Lesson #1a Overview of Control System

EEE401: Control System Design
Overview of Control System
M. Azharul Haque, EEE Dept.
09/22/20 1
Introduction
• Electrical Engineering can be defined as the branch of
engineering science which deals with the study and
application of electricity, electromagnetism, electronics
and electronic equipment for power generation and
distribution and also for the control of machines and
communication.
• Electrical engineering covers a range of sub-topics
including power, electronics, control systems, signal
processing and telecommunications.
• The art of automatic control dominates the modern way
of life and can employ either in ensuring peace or
destruction of the world.
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Introduction (Cont…)
• In our practical life, it is often needed to maintain a
physical quantity, such as pressure, flow or
temperature at a desired level during a technical
process. These quantities can be kept at desired
level by means of a device or mechanism, what we
call control and the controlled quantity is known as
controlled variable.
• Hence, control means, to maintain or alter any
quantity of interest in a machine or mechanism in a
desired manner.
and
• A system which regulates the output quantity is
called a control system.
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What is Meant by Control
• The situation of being under the regulation, domination,
or command of another: The car is out of control.
– Check or restraint: Her anger is under control.
• A device for regulating and guiding a machine, such as a
motor or an airplane is known as control.
– Control is a coordinated arrangement of such devices.
Verb:
• To command, direct, or rule: to control a country
• To check, limit, curb, or regulate; restrain: to control
one's emotions ; to control a fire
• To regulate or operate (a machine)
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What is a System?
• Systems are sets of components, physical or otherwise,
which are connected in such a manner as to form and act
as a single entity or unit. So, a system comprises of
several component work together for a specific task
• Control is the effort to make systems act as desired. A
process is the action of a system or alternatively, a system
in action.
• A system is defined as a combination of components which
act together to achieve a desired goal or objective.
• A system can be mechanical, electrical, fluid, chemical,
financial and even biological, and the mathematical
modeling, analysis and controller design shall be done
using control theory in one or many of the time, frequency
and complex-s domains depending on the nature of the
control system design problem.
What is a System?
• A control system is defined to be a system having sub –
systems and processes ( or plants) assembled for the
purpose of controlling or regulating the outputs of the
processes ( or plants) to a desired value i.e., if the output is of
our desire and able to control, then the system is called as Control system.
• As the human civilization is being modernized day by day the demand
of automation is increasing accordingly. Automation highly requires
control of devices
• Defn. A control system is a system of devices or set of devices, that
manages commands, directs or regulates the behavior of other
device(s) or system(s) to achieve desire results. In other words the
definition of control system can be rewritten as ‘a control system is a
system, which controls other system’.
• In most cases this function is the control of physical
variable, such as temperature, voltage, frequency, flow rate,
current, position, speed, illumination, altitude, etc., these are
called controlled variables.
Control System (Cont…)
• For example: A furnace produces heat as a
result of the flow of fuel into the burner of
the furnace. In this system, the sub-systems
are the fuel burner, fuel valve, and fuel valve
actuators that are used to regulate the
temperature of the room by regulating the
flow of fuel and hence the heat output from
the furnace. Other sub-system is the device
such as thermostats, which act as sensors
to measure the room temperature.
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Importance of Control Systems
• In recent years, control systems plays main role in the
development and advancement of modern technology and
civilization.
• Practically every aspects of our day-to-day life is affected
less or more by some control system. A bathroom toilet
tank, a refrigerator, an air conditioner, a geezer, an
automatic iron, an automobile all are control system. These
systems are also used in industrial process for more output.
We find control system in quality control of products,
weapons system, transportation systems, power system,
space technology, robotics and many more. The principles
of control theory are applicable to engineering and non
engineering field both.
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Basic Ingredients Control of System
• Regardless of what type of control system we
have, the basic ingredients of a control system
may be described by:
1. Objectives of the control
2. Control system components
3. Outcome of the control

Objective of Control System
Fig. 1: a & b Basic components of control systems
In general, the objective of the control system is to

control the outputs ‘C’ in some prescribed manner
by the inputs ‘U’ through the elements of the
control system. The inputs of the system are also
called actuating signals, and outputs are known
as controlled variables.
