Linear Control Systems

Zil e Huma
Lecturer
Department of Electrical
Engineering
Introduction to Control Systems
• Control systems plays a vital role in our day- to-day life
• Provides a background of control principles in various
engineering applications.
• Basic mathematical tools such as Laplace transform,
transfer function, block diagram, signal flow graph,
mathematical modeling of dynamic systems, time
response analysis, stability of linear system, root
locus and frequency domain analysis are utilized.

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Basic Definitions
• System: an arrangement or combination of different
physical components that are connected or related together
to form an entire unit to achieve/perform a certain
objective
• Systems can be physical, economical, biological
• Control: to regulate, direct or command a system so that a
certain output is achieved.
• Control system: interconnection of components to provide
a desired function
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• Plant: a piece of equipment, set of machines functioning
together to perform a particular operation. Any physical
object to be controlled.
• E.g.: Mechanical devices, heating furnace, spacecrafts.
• Process: Progressively continuing operation which occurs
in a series of controlled actions systematically towards a
particular result. Any operation to be controlled.
• E.g.: Navigation on aircraft.

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Basic Components
Inputs Outputs
(Objective) Plant / Process
(Results)
• Input: applied signal or excitation signal that is applied to
a control system
• Output: The actual response that is obtained from a
control system due to the application of the input
• Plant is fixed. Output produced is fixed.
• Block Diagram: identifies the major components of the
systems in the form of blocks. Shows the direction of
information and energy flow from one component to
another
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Plant with Controller
Disturbance

Inputs Plant / Outputs

(Objective) Controller
Process (Results)

• Controller: a component of the system which

generates a manipulated signal to the input to produce a
desired output.
• Disturbance: a signal that tends to affect the value of
the output of a system.
• Internal Disturbance: vibration, sound
• External Disturbance: Wind, surroundings, noises.
• Actuators: Apply force or torque to the physical system
• Sensor: Measure system behavior. 6
Examples

Cruise Control in Cars:

• Automobile is the Plant
• The actuator is the engine which generates propulsive forces
that turn the wheel
• The Sensor is the tachometer, which measures the vehicle
speed

Other example:
 Climate control
 Traction control
 Industrial Automation (Assembly lines)
 Robotics
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Output Signal

• Transient: instantaneous change of the input against the

gradual change of output. Physical system undergoes
gradual change of state.
• Steady State: Approximation to the command or desired
response. Occurs when system near the desired output.
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Advantages of Control Systems
+We build control systems for four primary reason:
i. Power Amplification (Gain)
– Positioning of a large radar antenna by low-power rotation
+ of a knob
ii. Remote Control
– Robotic arm used to pick up radioactive materials
iii. Convenience of Input Form
– Changing room temperature by thermostat position
iv. Compensation for Disturbances
– Controlling antenna position in the presence of large wind 9

+ disturbance torque
Classification of Control Systems
Depending on the relation of the control action with the
output, any control system can be classified as:
• Open - loop system
• Closed - loop system

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Open Loop Systems
• Output has no effect on the control action
• Output value is not measured, isolated
from input
• Operates on the basis of time.
Examples: bread toaster, hand drier,
traffic signals, man walking with eyes closed

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Example of Open Loop System
+Washing Machine:
• Soaking, washing and rinsing is time operated.
• Machine does not measure the output
signal, cleanliness of clothes.
• Output signal is not compared with the input
• Fixed operating conditions (time)
• Accuracy depends on calibration 12
Advantages of Open Loop
• Simple in construction and design
• Used where inputs are known, disturbance
is minimum and outputs are difficult to measure
• Economical: low cost and low power consumptions
• Easy to maintain

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Disadvantages of Open Loop
• Not accurate and unreliable
• Accuracy depends on the calibration
• Optimization is not possible
• External disturbances effect the system producing
inaccurate results
•
• Changes in parameters require constant recalibration

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Closed Loop Systems
• Controlling action is dependant on the output or
changes in input
• Output is fed back into the input
• Feedback signal produces error signal

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Closed Loop Systems Definitions
• Error Signal [e(t)]: Difference between the input and the feedback signal. Fed into
the controller to reduce the error and bring the output of the system closer to the
desired value.
• Input transducer sense the input physical quantity and converts it into a form to be
used by the controller [r(t)]
• Controlled Variable [c(t)]: quantity which is controlled
• Manipulated Variable [u(t)]: quantity which is varied
• Output transducer measure the output response and convert it into a form used by
the controller
• Output signal arrives back via a feedback path
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• Summing junction: algebraically sums two or more signals
Advantages of Closed Loop
• Response is more accurate due to correction of arising
errors
• Insensitive to external disturbances
• Transient response and steady state response can
easily be controlled
• Reduced effects of non-linearity
• High bandwidth, higher operating frequency zones 17
Disadvantages of Closed Loop
• Complicated in design
• Complex and costlier
• Oscillations generates within the system
• Can get unstable in certain conditions

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A Manual Level Control System

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Example of Closed Loop
• Objective: To control direction and speed of car
• Outputs: Actual direction and speed of car
• Control inputs: Road markings and speed signs
• Disturbances: Road surface and grade, wind, obstacles
• Possible subsystems: The car alone, power steering system, breaking
system

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Functional block diagram:
Desired Actual
course course
+ Steering of travel
of travel Error Driver Automobile
Mechanism
-

Measurement, visual and tactile

Time response:

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Types of Feedback
Positive feedback:
• When a system tends
to increase output
• Small disturbances
the
increase of
magnitude
perturbations (Changes in
normal State) Examples:
• Tends cause system Camera pointed to screen,
to
instability Amplifier oscillations in
• Results in electronics, 22

exponenti speaker resonance,

microphone
Computer and
oscillations
growth, al social networks.
increasing
Types of Feedback
Negative Feedback:
• System tends to reduce
output
• Results of a process causes
the operation to reduce
change
• Makes system self
regulating, more stable
• Reduces the effects of 23

fluctuations