CHARACTERISTICS AND STABILITY OF OPEN LOOP AND

CLOSED LOOP SYSTEMS

1.Aim of the experiment
In this experiment sensitivity and stability which are important properties for both open
and closed loop control systems are studied.How the stability and sensitivity are
changed experimentally , how they give response to the open and feedback control
systems are also determined.
2.Control Systems
A control system is a device, or set of devices to manage, command, direct or regulate
the behavior of other device(s) or system(s). Industrial control systems are used in
industrial production. The most known and important control systems are open loop
control systems and closed loop control systems.
2.1 Open Loop Control System
As we stated previously, an open-loop control system is controlled directly, and only, by
an inputsignal.For example oven just heat the meat but it can not check the quality of the
meat after heating process. The basic units of this type consist only of an amplifier and a
motor. The amplifier receives a low-level input signal and amplifies it enough to drive the
motor to perform the desired job.The open-loop control system is shown in basic block
diagram form in figure 2-1. With this system,the input is a signal that is fed to the
amplifier. The output of the amplifier is proportional to theamplitude of the input signal.
The phase (ac system) and polarity (dc system) of the input signaldetermines the
direction that the motor shaft will turn. After amplification, the input signal is fed to
themotor, which moves the output shaft (load) in the direction that corresponds with the
input signal. Themotor will not stop driving the output shaft until the input signal is
reduced to zero or removed. This system usually requires an operator who controls
speed and direction of movement of the output byvarying the input. The operator could
be controlling the input by either a mechanical or an electrical linkage.

2.2 Closed Loop Control System

Using that diagram we can understand what the closed loop is .

1- There is an input, u(t), to the system, which we assume starts from rest. In the block
diagram, that is represented by U(s).
2- The output of the system, Y(s), is measured with a sensor that has a transfer function
Ks. That transfer function could have a time constant, etc., but for now we will examine it
as though it is a constant.
3- There is an error, E(s), developed, particularly because the controlled system, G(s),
cannot respond immediately and the feedback signal that is subtracted from the input to
form the error is zero.
4- The error that is developed acts through the proportional controller, K p, to start to
move the output of the system to where we want it to be.
5- As the system continues to operate, the output of the system (described by G(s))
rises, reducing the error so that the control effort from the proportional controller gets
smaller.
6- Even though the error gets smaller, if the gain of the proportional controller is large it
will still provide enough output to drive the system close to where we want it to be.

This kind of system is referred to as a closed loop system, since there is a feedback
signal that "closes the loop" in the system.
2.3 Sensitivity of Control Systems to Parameter Variations
Consider first the system with unity feedback represented in Figure 4.7a.

Assume that the open-loop transfer function H(s) is represented by the ratio of two
polynomials, that is, H(s)=N(s)/D(s) . The zeros of D(s) represent the
open-loop system poles, and we say that the open-loop transfer function is stable if all
the poles of H(s) are strictly in the
left half complex plane (none of them is on the imaginary axis).
The closed-loop transfer function of the feedback system in Figure 4.7a is

defines the characteristic equation of the closed-loop system with unity feedback.
The zeros of the closed-loop characteristic equation represent the closed-loop system
poles. The open-loop characteristic equation is simply D(s) = 0 . Hence, the feedback
changes the system characteristic equation and the system poles. It can happen that the
open-loop system is unstable, but the closed-loop system is stable. it can happen that for
all choices of the static element the closed-loop system remains unstable. In such cases,
we should try to stabilize the system using a dynamic feedback element G(s). The
corresponding closed-loop characteristic equation is given by

G(s) can be also chosen as a ratio of two polynomials. It should be pointed out
that system stabilization with a dynamic feedback element is more complicated
than stabilization with a static feedback element.
In summary,

which indicates that the relative change in the system output is proportional to the
relative change in the system transfer function. The proportionality factor S(s)
is called the system output sensitivity function. Due to the fact that
|S(s)| = |1/(1+H(s))| < 1
we can conclude that the impact of system parameter variations on the system output is
relatively reduced by the factor of |S(s)| < 1 .
For systems with non unity feedback, G(s) is not equal to 1 , we can follow the same
derivations, and obtain the following form for the system output sensitivity function