Control Automation
• Modern automation of a plant involves
components such as sensors, instruments,
computers and application of techniques
of data processing and control. The
principles and techniques of automatic
control may be applied in a wide variety of
systems in order to enhance the quality of
their performance.
System and Control
• Control systems are not human inventions; they
have naturally evolved in the earth’s living
system. The action of automatic control
regulates the conditions necessary for life in
almost all living things. They possess sensing
and controlling systems and counter
disturbances.
• An automatic temperature control system, for
example, makes it possible to maintain the
temperature of the human body constant at the
right value despite varying ambient conditions.
System and Control (Cont…)
• The human body is a very sophisticated
biochemical processing plant in which the
consumed food is processed and glands
automatically release the required quantities of
chemical substances as and when necessary in
the process.
• The stability of the human body and its ability to
move as desired are due to some very effective
motion control systems. A bird in flight, a fish
swimming in water or an animal on the run- all
are under the influence of some very efficient
control systems that have evolved in them.
Generic View of Creating a System
The advantage of creating a system with input
and output variable and representing the
system as a block is that this representation
separates the system from the complexity of
the physical equipments used and allows a
generic view of the system. We will soon see
that all sorts of controlled system
demonstrate the same response and can,
therefore, be treated in the same manner
Controlled System
• The system which is controlled by a controller is
known as Controlled System. The controlled
system has an input variable and an output
variable. Its response is described in terms of
dependence of the output variable on the input
variable. These responses between one or
several variables can normally be described
using mathematical equations based on physical
laws. Such physical relationships can be
determined by experimentation.
Controlled System (Cont…)
• Example: A water bath is to be maintained at a constant
temperature. The water bath is heated by a helical pipe
through which steam flows. The flow rate of steam can
be set by means of a control valve. Here the control
system consists of positioning of the control valve and
the temperature of the water bath. This result in a
controlled system with the input variable “ temperature of
water bath” and the output variable “position of a control
valve”
Advantages of Control Systems
• With control systems, we can move large
equipments with precision that would otherwise be
impossible. We can position huge satellite
antennas towards the farther reaches of the
universe to pick up faint radio signal; moving or
controlling such antennas by muscle power would
be rather impossible.
• Because of control systems, a lift or an elevator
carry us quickly to our destination automatically
stopping at the right floor. We alone, could not
provide the power required for the load to perform
this job; motors provide the power and the control
systems regular the position and the speed
Advantages of Control Systems (Cont..)
• Control systems provide us the facilities to control process
variables in the hazardous areas in the chemical process
plant hat would have been impossible without endangering
human life.
• Therefore, the advantages of control systems usually include
the following:
– maximization of throughput, speed, yield safety, and more;
– minimization of energy consumption, waste production,
emissions, and more;
– Decreasing the impact of disturbances, noise uncertainty, time
variations, and so forth.
Why Do We Build Control Systems?
• We build a control systems for four primary reason:
– Power amplification
– Remote control
– Convenience of input form
– Compensation for disturbances
Clarifications:
• Power Amplification: A radar antenna, positioned by the lower – power
rotation of a knob at the input, requires a large amount for its output
rotation. A control system can produce the needed power amplification
or power gain.
• Control systems are also used in remote or hazardous locations in a
process plant where human operator’s life and health will be at risks.
Why Do We Build Control Systems? (Cont…)
• Control systems are used to provide convenience by
changing the form of inputs. For example, in temperature
control system, the input is position on a thermostat. The
output is heat. Thus a convenient input produces desired
thermal output.
• Robots designed by control system principle can
compensate for human disabilities.
• Typically, we control such variables as temperature in
thermal systems, position and velocity in mechanical
systems, voltage in current or frequency in electrical
systems, volume, pressure, or level in fluids. But there is
always noise or disturbances in these systems due to
environmental changes. The system must be able to
produce correct output even with disturbances by
compensating the influence of disturbances in the output.
Why Do We Build Control Systems? (Cont…)
• Consider an antenna system that points in a commanded
direction. If the wind opposes this direction of movement of
antenna or any internal problem opposes the movement of
the antenna, that is if the disturbance that opposes the
movement of the antenna, it must be detected and corrected
the position of the antenna. Obviously, the system’s input
will not be changed to make the correction. So, the system
itself must be able to measure the amount of disturbances
from the internal or external sources and take necessary
actions (corrective measures) to put the antenna to its
desired position. This is called the compensation of the
disturbances.
