Feedback and

Control Systems
Introduction to Control Systems
 CONTROL SYSTEM is a system which consists of a subsystems
and processes (or plants) assembled for the purpose of
obtaining a desired output with desired performance given a
desired input.
 The following figure shows the simple block diagram of a
control system. For the figure shown below, the control system
is represented by a single block. The output is controlled by
varying input thus the control system got this name.

Control Input:
Stimulu
Control System
Output:
Respons
Systems s
Desired
response
e
Actual
response

 INPUT – is the stimulus, excitation or command applied to a

control system, typically from an external energy source,
usually in order to produce a specified response from the
control system.
 OUTPUT – is the actual response obtained from a control
system. It may or may not be equal to the specified response
implied by the input.
 Inputs and outputs can have many different forms . Inputs, for
example, may be physical variables or more abstract quantities such
as reference, set point, or desired values for the output of the
control system.

 The purpose of the control system usually identifies or defines the

output and the input.

 Control systems may have more than one input or output. Often all
inputs and outputs are well defined by the system description. But
sometimes they are not.
 1. An electric switch is a manufactured control system,
controlling the flow of electricity. By definition, the
apparatus or person flipping the switch is not part of
this control system. Flipping the switch on or off may
be considered as INPUT. That is, the input can be in one
of the two states, on or off. The output is the flow or
non-flow (two states) of electricity. The electric switch
is one of the most rudimentary control systems.

Examples
 2. A thermostatically controlled heater or furnace
automatically regulating the temperature of a room or
enclosure is a control system. The input to this system
is a reference temperature, usually specified by
appropriately setting s thermostat. The output is the
actual temperature of the room or enclosure. When the
thermostat detects that the output is less than the
input, the furnace provides heat until the temperature
of the enclosure becomes equal to the reference input.
Examples Then the furnace is automatically turned off. When the
temperature falls somewhat below the reference
temperature, the furnace is turned on again.
 3. Traffic lights is an example of a 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. Accordingly, the input
signal controls the output. So, the traffic lights control
system operates on time basis.

Examples
  Control Systems can be classified as CONTINUOUS
time control systems and DISCRETE time control
systems based on the type of signal used.

Classificatio  CONTINUOUS TIME or ANALOG CONTROL SYSTEM

n of Control In continuous time control systems, all the signals are

continuous in time. A signal dependent on a continuum
System of values of the independent variable (t) is called a
continuous-time signal or, more generally, a
continuous-data signal or an analog signal. Continuous-
time control system, also called continuous-data
control system, or analog systems contain or process
only continuous-time(analog) signal and components.
 Example:
 The continuous, sinusoidal varying voltage v(t) or alternating current
i(t) available from an ordinary household electrical receptacle is a
continuous-time (analog) signal, because it is defined at each and
every instant of time (t) electrical power is available from that outlet.

x(t x(t
) )

t t
  DISCRETE TIME or DIGITAL CONTROL SYSTEM
In discrete time control systems, there exists one or
more discrete time signals. Discrete-time control
Classificatio systems is also called discrete-data or sampled-data
control systems. We note that discrete-time control
n of Control system can have continuous-time as well as discrete-
time signals, hence they can be hybrid.
System Digital control systems are control systems in which
one or more variables can change only at discrete
instants of time. These instants is denoted as kT or tk
(k= 0, 1, 2,…)
 Example:
 If a lamp is connected to the receptacle and it is switched on and
then immediately off every minute, the light from the lamp is a
discrete-time signal, on only for an instant every minute.

x(t x(t
) )

t t
  Control system can be classified as SISO control
system and MIMO control systems based on the
Classificatio number of inputs and outputs present.

n of Control  SISO (Single Input and Single Output) control systems

System have one input and one output. Whereas, MIMO
(Multiple Inputs and Multiple Outputs) control system
have one or more than one input and output.
 OPEN LOOP
 In open loop system, the output is not fed-back to the input. So,
the control action is independent of the desired output.
Consider the figure shown below, an input is applied to a controller
and it produces an actuating signal or controlling signal. This signal
is given as an input to a plant which is to be controlled. So the
plant produces an output, based on the action of the control
System system. The traffic light control system is an example of an open
loop system.
Configuratio Actuatin
n Inpu
t
Controller
g Signal
Plant
Outpu
t

Another example is the automatic toasters because they are

controlled by a timer. The time to make a “good toast” must be
estimated by a user (which is not part of a system). Control over
the quantity of toast (output) is removed once the time (input and
control action) has been set. The time is typically set by means of
a calibrated dial or switch.
 CLOSED LOOP
 In closed loop systems, output is fed back to the input. So, the
control action is dependent on the desired output.
Consider the figure shown below, the error detector produces an
error signal, which is the difference between the input and the
feedback signal. This feedback signal is obtained from the block
(feedback elements) by considering the output of the over all
System system as an input to this block. Instead of the direct input, the
error signal is applied as an input to a controller.

Configuratio Input
Error
Detecto
Controlle
Actuatin
g Signal Outpu
r
XError Plant
n +_
Signal
r t

Feedback
Feedbac Elements
k Signal

The controller produces an actuating signal which controls the

plant. In this combination, the output of the control system is
adjusted automatically till we get the actual response. Hence,
the closed loop control system is also called “Automatic Control
Systems”
 An example of a closed loop system is an autopilot mechanism and
the airplane it controls. It’s purpose is to maintain a specified
airplane heading, despite atmospheric changes. It performs this task
by continuously measuring the actual airplane heading, and
automatically adjusting the airplane control surfaces (rubber,
ailerons, etc.) so as to bring the actual airplane heading into
correspondence with the specified heading.
 Open Loop System Closed Loop System
 Control action is  Control action is
independent on the dependent on the
desired output desired output
System  Feedback path is not  Feedback path are
Configuratio present present

n  These are also called as

non-feedback control
 These are also called as
feedback control
system system
 Easy to design  Difficult to design
 Economical  Costlier/ Expensive
 Inaccurate  Accurate
Feedback and
Control System
Block Diagram Algebra and Function of a System
  Block Diagram Algebra
-the algebra involved with the basic elements of the
block diagram. This algebra deals with the pictorial
representation of algebraic equations.

Block  BASIC CONNECTION FOR BLOCKS

Diagram  Series Connection
Algebra and Series Connection is also called cascade connection. In
Function of the following figure, two blocks having transfer
functions G1(s) and G2(s) are connected in series.
a System
X(s Z(s Y(s
G1(s) G2(s)
) ) )

X(s Y(s
) G1(s) G2(s)
)
** note that transfer function is the ratio of output over input
  Parallel Connection
The blocks which are connected in a parallel
connection will have same input. In the following
figure, two blocks having transfer functions G1(s) and
Block G2(s) are connected in parallel. The output of this two
blocks are connected to the summing point.
Diagram X(s)
G1(s)
Y1(s)
+ Y(s)
Algebra and X
Function of G2(s)
+
Y2(s
a System )
X(s Y(s
) G1(s) + G2(s)
)