Control System

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System:
Process
Input Or Component Output

• A system is a collection of Processes or components which

are co-ordinated together to perform a function.
• Systems interact with their environment across a
separating boundary.
• The interaction is defined in terms of variables.
 system inputs
 system outputs
 environmental disturbances
• Cause – Effect Relationship between Input and Output
System:
Disturbance Inputs
System Outputs
Subsystem

Engineering systems
Biological systems
Information systems
Control Inputs
Example:
Automobile Driving System

Input Accelerator
Pedal, Output
(Command) Engine- variable
Signal Linkages,
and Vehicle Speed
Force
Carburetor

In this system, Disturbances can be Road Surface,

Obstacles, Wind etc.
 Control System

• A control system is an interconnection of

components forming a system configuration that
will provide a desired system response.

• Any Quantity of Interest in a Machine,

Mechanism or other Equipment is maintained or
altered in accordance with a desired manner.
 Open Loop Control System:
Desired
Process
Output Controller Actuator Output
Or Component
Response
Block Diagram

Features of Open Loop Control System

• An open-loop control system uses a controller and an actuator to
obtain the desired response.
• An open loop system is a system without feedback.
• Output remains constant for constant input, provided external
conditions remain unaltered.
• Output changes to desired value on adequate input to the system,
but variations in external conditions or internal parameters may
cause the output to vary in uncontrolled fashion.
• Prior Knowledge of Disturbance is required.
Open Loop Control System:

Examples:
 Water Faucet to Water Flow
 Microwave Oven Set to Operate for Fixed
Time
 Light Switch to Light
 TV Remote Control
 Timer based Cloth Dryer
 Volume on Stereo System
 Timer based Traffic Control System
Open Loop Control System
Advantages :
• Simple
• Economical
• Stable
• Easy to Construct

Disadvantages:
• Inaccurate in terms of result of output
• No feedback so not reliable
• Unable to remove disturbances
 Closed Loop Control System
In contrast to an open-loop control system, a closed-loop control
system utilizes an additional measure of the actual output to
compare it with the desired output response. The measure of the
output is called the feedback signal.

Desired Output
Response
or
Reference Point
or Error Actual
Controller Actuator Process
Set point
+ Output

-
Measurement
Feedback
Output
Sensor

Block Diagram
Components of Control System:

• Sensor/Transmitter – Primary and Secondary Elements.

• Controller – Brain of the control system
• Final Control Element – A Valve, Motor, or any other form
of actuator
Variables of the Closed Loop Control Loop
• Controlled Variable – Process Variable or Measured variable which is to
be maintained at desired value
• Reference Point/Set Point/Desired Output – The value of the desired
output which is compared with controlled variable fed back by sensor
• Error – Difference between Reference Point and Measured Variable
• Manipulated Variable – Variable used to maintain controlled variable at
its desired value.
• Disturbances – Inputs to the system, that affect the performance of it.
 Closed Loop Control System

• First Automatic Feedback

Controller used in the Industrial
Process was James Watt’s Flyball
Governor developed in 1769 for
controlling the speed of steam
engine.
• Preset Desired Speed can be
achieved as the Flyball Moves
away from the shaft, changes the
opening of Valve for Steam to the
Turbine and thus controls the
speed automatically.
• Complete Mechanical System

Flyball Governor
Closed Loop Control System
Closed Loop Manual Control : Automobile Driving System
• Driver’s Eyes observes the actual speed from speedometer, and also
checks for the disturbances like Road Surface, Turns, Obstacles etc.
and manipulates the Steering and accelerator to reach to the desired
speed in correct direction.
• Constant and continuous observation from driver is required for the
automobile to run on the road without any accident.
 Closed Loop Control System
Closed Loop Manual Control : Heating of Process Fluid
• Measure the temperature T(t)
• Compare it to its desired value
• Based on this comparison, decide
what to do to correct for any Steam
deviation. The steam valve can be
Process
manipulated to correct for the
fluid
deviation.
Ti(t) T(t)
Disadvantage of Manual Control T
• Operator Should look frequently to Condensate
take corrective action whenever it return

