14.

14 Description of Module 14
14.14.1 Code: EET 05211
14.14.2 Name: Control Engineering
14.14.3 Number of Credits: 9
14.14.4 Sub-Enabling Outcomes:
2.2.1 Describe open loop and closed loop control systems

2.2.2 Apply the error-correction benefits of Proportional, Integral, and Derivative

elements of a PID second-order system.

2.2.4 Apply Frequency Domain behavior versus Time Domain Behavior of sensors,
actuators, and filters

2.2.5 Apply Phase-gain Bode Plots for frequency behavior of Low Pass, High Pass,
Bandpass, and Ban2.2.3 Apply basic methods for tuning a PID controllers
dstop filters
2.2.6 Apply Anti-Alias and Reconstruction filters in Analog-to-Digital (ADC) and
Digital-to-Analog (DAC) converters.

2.2.7 Explain effect of under sampling foldback frequencies as applied in Digital

Oscilloscopes and other digital-sampled systems.
• COURSE OUTCOMES: After going
through this course the student gets
• A thorough knowledge on open loop
and closed loop control systems,
concept of feedback in control systems.
• Understanding of transfer function
representation through block diagram
algebra.
• Time response analysis of different
order systems through their
characteristic equation.
 INTRODUCTION

Basic Concept of Control System

Control Engineering is concerned with techniques that are used to
solve the following six problems in the most efficient manner
possible.
(a)The identification problem: to measure the variables and convert
data for analysis.
(b)The representation problem: to describe a system by an
analytical form or mathematical model
(c)The solution problem: to determine the above system model
response.
(d)The stability problem: general qualitative analysis of the system
(e)The design problem: modification of an existing system or
develop a new one
(f)The optimization problem: from a variety of design to choose the
best.
Basic terminologies in
control system
• System: A combination or arrangement of a number
of different physical components to form
• a whole unit such that that combining unit performs to
achieve a certain goal.
• Control: The action to command, direct or regulate a
system.
• Plant or process: The part or component of a system
that is required to be controlled.
• Input: It is the signal or excitation supplied to a
control system.
• Output: It is the actual response obtained from the
control system.
• Controller: The part or component of a system that
controls the plant.
What is a control system
• A control system is defined as a system of
devices that manages, commands, directs,
or regulates the behavior of other devices
or systems to achieve a desired result.
• A control system achieves this through control
loops, which are a process designed to maintain
a process variable at a desired set point.
• In other words, the definition of a control
system can be simplified as a system, which
controls other systems. As human civilization is
being modernized day by day the demand for
automation has increased alongside it.
Automation requires control over systems of
interacting devices.
Examples of control system
• Examples of control systems in your
day-to-day life include an air
conditioner, a refrigerator, an air
conditioner, a bathroom toilet tank, an
automatic iron, and many processes
within a car – such as cruise control.
• In industrial settings, we find control
systems in the quality control of
products, weapons system,
transportation systems, power systems,
space technology, robotics, and much
more.
Features of a Control
System
• The main feature of a control system is that
there should be a clear mathematical
relationship between the input and output of
the system.
• When the relation between input and output of
the system can be represented by a linear
proportionality, the system is called a linear
control system.
• Again when the relationship between input and
output cannot be represented by single linear
proportionality, rather the input and output are
related by some non-linear relation, the system
is referred to as a non-linear control system.
Requirements of a Good
Control System
• Noise: An undesired input signal is known as noise. A good
control system should be able to reduce the noise effect for
better performance.
• Stability: It is an important characteristic of the control
system. For the bounded input signal, the output must be
bounded and if the input is zero then the output must be zero
then such a control system is said to be a stable system.
• Bandwidth: An operating frequency range decides the
bandwidth of the control system. Bandwidth should be as large
as possible for the frequency response of a good control
system.
• Speed: It is the time taken by the control system to achieve
its stable output. A good control system possesses high speed.
The transient period for such a system is very small.
• Oscillation: A small number of oscillations or constant
oscillations of output tends to indicate the system to be stable.
Types of Control Systems

• There are various types of control

system, but all of them are created
to control outputs. The system used
for controlling the position, velocity,
acceleration, temperature, pressure,
voltage, and current, etc. are
examples of control systems.
• An example of the simple temperature
controller of the room, to clear the concept.
Suppose there is a simple heating element,
which is heated up as long as the electric
power supply is switched on.
• As long as the power supply switch of the
heater is on the temperature of the room
rises and after achieving the desired
temperature of the room, the power supply
is switched off.
• Again due to ambient temperature, the room
temperature falls, and then manually the
heater element is switched on to achieve the
desired room temperature again. In this
way, one can manually control the room
temperature at the desired level. This is an
example of a manual control system.
• This system can further be improved by using
a timer switching arrangement of the power
supply where the supply to the heating
element is switched on and off in a
predetermined interval to achieve the desired
temperature level of the room.
• There is another improved way of controlling
the temperature of the room. Here one sensor
measures the difference between the actual
temperature and desired temperature.
• If there are any differences between them, the
heating element functions to reduce the
difference and when the difference becomes
lower than a predetermined level, the heating
elements stop functioning.
• Both forms of the system are automatic
control system.
• In first the input of the system is entirely
independent of the output of the system.
The temperature of the room (output)
increases as long as the power supply
switch is kept on.
• That means the heating element
produces heat as long as the power
supply is kept on and the final room
temperature does not have any control
over the input power supply of the
system. This system is referred to as an
open-loop control system.
• in the last case, the heating elements
of the system function, depending upon
the difference between, actual
temperature and desired temperature.
This difference is called the error of the
system.
• This error signal is fed back to the
system to control the input. As the
input to the output path and the error
feedback path create a closed-loop,
this type of control system is referred
to as a closed-loop control system.
Hence, there are two main types of
control systems. They are as
follow:
• Open-loop control systems
• Closed-loop control systems
Open Loop Control System

