CONTROL THEORY

CHAPTER-1 INTRODUCTION TO CONTROL SYSTEM MARKS 8 to 10

Why we study this subject?

It is offered by GTU.

It has highest credit so it helps to improve SPI.

This subject is important for all branches.

It is very much important for competitive exam

like GATE,

IES,IAS..etc

 It is advance engineering and science.

It is a extreme important in

# space-vehicle system,

# missile system,

# robotic system,

# automatic control system is important and integral part of the modern manufacturing and industrial processes.

Historical review of control theory

The first significant work in automatic control of steam engine using

centrifugal governor was done by James watts in eighteenth century.

In 1922 Minorsky worked on automatic controller for steering ship and

showed how stability could be determined from the differential equation.

In 1933 Nyquist developed a relatively simple procedure for

determining the stability of closed-loop systems.

 In 1934 Hazan introduce the term servomechanism for position control

system.
During the decade, frequency response methods (bode diagram due to

t he BODE) made it possible for engineers to design linear closed loop

control system that satisfied performance requirement.
End of the 1940 root-locus method due to the Evans was fully develop.

In 1960 because of digital computer it is possible to design multiple-

input multiple-output system, time response of the complex system,

During the year of 1960 1980 optimal control system fully

investigated.
Today control system is also used in non engineering system such as

biological, biomedical, economics, etc.

Basic terminology
Control: It means to regulate direct or command a system so that the desired result can be achieve. System: system is combination of the components act together and perform a certain objective. Control system It is an arrangement of the physical element connected in a such a manner so as regulate direct or command itself to achieve a certain objective.

 Output

The actual response obtain from the system is called output.

Input
The excitation applied to the control system from an external source

in order to produce the output is called input.

Controlled variable:
The control variable is the quantity or condition that is to be measured and controlled

Manipulated variable:
The manipulated variable is the quantity or the condition that is varied by the controller so as to affect the controlled variable.

 Plants: A plants may be a piece of equipment or set of equipment , purpose of which is to perform particular task, we shall call any physical object to be control is plants (EX mechanical device heating furnace, chemical reactor, or spacecrafts ).

Processes: Process is voluntary, progressively continuing operation that consist of a series of the controlled actions or movement systematically directed toward a particular results.

Disturbances: A disturbance is signal that tends to adversely affect the value of the output of the system . If disturbance is generated within the system than it is called internal disturbance and if disturbance signal generated outside of the system than it is called external disturbance.

 Feedback system: Feedback control is an operation that, in the presence of the disturbances tends to reduce the difference of the actual output and some reference input.

Examples of open loop system

Automatic Electric had drier. Automatic washing machine. Bread toaster. Automatic milk bottling.

Automatic traffic signal.

Examples of close loop system

Walking on the road.

Dc motor speed control by techo generator.

Perspiration system. sun seeker solar system. Missile launcher.

 Open loop system

r(t)

U(t)

C(t)

Reference input

controller

plant

Controlled output C(t)

 Close loop system

Disturbance X(t)

r(t) Command Input Summing Point(+,-) b(t)

e(t)

u(t)

C(t) plant

Controller

Feedback

element
R(t)-reference input e(t)-error signal b(t)-feedback signal c(t)-controlled output u(t)-actuating signal/manipulating signal

Advantages of close loop system

Accuracy of the system is very high

Disadvantages of open loop system

Accuracy of the system is very low

because controller modifies and manipulate the actuating signal, so that error in the system is low.
Such system senses environmental

because controller does not modifies and manipulate the actuating signal, so that error in the system is high.
Such

changes as well as internal disturbance and accordingly modifies the error.

Operating

system does not senses environmental changes as well as internal disturbance, so error can not be modifies. frequency (bandwidth) is very low. zone

frequency (bandwidth) is very high.

zone

Operating

Reduce effect of nonlinearities and

Highly effected

by nonlinearities

distortion.

and distortion.

Advantage of open loop system

Disadvantage of close loop system

It simple in construction and

It complex in construction and

design.
It is economical than close loop

design.
It is costly than open loop

system.
Not much problems of the

system.
In this Stability is a big problem. It may difficult to use, when

stability.
Convenient to use when output

difficult to measure output.

is difficult to measure.

Comparison of open and close loop system

OPEN LOOP SYSTEM No feedback, hence feedback element is absent
No error detector.
it is inaccurate.

CLOSE LOOP SYSTEM Feedback exists hence feedback elements exists

Error detector is present.
It is accurate.

Highly sensitive to parameter

Less sensitive to parameter

changes.
Small bandwidth.

changes.
Large bandwidth. May become unstable. Costly.

stable.

Economical.