2.4 Stability of Control Systems

The system stability is a great problem in feedback system.But in open loop system it is
not a problem so open loop system construction is easier than closed loop system.If we
analyze the transfer functions of both systems we can easily see that K (Gain) value of
open loop system does not change but in closed loop system it changes thats why we
have problems about stability in closed loop systems.
A feedback control system must be stable as a prerequisite for satisfactory control.
Consequently, it is of considerable practical importance to be able to determine under
which conditions a control system becomes unstable
Definition of stability
Before we proceed, we introduce the following definition for unconstrained linear
systems. Notice that the term unconstrained is used to refer to the ideal situation where
there are no physical limits on the output variable.
Definition of stability. An unconstrained linear system is said to be stable if the output
response is bounded for all bounded inputs. Otherwise, it is said to be unstable.
Characteristic equation
Consider the general block diagram, which is discussed in the previous chapter. Using
block diagram algebra that was developed in the previous chapter, we obtain

The stability characteristics of the closed-loop response will be determined by the poles
of the transfer functions GSP and GLoad. These poles are common for both transfer
functions (because they have common denominator) and are given by the solution of the
equation
1+G c G mG v Gp =0 is called the characteristic equation for the generalized feedback
system.
A feedback control system is stable if all the roots of its characteristic equation have
negative real parts (i.e. are to the left of the imaginary axis).
If any root of the characteristic equation is on or to the right of the imaginary axis (i.e. it
has real part zero or positive), the feedback system is unstable. Figure 1 provides
graphical interpretation of this stability criterion. The qualitative effects of these roots on
the transient response of the closed-loop system are shown in Figure 2. The left portion
of each part of this figure shows representative root locations in the complex plane. The
corresponding figure on the right shows the contributions these poles make to the
closedloop response to a step change in the set point. Similar responses would occur for
a step change in load.

The root locations also provide an indication of how rapid the transient response will
be. A real root at s = p1 corresponds to a closed-loop time constant of 1 = 1/p1. Thus,
real roots close to the imaginary axis result in slow responses. Similarly, complex roots
near the imaginary axis correspond to slow response modes. The further the complex
roots are away from the real axis, the more oscillatory the transient response will be.
Remarks
GOL= G c G mG v Gp is called open-loop transfer function because it relates
the measurement indication ym to the set point if the feedback loop is broken just before
the comparator G OL y sp = ym
Note that the same characteristic equation occurs for both load and set-point changes
since the term, 1+GOL, appears in the denominator of both terms in Equation (1). Thus,
if the closed-loop system is stable for load disturbances, it will also be stable for set-point
changes.

2.5 Closed-Loop versus Open-Loop Control Systems

Closed-loop control
shows a closed-loop action (closed control loop);
can counteract against disturbances (negative feedback);
can become unstable, i.e. the controlled variable does not fade away, but
grows (theoretically) to an infinite value.

Open-loop control
shows an open-loop action (controlled chain);
can only counteract against disturbances, for which it has been designed; other
disturbances cannot be removed;
cannot become unstable - as long as the controlled object is stable.
The open and closed loop system describes the two primary types of CNC control
systems. Open and closed loop describes the control process of a system. Open loop
refers to a system where the communication between the controller system and the
motor is one way. Check the image to the right. As you can see the process for a open
loop system is simple. After the user decides what he/she wants to do and generates the
g-code or some sort of work file, the NC software then create the necessary step and
direction signals to perform the desired task. The computer relays this information to the
controller which then energizes the motor/s. After the motor moves to the desired
position, there is no feedback to the controller system to verify the action.
In the CNC industry, open loop systems use stepper motors. However, just because a
system uses stepper motors does not mean the system is an open loop system. Stepper
motors may be outfitted with encoders to provide position feedback just like servo
motors.
Stepper motors are able to operate in an open loop system while servo motors are not,
for CNC applications at least. Because stepper motors do not require feedback
hardware, the price for an open loop CNC system is much cheaper and simpler than a
closed loop system. This makes it more affordable for hobbyists to build their own CNC
machine. There are drawbacks to the open loop system. Because there is no feedback to
the controller, if the motor does not operate as instructed there is no way for the system
to know. The controller system will continue performing the next task as if there is no
problem until a limit switch is tripped or the operator resets the machine.
Many do it yourselfers run into trouble by overloading their machine and losing steps with
the open loop system. This can ruin the piece or be harmful to the machine or user.
However, if the system is constructed properly and not overloaded, there is no reason an
open loop system should not function properly.