deviates from desired value

• Different persons make different
decision.
• Requires continuous manual
involvement.
 Closed Loop Control System
Closed Loop Automatic Control : Heating of Process Fluid
• Measure the outlet temperature of the SP
process stream by a sensor
(thermocouple, resistance temperature Controller
TC
device, thermisters, etc.)
Final control
• Transmitter transmits the signal to the element
Steam
controller.
• Controller compare the signal to the Transmitter
desired value, and decides what to do to Process TT
maintain the temperature at its desired fluid
value. Ti(t) T(t)
Sensor
• The controller sends a signal to the final T
control element to manipulate the Condensate
steam flow. return
 Closed Loop Control System
Closed Loop Automatic Control : Level Control System

• Error due to difference between Actual Level Ca and Desired Level Cd is

calculated by Level Controller.
• Controller gives output to the actuator valve to manipulate the flow of fluid
in order to obtain the desired level in Tank
 Closed Loop Control System
Closed Loop Automatic Control : Thermal Power Generation

Multiple Closed loops to control numerous variables.

Example: Room Temperature Control System

System Schematic Diagram

Block Diagram
Room Temperature Control Response

• Response Curve shows

how control action takes
place, Here Furnace
Remains On and Off for
different time, based on
the Error.
• It Also shows how fast
the desired temperature
is reached
Ship Autopilot Control System

System Schematic Diagram

Block Diagram (Loop within Loop)

Computer Numerical Control (CNC) Machine System

System Schematic Diagram

Block Diagram
Semiconductor Wafer Inspection Control
Automated Insulin Delivery System
Servomechanism :
Feedback Control systems where controlled variable is mechanical position or time
derivative of position, e.g. velocity and acceleration.

Position Control System

Robotics : Advanced field of Servomechanism

Robot Manipulator Arm as main device.

Has Three Degrees of Freedom for one

End arm.
• Pitch, Roll and Yaw

Links are jointed with other link by

Revolute Joint ( for Rotary Motion)
Prismatic Joint (for Translatory Motion)

Controlled Angular Motion, Velocity,

Acceleration and Torque.

Inertia Control is also important.

Example of Modern Automatic Control System

The Utah/MIT Dextrous Robotic hand

Having 18 Degrees of Freedom
Controlled by Five Motorola 68000 Microprocessors,
Operated by 36 High Performance Electro pneumatic actuators
Example of Modern Automatic Control System

A Laboratory Robot used to

control sample preparation.

A robot manipulates small

objects like test tubes and
probes in small area with
relatively high speed
 Example of Modern Automatic Control System

Spirit, one of the two Mars Exploratory Rovers that landed

on Mars in January 2004.
Example of Modern Automatic Control System

The HONDA P3 Humanoid

Robot

P3 Walks, Climbs and Turns

Corners

Courtesy: American Honda

Motor Inc.
 Missile Launching and Guidance System

Radar antenna tracks the target, gives plane’s position and velocity as output.
Launch Computer computes launch command.
Fired Missile once enter into radar beam and continuously tracked and controlled (Guided)
to strike the target.
Involves complex controls.
 A Constant Tension Reeling System

Constant Tension is required for uniform Reeling of paper sheets.

Windup Roll gradually increases in diameter, also the load for rotating its shaft also
increases.
With this changes Speed of the Roll also need to be controlled.
By adjustment of jockey roll for increased tension in upward and decreased tension
downward gives variable voltage across motor, thus variable speed
The Control Problem:
Controller is required to process Error Signal such that overall system satisfies certain
criteria specifications:

Reduction in effect of disturbance signal.

Reduction in steady state errors.
Transient and frequency response specification.
Sensitivity to parameter changes.

