Open Loop Control Systems

• A system in which the output has no effect on the input

• An open loop system doesn’t use any feedback phenomenon

• In the presence of disturbances, an open-loop system will not perform the desired task

• Open-loop control can be used, in practice, only if the relationship between the input
and output is known and if there are neither internal nor external disturbances

1
An Example of Open Loop Control Systems

• The toaster shown below can be a set for the desired darkness of the bread

• The setting of the ‘‘darkness’’ knob, or timer, represents the input quantity

• The degree of darkness and crispness of the toast produced is the output quantity

• Here, the degree of darkness has no influence on the timer settings (no feedback)

• The heater portion of the toaster represents the dynamic part of the overall system,
and the timer unit is the reference selector

2
Basic Elements of Translational Mechanical Systems

Translational Spring

Translational Mass

Translational Damper (Friction)

 Example
• Consider the following system

k
x
F
M

C
• Free Body Diagram
fk fC
M fM
F

F  f k  f M  fC
4
Differential equation of the system is:

F  Mx  Cx  kx
Taking the Laplace Transform of both sides and ignoring
Initial conditions we get

F ( s )  Ms 2 X ( s )  CsX ( s )  kX ( s )

X (s) 1

F(s) Ms 2  Cs  k

5
 Automobile Suspension

mxo  b( x o  x i )  k ( xo  xi )  0 (eq . 1)

mxo  bx o  kxo  bx i  kxi eq. 2

Taking Laplace Transform of the equation (2)

2
ms X o ( s )  bsX o ( s )  kX o ( s )  bsX i ( s )  kX i ( s )

X o (s) bs  k

X i ( s ) ms 2  bs  k
6
Mechanical Translational Symbols & Units

7
 Time Response of Control Systems
• Time response of a dynamic system is response to an input
expressed as a function of time.

System

• The time response of any system has two components

• Transient response
• Steady-state response.
 First Order Systems
• The first order system has only one pole.
C( s ) K

R( s ) Ts  1
• Where K is the D.C gain and T is the time constant of
the system.

• Time constant is a measure of how quickly a 1st

order system responds to a unit step input.

• D.C Gain of the system is ratio between the input

signal and the steady state value of output.
 Impulse Response of 1st Order System
K t / T
• If K=3 and T=2s then c( t )  e
T
K/T*exp(-t/T)
1.5

1
c(t)

0.5

0
0 2 4 6 8 10
Time
 Examples of First Order Systems
• Mechanical System

X o (s) 1

X i (s) b
s 1
k
 Second Order Systems
• A general second-order system (without zeros) is
characterized by the following transfer function.

 2
G ( s)  n
Open-Loop Transfer Function
s ( s  2 n )

C( s )  n2
 2 Closed-Loop Transfer Function
R( s ) s  2 n s   n2
 Second Order Systems
C( s )  n2
 2
R( s ) s  2 n s   n2

 damping ratio of the second order system, which is a measure

of the degree of resistance to change in the system output.

n un-damped natural frequency of the second order system, which

is the frequency of oscillation of the system without damping.
 The Concept of Frequency Response
• A system causes both the amplitude and phase angle
of the input to be changed.

• Therefore, the system itself can be represented by a

complex number.

• Thus, the product of the input phasor and the system

function yields the phasor representation of the
output.
The Concept of Frequency Response

M ( ) ( )
 Bode Plot
• A Bode diagram consists of two graphs:
– One is a plot of the logarithm of the magnitude of
a sinusoidal transfer function.
– The other is a plot of the phase angle.
– Both are plotted against the frequency.
Basic Factors of a Transfer Function
• The basic factors that very frequently occur in
an arbitrary transfer function are
1. Gain K
2. Integral and Derivative Factors (jω)±1
3. First Order Factors (jωT+1)±1
4. Quadratic Factors

20(3s  1)
G( s )  2
s( s  1)( s  5s  2 )
 Basic Factors of a Transfer Function
1. Gain K

• The log-magnitude curve for a constant gain K is a horizontal

straight line at the magnitude of 20 log(K) decibels.

• The phase angle of the gain K is zero.

• The effect of varying the gain K in the transfer function is that

it raises or lowers the log-magnitude curve of the transfer
function by the corresponding constant amount, but it has no
effect on the phase curve.
 Example
2s
G( s ) 
( 0. 1s  1)
1. Gain Factor (K=2)
K db
 20 log( 2 )  6 db
2. Derivative Factor (s)
s db  20 log( )  20 db/decade

3. 1st Order Factor in denominator (0.1s+1)

1
when   10,  20 log(1)  0
0. 1 j  1 db

1
when   10,  20 log( 0. 1 )  20db/dec
0. 1 j  1 db
 20s
G( s ) 
( s  10)
30

20 db/decade
Magnitude (decibels)

10

K=2
0

-10

-20 db/decade
-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 20s
G( s ) 
( s  10)
30

-20 db/decade+20db/decade
Magnitude (decibels)

10

20 db/decade
0

-10

-20

-30
0.1 1 10 100 103 104 105 106 107 108 109
Frequency (rad/sec)
 Bode Diagram
30

20
Magnitude (dB)

10

-10

-20
90
Phase (deg)

45

0
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
 Relative Stability
 Phase crossover frequency (ωp) is the frequency at which
the phase angle of the open-loop transfer function equals –
180°.
 The gain crossover frequency (ωg) is the frequency at which
the magnitude of the open loop transfer function, is unity.
 The gain margin (Kg) is the reciprocal of the magnitude of
G(jω) at the phase cross over frequency.

 The phase margin (γ) is that amount of additional phase lag

at the gain crossover frequency required to bring the system
to the verge of instability.
Relative Stability
 The PID Algorithm
• The PID algorithm is the most popular feedback controller
algorithm used. It is a robust easily understood algorithm
that can provide excellent control performance despite the
varied dynamic characteristics of processes.

• As the name suggests, the PID algorithm consists of three

basic modes:
the Proportional mode,
the Integral mode
& the Derivative mode.
 PID Controller

• In the s-domain, the PID controller may be represented as:

 K 
U ( s)   K p  i  K d s  E ( s)
 s 
• In the time domain:
t de(t )
u (t )  K p e(t )  K i  e(t )dt  K d
0 dt
proportional gain integral gain derivative gain
 Controller Effects

• A proportional controller (P) reduces error responses to

disturbances, but still allows a steady-state error.

• When the controller includes a term proportional to the

integral of the error (I), then the steady state error to a
constant input is eliminated, although typically at the cost
of deterioration in the dynamic response.

• A derivative control typically makes the system better

damped and more stable.
 Closed-loop Response
• In General the effects of increasing parameters is:
Rise time Maximum Settling Steady-
overshoot time state error
P Decrease Increase Small Decrease
change
I Decrease Increase Increase Eliminate

D Small Decrease Decrease Small

change change
• Note that these correlations may not be exactly accurate,
because P, I and D gains are dependent of each other.
 Application of PID Control

• PID regulators provide reasonable control of most

industrial processes, provided that the performance
demands is not too high.

• PI control are generally adequate when plant/process

dynamics are essentially of 1st-order.

• PID control are generally ok if dominant plant dynamics are

of 2nd-order.

• More elaborate control strategies needed if process has

long time delays, or lightly-damped vibrational modes