3. Construction of the Experiments

3.1 Open Loop Construct of DC Motor Position

Part a and b)
Here maximum value of potentiometer is always 180 degree. As an input and output
voltage values are r,y respectively.
Gain 1
Vout = - 4.89v
Vin = - 0.46

LEFT
HAND
SIDE
RIGHT Vout = 4.95v
HAND Vin = 0.44v
SIDE

Amp #1
Gain 10
Vout = 4.83v
Vin = - 0.02v

Gain 100
Vout = - 5.05v
Vin = 0.12v

Vout = - 4.88v
Vin = 0.03v

Vout = 4.98v
Vin = - 0.13v

Part C )
We also found for the gain = 1.So I noted it here.
Angle =
60
degree

GAIN 1
Shaft did not give any
response.I mean it did
not move.

GAIN 10
If we change the shaft
by hand t changes
(+,-)10 degree

GAIN 50
It always
moved.Continous
motion.

Angle =
- 60
degree

Vout = 1.97 v
Shaft did not give any
response.I mean it did
not move.

Vout = 1.51 v
If we change the shaft
by hand t changes
(+,-)30 degree

Vout = 1.92 v
It always
moved.Continous
motion.

Vout = - 1.71 v

Vout = - 1.73 v

Vout = - 1.78 v

GAIN 100
It always
moved.Continous
motion.But here it
is faster than gain
= 50s.
Vout = 1.93 v
It always
moved.Continous
motion.But here it
is faster than gain
= 50s.
Vout = - 1.73 v

Answer the following questions:

Motor position did not reach to the zero degree from the 60 degree.Because in open loop
systems control mechanism does not check the input values and does not correct them.If
there is disturbances there is no correction.If there are disturbances in the system closed
loop usage gives more advantage.So motor position is not corrected and did not come
back to zero degree.Due to former information we learnt in lecture we can easily
determine that this is the expected result.
3.2 Closed Loop Construct of DC Motor Position

Part a and b)
Right
Left

Gain = 1
Vout = 3.68v
Vin = 5v
Vout = - 1.7v
Vin = - 5v

120 degree
290 degree

Gain = 10
Vout = 4.71v
Vin =5v
Vout = - 4.80v
Vin = - 5v

155 degree
185 degree

Gain = 100
Vout = 4.83v
Vin = 4.84v
Vout = -4.9v
Vin = -4.95v

160
degree
182
degree

Part c)

Angle =
60
degree

GAIN 10
If we change the shaft
by hand t comes back
to zero degree.

Angle =
- 60
degree

Vout = 1.82 v
If we change the shaft
by hand t comes back
to zero degree.
Vout = - 1.54 v

GAIN 50
If we change the shaft by
hand t comes back to
zero degree.But faster
than gain = 1.
Vout = 1.79 v
If we change the shaft by
hand t comes back to
zero degree.But faster
than gain = 1.
Vout = - 1.58 v

GAIN 100
If we change the shaft by hand t
comes back to zero degree.But faster
than gain = 10.
Vout = 1.81 v
If we change the shaft by hand t
comes back to zero degree.But faster
than gain = 10.
Vout = - 1.52 v

Answer the following questions:

The rotating shaft had never been changed or small changes were occured but we did
not note them. Feed back mechanism decreases the voltage error and stabilize the
system and if we increase the gain rotating shaft gets more stable which means that
its position does not change easily by hand.We expect this situation because we
inserted the feed back mechanism into the system to sum the error and the system
became more stable.

Gain 1
Gain 100
Gain 50

Deadband
85 Degree
100
Degree
5
Degree

TF = Cxinverse of (SI-A)xB+D

From this we can easily calculate the transfer function of the DC motor.
TF= 3.5/(0.196xSxS)+(1)
Where Km= 3.5 Ncm/A , and Tm= 19.6 ms
P(s)=1+0.0196(SxS)
Open loop TF = 0.0196(S^2)
CONCLUSION
Conclusion is done in the Answer the following questions part.