Noise
 Digital Control System :
T
es(t) u(t)

High level of complexity systems need digital computer as control

element.
Numerous Analog Signals and Continuous Range output needs
Analog to Digital and Digital to Analog Conversion .
Sampler samples input at rate of T Seconds. Its output is Discrete
version of analog signal.
A Pulse Train of Sampling frequency is passed through Data Hold
and Filter Circuit.
Smooth output u(t) – a control signal is applied to the manipulate
the plant based on control algorithm.
Example: Digital Control System : Automatic aircraft landing system control

Automatic Aircraft Landing System Lateral Position Control System

The Control Problem:
Solving control problem to meet the above criteria involves

1. Choice of Feedback Sensor(s) to get a measure of the controlled output.

2. Choice of Actuator to drive ( Manipulate) the plant like opening or
closing a valve or adjusting excitation voltage of motor
3. Developing Mathematical model of the plant, sensor and actuator.

Noise
 The Control Problem:
• Developing Mathematical model of the plant, sensor and actuator.

 Based on the Model of System and other components, controller is developed.

 Simulation of the system performance and fine tuning of the controlled
parameters is done.
 The Above Steps can be iterated if necessary
 Building the system or its prototype and testing.

Noise
Why control is
important ?
• Safety: Prevent injury to plant personnel
• protect the environment by preventing emission
and minimizing waste
• prevent damage to the process equipment.
• Maintain product quality (composition, purity,
color, etc.) on a continuous basis and with
minimum cost.
• Maintain plant production rate at minimum cost.
Advantages of feedback control system

• It is technique that compensates for all

disturbances.
• The controller adjusts the controlled variable
(affected by the disturbance) with the set point
(reference).
• The feedback control loop does not care for the
disturbance entering into the process.
• It tries only to minimize the value of error by
compensating for all disturbances.
• Increased Accuracy
• Less Sensitive to nonlinearities
• Reduced Sensitivity to noise in input signal.
Disadvantages of feedback control system

• It does not take corrective action until after the disturbance

has upset the process and generates an error signal.
• The feedback controllers continue changing its output until
measurement and set point are in agreement.
• It solves the problems by trial and error method and thus
causes oscillatory response of a feedback loop.
Mathematical Model of Physical System:-

Physical Systems are idealized for the analysis and

synthesis of them into Ideal Models called Physical
Model.

Physical Model can be converted into a

Mathematical Model.
Mathematical Model represented by Equations
which follows appropriate physical laws.
As per the Physical laws, variable and coordinates of
the system are chosen.
A Network may be modelled as a set of
• Nodal Equations using Kirchhoff's Current Law or
• Mesh Equations using Kirchhoff's Voltage Law.

A system can be also represented with

• Scalar differential Equations describing the system or
• State Variable Vector Matrix Representation.

A System Mathematical Model is Linear if it follow the

Principle of Superposition and Homogeneity.

The principle says that for a system model has responses y1(t) and y2(t) to
any two inputs x1(t) and x2(t) respectively, then the system response to the
linear combination of these inputs.

1 x1 (t )   2 x2 (t )
is given by linear combination of individual outputs.

1 y1 (t )  2 y2 (t )
A System Mathematical Model is Linear if the differential
equation describing it has co-efficients, which are either
functions only of the independent variable or are constants.

If the coefficients describing equation are functions of time

( Independent variable), then
Mathematical Model is - Linear Time varying

If the coefficients describing equation are constants then,

Mathematical Model is - Linear Time invariant.
Time Invariance is considered on a Small Scale.
Systems can be of two types

Single Input Single Output (SISO) or

Multiple Input Multiple Output (MIMO)

Based on this the Mathematical Model can be represented in

various forms for convenience of analysis.

SISO Systems are represented in Differential Equation ( Time

Domain), Laplace Transfer Function ( S – Domain).

MIMO Systems are represented in Vector-Matrix Notation.

What is Variable and what is Parameter for System

Differential Equations of the Physical Systems :

Represent the Equations in the form of basic physical laws like

Newton’s Law, Kirchhoff’s Law etc.

Build the physical model of system interconnecting idealized

elements, describe them in form of elemental laws.

Ideal Element is shown with assumptions:

1. Spatial distribution is ignored and is considered with point
phenomenon. Temperature of Room represented as
Temperature at one point in the room.
2. Variables associated with the elements lie in the range that
the element can be described as (1) constant of
proportionality (2) a first order derivative (3) First order
Integration.
Through Variables : VT Current through Resistor
Across Variable : VA Voltage Across Resistor.