What is the Control Problem?
• The central problem in control is to find a
technically feasible way to act on a given
process so that the process behaves, as
closely as possible, to some desired
behaviour. Furthermore, this approximate
behaviour should be achieved in the face of
uncertainty of the process and in the
presence of uncontrollable external
disturbances acting on the process.
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What is the Control Problem? (cont…)
• The definition of the Control Problem introduces following
ideas:
Desired behavior: This needs to be specified as part of the
design problem.
Feasibility: This means that the solution must satisfy
various constraints, which can be of technical,
environmental, economic, or other nature.
Uncertainty: The available knowledge about a system will
usually be limited and of limited accuracy.
Action:. The solution requires that action be somehow
applied to the process, typically via one or more manipulated
variables which command the actuators.

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What is the Control Problem? (cont…)
Disturbances: The process to be controlled will typically
have inputs other than those that are manipulated by the
controller. These other inputs are called disturbances.
Approximate behavior: A feasible solution will rarely be
perfect. There will invariably be a degree of
approximation in achieving the specified goal.
Measurements: These are crucial to let the controller know
what the system is actually doing and how the
unavoidable disturbances are affecting it.
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Requirement of Good Control System
• Any good control system must maintain
certain qualities. The requirements of good
quality control systems are presented below:
• Speed: It is the time taken by control system to achieve its
stable output. A good control system possesses high speed.
The transient period for such system is very small.
• Accuracy: Accuracy is the measurement tolerance of the
instrument and defines the limits of the errors made when
the instrument is used in normal operating conditions.
Accuracy can be improved by using feedback elements. To
increase accuracy of any control system error detector
should be present in control system.
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Requirement of Good Control System (Cont…)
Stability: It is an important characteristic of
control system. For the bounded input signal,
the output must be bounded and if input is
zero then output must be zero then such a
control system is said to be stable system.
Bandwidth: An operating frequency range
decides the bandwidth of control system.
Bandwidth should be large as possible for
frequency response of good control system.
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Requirement of Good Control System (Cont…)
Noise Free: An undesired input signal is known as
noise. A good control system should be able to reduce
the noise effect for better performance.
Oscillation: A small numbers of oscillation or
constant oscillation of output tend to system to be
stable.
Sensitivity: The parameters of control system are
always changing with change in surrounding
conditions, internal disturbance or any other
parameters. This change can be expressed in terms
of sensitivity. Any control system should be insensitive
to such parameters but sensitive to input signals only.
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Types of Control Systems
• Before we introduce the theory of control system to
you, it is very essential to know the various types of
control systems. From among the various types of
systems, we are going to discuss only those types
of systems that will help us to understand the theory
of control system and detail description of these
types of system are given below:
• Linear Control Systems: In order to understand
the linear control system, we should know the
principle of superposition. The principle of
superposition theorem includes two the important
properties and they are explained below:
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Types of Control Systems (Cont…)
• Homogeneity: A system is said to be homogeneous, if we
multiply input with some constant ‘A’ then output will also be
multiplied by the same value of constant (i.e. A).
• Additivity: Suppose we have a system ‘S’ and we are giving
the input to this system as ‘a1’ for the first time and we are
getting output as ‘b1’ corresponding to input ‘a1’. On second
time we are giving input ‘a2’ and correspond to this we are
getting output as ‘b2’. Now suppose this time we giving input
as summation of the previous inputs ( i.e. a1 + a2 ) and
corresponding to this input suppose we are getting output as
(b1 + b2) then we can say that system ‘S’ is following the
property of additivity. Now we are able to define the linear
control systems as those types of control systems which
follow the principle of homogeneity and additivity
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Examples of Linear Control System
• Consider a purely resistive network with a
constant dc source. This circuit follows the
principle of homogeneity and additivity. All the
undesired effects are neglected and
assuming ideal behavior of each element in
the network, we say that we will get linear
voltage and current characteristic. This is the
example of linear control system.
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Non-linear Systems
• We can simply define non linear control system as all those
system which do not follow the principle of homogeneity. In
practical life all the systems are non-linear system.
