Topic 1 : Basic Control System Components

DEFINITIONS OF IMPORTANT TERMS

Plants
A plant is a piece of equipment, perhaps just a set of machine parts functioning together,
the purpose of which is to perform a particular operation.
Systems
A system is a combination of components that act together and perform a certain
objective.
Disturbance
A disturbance is a signal that tends to adversely affect the value of the output of a
system.
Feedback control
Feedback control refers to an operation that, in the presence of disturbances, tends to
reduce the difference between the output of a system and some reference input and that
does so on the basis of this difference.
Servo Systems
A servo system (or servomechanism) is a feedback control system in which the output is
some mechanical position, velocity, or acceleration.
Automatic Regulating Systems
An automatic regulating system is a feedback control system in which the reference input
or the desired output is either constant or slowly varying with time and in which the
primary task is to maintain the actual output at the desired value in the presence of
disturbances.

Closed−loop Control Systems

Feedback control systems are often referred to as closed−loop control systems.
Open−loop Control Systems
Those systems in which the output has no effect on the control action are called
open−loop control systems.
Adaptive Control Systems
Adaptation implies the ability to self−adjust or self−modify in accordance with
unpredictable changes in conditions of environment or structure. The control system
having a candid ability of adaptation (that is, the control system itself detects changes in
the plant parameters and makes necessary adjustments to the controller parameters in
order to maintain an optimal performance) is called the adaptive control system.

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CLASSIFICATION OF CONTROL SYSTEMS

Linear versus Nonlinear Control Systems
For linear systems, the principle of superposition applies. Those systems for which this
principle does not apply are nonlinear systems. Most real life control system have non
linear characteristics to some extent.

Time−invariant versus Time−varying Control Systems

A time invariant control system (constant coefficient control system) is one whose
parameters do not vary with time. A time−varying control system is a system in which one
or more parameters vary with time. The response depends on the time at which an input
is applied.
Continuous−time versus Discrete−time Control Systems
In a continuous−time control system, all system variables are functions of a continuous
time t. A discrete−time control system involves one or more variables that are known only
at discrete instants of time.

Single−input, Single−output versus Multiple −input, Multiple−output Control

Systems
A system may have one input and one output. Such a system is called a single−input,
single−output control system. Some systems may have multiple inputs and multiple
outputs.
Lumped−parameter versus Distributed−parameter Control Systems
Control systems that can be described by ordinary differential equations are
lumped−parameter control systems, whereas distributed−parameter control systems are
those that may be described by partial differential equations.
Deterministic versus Stochastic Control Systems
A control system is deterministic if the response to input is predictable and repeatable. If
not, the control system is a stochastic control system.

INTRODUCTION TO CONTROL SYSTEMS

A closed loop control system consists of three basic elements : the feedback element,
controller and controlled system.
The controller consists of error detector and control elements.
error
Input actuating Control Controlled Output
+
− signal elements System (controlled)

feedback Feedback
signal element

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The control element manipulates the actuating signal preferably to different

power stage so as to fed to the controlled system.

Note :
The power stage in control elements is essential for the control signal to drive controlled
system.
Control elements plays a vital role to get the desired output.

CONTROLLER COMPONENTS

They can be classified in three kinds

→ Sensors
→ Differencing and amplification
→ Actuators
1. Sensors
• low power transducers
• controlled variable
• employed for position, velocity, measurement etc.

2. Differencing and amplification

• to get error signal and amplification to suitable level
• OPAMP is used for differencing input and feedback signals.
• SCR is used for different power stages

3. Actuators
• It is a device whose output is mechanical motion
• It performs variety of tasks to manipulate the controlled process or plant. For
example open/close a valve in a plant.

Actuators are classified as :

Actuators

Pneumatic Actuators Electric Actuators Hydraulic Actuators

Electric actuators have inherent flexibility in electrical power transmission and have linear
speed torque characteristics which is desired. Hence among all the actuators, electric
actuators are widely used.

For low speed and high torque applications, hydraulic actuators are used.