VA

VT
Input Variable : or Independent Variable (Vi)
Output Variable : or Dependent Variable (Vo)

Vi Vo

Element Law
Vo=f(Vi)
Mechanical Systems:

Can be modelled by means of Three Ideal Translatory and Rotary Motion

Elements

Translatory Motion:
1. Mass
2. Spring
3. Damper

Rotary Motion :
1. Inertia
2. Torsional Spring
3. Damper

Here Spring and Damper are both two different kind of spring, are
energy storage elements, here energy can be stored and retrieved without
loss, so are called conservative elements.
 Translatory Motion:

1. Mass:
Energy given by E= (1/2) M v2 =Kinetic Energy(J); Motional Energy

dv d 2x
F M M 2
dt dt
 Translatory Motion:
2. Spring (Translatory)
Energy given by E= (1/2) k x2 =Potential Energy (J); Deformation
Energy

F  K ( x1  x2 )  Kx
t t
 K  (v1  v2 )dt  K  vdt
 
 Translatory Motion:
3. Damper

Dissipative Element, So Power it consume, lost in heat is

given by
P= (1/2) f v2 (W)

F  f (v1  v2 )  fv
  
 f ( x1  x 2 )  f x
 Rotary Motion :

1. Inertia
Energy given by E= (1/2) J ω2 =Kinetic Energy(J); Motional Energy

d d 2
TJ J 2
dt dt
 Rotary Motion :
2. Torsional Spring

Energy given by E= (1/2) k θ2 =Potential Energy (J); Deformation

Energy

T  K (1   2 )  K
t t
 K  (1  2 )dt  K  dt
 
 Rotary Motion :
3. Damper

Dissipative Element, So Power it consume, lost in heat is

given by
P= (1/2) f ω2 (W)

T  f (1  2 )  f
  
 f ( 1   2 )  f 
 Variables of Mechanical Elements

Through Variable Integrated Across Integrated Across

through Variable Variable Variable
Translational Force , F Translational Velocity Displacement
Elements Momentum Difference Difference
t

 F dt
m/s2
N=kg
p v=(v1-v2) x=(x1-x2)

(m/s) (m)
(N-s)
Rotational Torque, T Angular Angular Angular
Elements Momentum Velocity Displacement
Difference Difference
t
(N-m)
h   T dt ω = ω1 - ω2 θ = θ 1 - θ 2


(N-ms) (rad/s) (rad)

 Exists in Mechanical Systems whenever Mechanical Surfaces are
Friction: operated in sliding contact. Types ;

Coulomb friction Force Viscous friction Force Stiction

Force of Sliding friction Force of Friction between Force Necessary to

between dry surfaces. Moving Surfaces separated by Initiate motion
viscous fluid, between two
It is substantially OR contacting surfaces.
Constant The force between a solid
body and a fluid medium. Larger than the
force required to
It is linearly proportional to maintain them in
velocity over a certain limited relative m
velocity range.

It predominates in most
physical systems
Friction:
• Friction Force acts in opposite direction of velocity.
• It is not always undesirable in the systems.
• It may be essential for dynamic response improvement.
• The friction element shown in the representation as Dashpot Element as
shown in figure.
• The Force of Friction fv is proportional to velocity v.
Translational System:
A mechanical system with Mass M attached to spring ( Stiffness
K) and a dashpot ( viscous friction coefficient f) on which the
force F acts.
Displacement x is positive in the direction shown.
The zero position, is the point where spring and mass are in
static equilibrium
Here Gravitational Effects are eliminated by choice of zero
position.

Mass-Spring-Dashpot System
Translational System:

Systematic way of analyzing the system is to draw a free body diagram.

Then apply Newton’s Law of Motion to the free body diagram, the force equation can
be written as;

dx d 2x
F f  Kx  M 2
dt dt

d 2x dx
F M 2  f  Kx
dt dt

Free Body Diagram