• Example: A well known example of non-linear system is
magnetization curve or no load curve of a dc machine. We will
discuss briefly no load curve of dc machines here: No load
curve gives us the relationship between the air gap flux and
the field winding mmf. It is very clear from the curve given
below that in the beginning there is a linear relationship
between winding mmf and the air gap flux but after this,
saturation has come which shows the non linear behavior of
the curve or characteristics of the non linear control system.
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Example of Non-linear System (Cont…)
Fig.2: Showing The Behavior of a Non-linear System
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Analog or Continuous Control System
• In these types of control system we have
continuous signal as the input to the system.
These signals are the continuous function of
time. We may have various sources of
continuous input signal like sinusoidal type
signal input source, square type of signal
input source, signal may be in the form of
continuous triangle etc.
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Digital or Discrete Control System
discrete signal (or signal may be in the form
of pulse) as the input to the system. These
signals have the discrete interval of time. We
can convert various sources of continuous
input signal like sinusoidal type signal input
source, square type of signal input source
etc into discrete form using the switch.
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Advantages of Digital System Over Analog System
• There are various advantages of discrete or digital system
over the analog system. These are:
– Digital systems can handle non linear control systems more
effectively than the analog type of systems.
– Power requirement in case of discrete or digital system is less
as compared to analog systems.
– Digital system has higher rate of accuracy and can perform
various complex computations easily as compared to analog
systems.
– Reliability of digital system is more as compared to analog
system. They also have small and compact size.
– Digital system works on the logical operations which increases
their accuracy many times.
– Losses in case of discrete systems are less as compared to
analog systems in general.
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SISO And MIMO Systems
• Single Input Single Output Systems: These are also known as SISO type of
system. In this the system has single input for single output. Various
example of this kind of system may include temperature control, position
control system etc.
• Multiple Input Multiple Output Systems: These are also known as MIMO
type of system. In this the system has multiple outputs for multiple inputs.
Various example of this kind of system may include PLC type system etc.
• Lumped Parameter System: In these types of control systems the various
active (resistor) and passive parameters (like inductor and capacitor) are
assumed to be concentrated at a point and that’s why these are called
lumped parameter type of system. Analysis of such type of system is very
easy which includes differential equations.
• Distributed Parameter System: In these types of control systems the
various active (resistor) and passive parameters (like inductor and capacitor)
are assumed to be distributed uniformly along the length and that’s why
these are called distributed parameter type of system. Analysis of such type
of system is slightly difficult which includes partial differential equations.
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Control Theory
• Control theory is the science that addresses the analysis and
synthesis of feedback mechanisms in dynamical systems. The field
is in essence interdisciplinary since on one hand it treats dynamical
systems as abstract mathematical models that are not related to any
specific technology, and on the other hand it has applications in
practically any industrial sector.
• Increased global awareness of resource limitations, pollution
problems, and increased industrial demands for cost-effectiveness
due to competition has put control theory in focus as a systematic
method of designing for minimal resource consumption, maximal
product quality or other aspects of optimality in production processes
and/or in final products.
• Definition: It’s the mathematical study on manipulating the
parameters that affect the behavior of a system to produce the most
desired or optimal outcome.
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Classical & Modern Control Theory
• There are two major divisions in control theory, namely,
Classical and Modern Controls, which have direct
implications over the control engineering applications.
Classical Control Theory:
• The scope of classical control theory is limited to single-
input and single-output (SISO) system design. The
system analysis is carried out in time domain using
differential equations, in complex-s domain with
Laplace transform or in frequency domain by
transforming from complex-s domain. All the systems are
assumed to be second order, single variable, and the
higher order system responses and multivariable effects
are ignored.
• Most popular controllers that come under classical
control engineering are PID controller.
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(Cont…)
• A controller designed using classical theory usually
requires on-site tuning due to design approximations.
Yet, due to the easiness in physical implementation of
the controller designs over the controllers designed using
modern control theory, these controllers are preferred in
most of the industrial applications.
09/22/20 39
(Cont…)
Modern Control Theory:
In contrast, modern control theory is strictly carried out in
complex-s domain or in frequency domain and can deal
with multi-input and multi-output (MIMO) systems. This
overcomes the limitations in classical control theory to be
used in sophisticate control systems design problems such
as fighter aircraft control. In modern controls a system is
represented in terms of a set of first order
differential equations defined using state variables.