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Use of Stepper Motor in Control System :

Stepper Motors are used in open loop or closed loop mode.

Programmed Stepper Load

Computer Logic driver
Input motor

Fig. (a) Open loop mode

Fig. : (b) Closed loop mode

In open loop or closed loop, this is one device that gives same accuracy. This is because
the angular displacement exactly equals the number of pulses given. So no feedback is
normally needed. Figure (a) shows the open loop mode and fig. (b) shows the closed
loop mode.

TYPES OF CONTROL SYSTEM

The control system may be classified into two types depending upon whether the
controlled variable i.e., output affects the reference variable i.e., input or not.
The control systems are classified into two types :
1) Open loop control system
2) Closed loop control system

Open Loop Control System

A system in which the control action is totally independent of the output of the system is
called as open loop system.

Reference u(t)
Controller Process Controlled output c(t)
input R(t)

u(t) → actuating
→ Reference input R(t) is applied to the controller which generates the actuating signal
u(t) required to control the process which is to be controlled. Process is giving out the
necessary desired controlled output c(t).

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Advantages of open loop system

1) They are simple in construction and design.

2) They are economical.
3) Easy for maintenance.
4) Not much problems of stability.
5) Convenient to use when output is difficult to measure.

Disadvantages of open loop system

1) Inaccurate and unreliable because accuracy is dependent on accuracy of calibration.

2) Inaccurate results are obtained with parameter variations, internal disturbances.
3) To maintain quality and accuracy recalibration of the controller is necessary from time
to time.

Closed Loop Control System

A system in which the controlling action is some how dependent on the output is called
closed loop control system. Such system uses a feedback.

A part of the output is feedback or connected to the input. i.e., feedback is that property
of the system which permits the output to be compared with the reference input so that
appropriate controlling action can be decided.

Forward path
R(t) E Process to be
Controller C(t)
+
− & Actuator controlled
B

Feedback
element
Feedback path
R(t) − Reference input
C(t) − Controlled output
B − Feedback signal
E − Error signal.

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 Basic Control System Components

There are two types of feedbacks.

Positive Feedback (Regenerative feedback) :
When output is connected to input with + sign, then it is called as positive feedback.

R(t) E(t) Process to be

+ Controller C(t)
+ controlled
B(t)

Feedback
element

Negative Feedback (Degenerative feedback):

When output is connected to input with − sign, then it is called negative feedback.

R(t) E(t) Process to be

Controller C(t)
+
− controlled

B(t)

Feedback
element

Advantages of closed loop system

1) Accuracy is very high as any error arising is corrected.

2) It senses changes in output due to environmental or parametric changes or internal
disturbances.
3) Reduces effect of non−linearity.
4) Increases Bandwidth.

Disadvantage of closed loop system

1) Complicated in design.
2) Maintenance is costlier.
3) System may become unstable.

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Effect of Feedback

When feedback is given the error between system input and output is reduced. However
improvement of error is not only advantage. The effects of feedback are
G
1) Gain is reduced by a factor .
1 ± GH
2) Reduction of parameter variation by a factor 1 ± GH.
3) Improvement in sensitivity.
4) Stability may be affected.
5) Linearity of system improves
6) System Bandwidth increases

Difference between Open and Closed Loop Control System

Open loop Closed loop

Any change in output has no effect

Changes in output, affects the input
1 on the input. i.e., feedback does not 1
which is possible by use of feedback.
exist

2 Output is difficult to measure 2 Output measurement is necessary

3 Feedback element is absent 3 Feedback element is present

4 Error detector is absent 4 Error detector is necessary

5 It is inaccurate and unreliable 5 Highly accurate and reliable

6 Highly sensitive to the disturbance 6 Less sensitive to the disturbances

Highly sensitive to the environmental Less sensitive to the environmental

7 7
changes changes

Complicated to design and hence

8 Simple in construction and cheap 8
costly

System operation degenerates if the System operates better than open loop
9 9 system if the non-linearities present
non-linearities present

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