• A control system in which the control action

is totally independent of the output of the
system then it is called an open-loop
control system. A manual control system
is also an open-loop control system.
• The figure below shows a
control system block diagram of an open-
loop control system in which process
output is totally independent of the
controller action.
Examples of open-loop control
systems in daily life include:
• Electric Hand Drier – Hot air (output) comes out as long as
you keep your hand under the machine, irrespective of how
much your hand is dried.
• Automatic Washing Machine – This machine runs according
to the pre-set time irrespective of washing is completed or
not.
• Bread Toaster – This machine runs as per adjusted time
irrespective of toasting is completed or not.
• Automatic Tea/Coffee Maker – These machines also function
for pre-adjusted time only.
• Timer Based Clothes Drier – This machine dries wet clothes
for pre-adjusted time, it does not matter how much the
clothes are dried.
• Light Switch – Lamps glow whenever the light switch is on
irrespective of light is required or not.
• Volume on Stereo System – Volume is adjusted manually
irrespective of output volume level.
Advantages of Open Loop
Control Systems
• Advantages of open-loop control
systems include:
• Simple in construction and design.
• Economical.
• Easy to maintain.
• Generally stable.
• Convenient to use as output is
difficult to measure.
Disadvantages of Open
Loop Control System
• Disadvantages of open-loop control
systems include:
• They are inaccurate.
• They are unreliable.
• Any change in output cannot be
corrected automatically.
Closed Loop Control System

• Control systems in which the output has an effect on

the input quantity in such a manner that the input
quantity will adjust itself based on the output
generated is called a closed-loop control system.
• An open-loop control system can be converted into
a closed loop control system by providing feedback.
This feedback automatically makes suitable changes
in the output due to external disturbance.
• In this way, a closed loop control system is called an
automatic control system. The figure below shows the
block diagram of the closed loop control system
inwhich feedback is taken from the output and fed into
the input.
Examples of closed-loop
control systems in daily life
include:
• Automatic Electric Iron – Heating elements are
controlled by the output temperature of the iron.
• Servo Voltage Stabilizer – Voltage controller operates
depending upon the output voltage of the system.
• Water Level Controller – Input water is controlled by
the water level of the reservoir.
• Missile Launched and Auto Tracked by Radar – The
direction of the missile is controlled by comparing the
target and position of the missile.
• An Air Conditioner – An air conditioner functions
depending upon the temperature of the room.
• Cooling System in Car – It operates depending upon
the temperature which it controls.
Advantages of Closed Loop
Control System
• Advantages of closed-loop control systems
include:
• Closed loop control systems are more
accurate even in the presence of non-
linearity.
• Highly accurate as any error arising is
corrected due to the presence of a feedback
signal.
• The bandwidth range is large.
• Facilitates automation.
• The sensitivity of the system may be made
small to make the system more stable.
• This system is less affected by noise.
Disadvantages of Closed
Loop Control System
• Disadvantages of a closed-loop control
systems include:
• They are costlier.
• They are complicated to design.
• Required more maintenance.
• Feedback leads to an oscillatory response.
• Overall gain is reduced due to the presence
of feedback.
• Stability is the major problem and more
care is needed to design a stable closed
loop system.
• What happens if you miss
feedback in control system ?
• Can you automate the correction
process?
 TYPES OF FEEDBACK
• We have two types of feedback
i) Positive Feedback
ii)Negative Feedback
• The positive feedback adds the
reference input, R(s) and feedback
output. The following figure shows
the block diagram of positive
feedback control system
• 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,
• 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
A Typical Feedback System

Feed Forward

Feedback

• Why use feedback?

 Reducing Nonlinearities
 Reducing Sensitivity to Uncertainties and Variability
 Stabilizing Unstable Systems
 Reducing Effects of Disturbances
 Tracking
 Shaping System Response Characteristics (bandwidth/speed)
 TRANSFER FUCTION
Let consider a control system having
G(s)
• The power of ‘s’ is two in the denominator term. Hence, the above
transfer function is of the second order and the system is said to
be the second order system.
• The characteristic equation is -
• 
• The two roots are imaginary when δ = 0.
• The two roots are real and equal when δ = 1.
• The two roots are real but not equal when δ > 1.
• The two roots are complex conjugate when 0 < δ < 1.
• We can write C(s) equation as,

Where,
• C(s) is the Laplace transform of the output signal, c(t)
• R(s) is the Laplace transform of the input signal, r(t)
• ωn is the natural frequency
• δ is the damping ratio.