Nonlinear, multivariable, adaptive and robust control
theories come under this division. Being fairly new,
modern control theory has many areas yet to be explored.
Scholars like Rudolf E. Kalman and Aleksandr Lyapunov
are well known among the people who have shaped
modern control theory.
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(Cont…)
The main research areas of the control theory group at
Department of Control Engineering, are:
– Selftuning and Adaptive Control
– Control of Nonlinear Systems
– Robust and Optimal Control
– Control of Large-scale Systems
– Intelligent sensors
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Control Engineering
Control Engineering involves the design of
an engineering product or system where a
requirement is to accurately control some
quantity, say temperature in a room or the
position or speed of an electric motor. To
do this one needs to know the value of the
quantity being controlled, so that being
able to measure is fundamental to control.
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Control Engineering (Cont…)
• The field of automatic control is very well
developed. The established techniques in this
field can be applied to the control of a wide
range of systems - engineering systems such as
machines and complex plants, natural systems
such as biological and ecological systems, and
non-physical systems such as economic and
sociological systems following the understanding
of the similarity of the underlying problems.
Branches of Control Engineering
Here we are going to present a brief listing of the different
control methodologies within the sphere of control
engineering. However, often the lines between these
methodologies are blurred, or even erased completely.
Classical Controls: Control methodologies where the
ODEs that describe a system are transformed using the
Laplace, Fourier, or Z Transforms, and manipulated in
the transform domain.
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Branches of Control Engineering (Cont…)
• Modern Controls: Methods where high-order differential

equations are broken into a system of first-order
equations. The input, output, and internal states of the
system are described by vectors called "state variables".
• Robust Control: Control methodologies where arbitrary
outside noise/disturbances are accounted for, as well as
internal inaccuracies caused by the heat of the system
itself, and the environment.
• Optimal Control: In a system, performance metrics are
identified, and arranged into a "cost function". The cost
function is minimized to create an operational system
with the lowest cost.
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• Adaptive Control : In adaptive control, the control changes
its response characteristics over time to better control the system.
• Game Theory: Game Theory is a close relative of control
theory, and especially robust control and optimal control
theories. In game theory, the external disturbances are
not considered to be random noise processes, but instead
are considered to be "opponents". Each player has a cost
function that they attempt to minimize, and that their
opponents attempt to maximize.
• Nonlinear Control: The youngest branch of control
engineering, nonlinear control encompasses systems that
cannot be described by linear equations or ODEs, and for
which there is often very little supporting theory available.
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• Linear Control: For MIMO systems, pole
placement can be performed mathematically
using a state space representation of the open-
loop system and calculating a feedback matrix
assigning poles in the desired positions. In
complicated systems this can require computer-
assisted calculation capabilities, and cannot
always ensure robustness. Furthermore, all
system states are not in general measured and so
observers must be included and incorporated in
pole placement design.
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Common Classes of Control Systems
• There are two common classes of control systems, with
many variations and combinations:
logic or sequential controls, and feedback or linear controls.
• There is also fuzzy logic, which attempts to combine some
of the design simplicity of logic with the utility of linear
control.
• The term "control system" may be applied to the essentially
manual controls that allow an operator to, for example,
close and open a hydraulic press, where the logic requires
that it cannot be moved unless safety guards are in place.
• An automatic sequential control system may trigger a series
of mechanical actuators in the correct sequence to perform
a task. For example various electric and pneumatic
transducers may fold and glue a cardboard box, fill it with
product and then seal it in an automatic packaging
machine.
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Common Classes of Control Systems (Cont…)
• Pure logic control systems were historically implemented by
electricians with networks of relays, and designed with a
notation called ladder logic. Today, most such systems are
constructed with programmable logic devices.
• Logic controllers may respond to switches, light sensors,
pressure switches etc and cause the machinery to perform
some operation. Logic systems are used to sequence
mechanical operations in many applications. Examples include
elevators, washing machines and other systems with
interrelated stop-go operations.
• Logic systems are quite easy to design, and can handle very
complex operations. Some aspects of logic system design
make use of Boolean logic-the concept of logic
gates
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Logic or Sequential Controls
• A logic gate is an idealized or physical device
implementing a Boolean function, that is, it performs a
logical operation on one or more logical inputs, and
produces a single logical output. Depending on the
context, the term may refer to an ideal logic gate, one
that has for instance zero rise time and unlimited
fan-out, or it may refer to a non-ideal physical device [1]
(see Ideal and real op-amps for comparison).
