the system and influences human patience
and comfort, not to mention mechanical stress. Steady-state response determines the accuracy
of the control system; it governs how closely the output matches the desired response.

Time Response  c(t) = ctr(t) + css(t)

A. Transient Response
- Response of a system to a change from an equilibrium or a steady state. It shows how
fast a system is reaching its final value. This occurs mainly after two conditions and these
two conditions are written as follows:
o Condition one: Just after switching ‘on’ the system that means at the time of
application of an input signal to the system.
o Condition second: Just after any abnormal conditions. Abnormal conditions may
include sudden change in the load, short circuiting etc.

B. Steady State Response

- Steady state occurs after the system becomes settled and at the steady system starts
working normally.
- It is the behavior of a system after a long time when steady conditions have been reached
after an external excitation.
Assessment 1. True-or-False, Multiple-Choice

1. A closed-loop control system uses a measurement of the output and feedback of

the signal to compare it with the desired purpose.
2. The block diagram below is an example of a closed-loop feedback system.

3. An open-loop control system utilizes an actuating device to control a process.

a. without using feedback
b. using feedback
c. in engineering design
d. in engineering synthesis
4. Control engineering is applicable to which fields of engineering?
a. Mechanical and aerospace
b. Electrical and biomedical
c. Chemical and environmental
d. All of the above
5. Closed-loop control systems should have which of the following properties:
a. Good regulation against disturbances
b. Desirable responses to commands
c. Low sensitivity to changes in the plant parameters
d. All of the above
6. The reason process control is so popular is the increased
a. Safety
b. Profitability
c. Operability
d. all of the above
7. The initial response when the output is not equal to input is called
a. Transient response
b. Error response
c. Dynamic response
d. Neither of the above
8. Which is an example of a closed loop system?
a. Auto-pilot for an aircraft
b. Direct current generator
c. Car starter
d. Electric switch
9. Which of the following should be done to make an unstable system stable?
a. Decrease system gain
b. Increase system gain
c. Increase number of poles to transfer function
d. Decrease number of poles to transfer function
10. The output of a feedback control system must be a function of:
a. Reference and output
b. Reference and input
c. Input and feedback signal
d. Output and feedback signal
11. What should be the nature of bandwidth for a good control system?
a. Large
 b. Small
c. Medium
d. All of the above
12. Which among the following represents an illustration of closed loop system?
a. Automatic washing machine
b. Automatic electric iron
c. Bread toaster
d. Electric hand drier
13. Which terminology deals with the excitation or stimulus applied to the system from
an external source for the generation of an output?
a. Input signal
b. Output signal
c. Error signal
d. Feedback signal
14. What is the algebraic sum of the reference input and feedback?
a. Error Signal
b. Controlled system
c. Error Detector
d. Controlled output
15. It is the behavior of a system after a long time when steady conditions have been
reached after an external excitation.
a. Total time response
b. Transient response
c. Steady-state response
d. Stability response

Link to Quiz 1
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