Control system

What is a control system

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 System

• A system is an organized collection of parts or

subsystems that are highly integrated to
accomplish an overall goal
• The system has various inputs, which go
through certain processes to produce certain
outputs, which together, accomplish the
overall desired goal for the system.

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 Different Types of System

• biological systems (the heart)

• mechanical systems (a thermostat)
• human/mechanical systems (riding a bicycle)
• ecological systems ( predator/prey)
• social systems (groups, supply and demand
and also friendship)

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 Definitions
• Control
– To regulate ,direct or command a system
– So desired objective is obtained
• Plant
– A portion of a system which is to be controlled or
regulated
– Also known as process

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 An Open Loop-Control System

Input output
Plant

•One type of control system in which the output has no

influence or effect on the control action of the input signal is
called an Open-loop system
•Open-loop systems are commonly referred to as “Non-
feedback systems”.

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Open-loop Motor Control
•The speed of rotation of the motor
will depend upon the voltage
supplied to the amplifier (the
controller) by the potentiometer.

•The value of the input voltage could

be proportional to the position of the
potentiometer.

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Open-loop Motor Control
•If the potentiometer is moved to
the top of the resistance the
maximum positive voltage will be
supplied to the amplifier
representing full speed.

•Likewise, if the potentiometer

wiper is moved to the bottom of
the resistance, zero voltage will be
supplied representing a very slow
speed or stop.

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A Closed –Loop Control System

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Closed-loop Motor Control

• A disturbance like load variation

may create a difference in the
actual motor speed and
potentiometer set point.

•This difference would produce an

error signal

• The controller would

automatically respond for
adjusting the motors speed.

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 Closed-loop Motor Control

• Then the controller works to minimize the error

signal, with zero error indicating actual speed
which equals set point.
• Electronically it can be implemented as shown
above
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Applications

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 Components of Control System
• Control system
– Arrangement of different physical elements
connected to regulate itself or some other system
• Plant or Process
– portion of the system which is to be controlled
or regulated
• Controller
– The element of the system which controls the
plant or the process
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 Components of CS..
• Input is applied signal or excitation signal
• Output is actual response
• Disturbances
– Signal which affect the value of the system
– Internal disturbance
• Generated with in the system
• Wiring problems
– External disturbance
• Generated out side the system
• Black outs in the power system
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 Classification of Control system

• Natural
– Biological system inside human
• Manmade
– Manufactured by human beings
– Vehicles, switches etc
• Combinational
– Driver driving a vehicle

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 Classification…
• Time varying
– Parameters of mathematical model varying with time or
non-stationary
– Control of a rocket
• Mass of the rocket changes with time due to depletion of the
fuel
• Air damping also changes with time as air density changes
with altitude
– Complexity increases
• Time Invariant
– Parameters of the system is independent of time
– Electrical network
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 Classification…
• Linear
– Mathematical model of the system obeys the
principle of superposition and homogeneity
– Analysis is easy
• Non Linear
– No general methods
– None of the system is completely linear
Linear Model is appropriate

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 Classification…
• Lumped
– Matter is assumed to be lumped at some discrete points of
the space
– Resulting models are ordinary differential equations with
time as the independent variable
– Electrical network with different elements R,L,C
• Distributed
– Some variables are distributed in space
– Vary with spacial co-ordinate system
– Resulting model are partial differential equations with time
and space are co-ordinate as independent variables
– Transmission line
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 Classification…
• Continuous time
– All system variables are functions of a continous time
variable ‘t’
– Known as analogue signals
– Speed control of motor using tachogenerator
• Discrete time
– One or more system variable are known only at certain
discrete intervals of time
– Not continuously dependent of time
– Digital signals
– Microprocessor or computer based systems uses this type
of signals
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 Classification…
• Deterministic
– Response to input and behavior to external
disturbances are predictable and repeatable
• Stochastic
– Unpredictable system

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• We consider our system to be
• Linear
• Time invariant
• Lumped

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 Mathematical Modeling of The System
• The control systems can be represented with a set of
mathematical equations known as mathematical model.
• These models are useful for analysis and design of control
systems.
• Analysis of control system means finding the output when we
know the input and mathematical model.
• Design of control system means finding the mathematical
model when we know the input and the output.

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 Mathematical Modeling…
• The following mathematical models are mostly used.
– Differential equation model
– Transfer function model
– State space model
• Here the first two models will be discussed.

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 Mathematical Modeling….
• Mathematical models of physical system are key elements in
the design and analysis of control system
• Dynamic behavior can be described by ordinary differential
equations
• All physical system are nonlinear
• Linearization approximation will be done to use Laplace
transform methods

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 Mathematical Modeling….
• Differential Equation Model
• Differential equation model is a time domain mathematical
model of control systems.
• Follow these steps for differential equation model.
• Apply basic laws to the given control system.
• Get the differential equation in terms of input and output by
eliminating the intermediate variable(s).

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 Mathematical Modeling….
• Transfer Function Model
• Transfer function model is an s-domain mathematical model
of control systems.
• The Transfer function of a Linear Time Invariant (LTI) system is
defined as the ratio of Laplace transform of output and
Laplace transform of input by assuming all the initial
conditions are zero.
• If x(t) and y(t) are the input and output of an LTI system, then
the corresponding Laplace transforms are X(s) and Y(s).

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• Transfer function of LTI system is equal to the ratio
of Y(s) and X(s).
Y (s)
TransferFu nctionG ( s ) 
X (s)
• The transfer function model of an LTI system is shown in the
following figure.

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 Design Process
• Transform requirement into a physical system
• Draw a functional block diagram
• Create schematic
• Develop a mathematical model(block diagram)
• Reduce the block diagram, analyze and design

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