• Logic gates are primarily implemented using diodes
or transistors acting as electronic switches, but can
also be constructed using electromagnetic relays (
relay logic), fluidic logic, pneumatic logic, optics,
molecules,
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Sequential Control System
• A control system in which the individual
steps are processed in a predetermined
order, progression from one sequence step
to the next being dependent on defined
conditions being satisfied. Such a system
may be time-dependent, in which the step
transition conditions are functions of time
only; on external-event dependent, where
the conditions are functions of Input signals
only; or combinations of these (and
perhaps more complex) conditions.
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Controller Versus Regulators
• In control theory, a controller is a device which monitors
and affects the operational conditions of a given
dynamical system. The operational conditions are typically
referred to as output variables of the system which can be
affected by adjusting certain input variables.
• For example, the heating system of a house can be
equipped with a thermostat (controller) for sensing air
temperature (output variable) which can turn on or off a
furnace or heater when the air temperature becomes too low
or too high.
• In this example, the thermostat is the controller and directs
the activities of the heater. The heater is the processor that
warms the air inside the house to the desired temperature
(setpoint). The air temperature reading inside the house is
the feedback. And finally, the house is the environment in
which the heating system operates.
Regulators
• The objective of some control systems is to
maintain a system in a particular state. In
automotive systems, cruise control maintains
speed, and springs and shocks maintain a
comfortable ride. Tall buildings and towers are
prevented from swaying in hurricanes. Auto-
pilots maintain speed in aircraft. The act of
maintaining a system in a particular state is
called regulating the system and a control
system that regulates a system is called a
regulator.
Servomechanism
• Sometimes, the objective of controller is to
position a system or an object.
• A control system used to control position or its
derivative is termed as servomechanism.
• The special features of servo-mechanism are:
closed loop system, used to control position,
velocity or acceleration, high power amplifying
stages for operation of the system from very
small error to signal, automatic control, remote
operation, fast response and high accuracy.
General Classification of Control Systems
• Based on the arrangements of the control system
components or mechanisms, the control system may be
classified as:
– Open-loop Control
– Closed-loop Control
• An open-loop control, also called a non-feedback control, is a
type of control, which computes its input into a system using
only the current state and its model of the system.
• German Standard DIN 19 226 defines the open-loop control
as a process taking place in a system where by one or more
variables in the form of input variables exert influence on the
other variables in the form of output variables by reason of
the laws which characterize the system.
• Example: Volumetric flow is set by adjusting a control valve. At constant
applied pressure, the volumetric flow is directly influenced by the position
of the control value. This relationship between control value setting and
volumetric flow can be determined either by means of physical education
or by experiment. This result in the definition of a system consisting of the
“value” with the output variable
General Classification of Control Systems
• So, we find that ‘a control system in which the control

action is totally independent of output of the system then
it is called open loop control system’. Open loop
system is also called Manual control system. The
following figure shows the block diagram of open loop
control system in which process output is totally
independent of controller action.
Fig.3: Block Diagram Representation of Open-loop Control Systems
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Practical Examples Of Open Loop Control System
• 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 light switch is on
irrespective of light is required or not.
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Characteristics of Open-loop Control
• In an Open-loop Control System, the control action is
independent of the desired output; i.e., when the output
quantity of the control system is not fed back to the input
quantity, the control system is called an Open loop System.
e.g. Blind man's action, traffic control without traffic police
• A characteristic of the open-loop control is that it does not
use feedback to determine whether its input has achieved
the desired goal. This means that the system does not
observe the output of the processes that it is controlling.
Consequently, a true open-loop system can not engage in
machine learning and also cannot correct any errors that it
could make. It also may not compensate for disturbances
in the system.
Characteristics of Open-loop Control (Cont…)
• In an Open loop System, the control action is independent of
the desired output. OR When the output quantity of the
control system is not fed back to the input quantity, the
control system is called an Open loop System. So, we can
say that Open-loop Control is the Control without feedback
• Open-loop control systems do not directly make use of
feedback, but run only in pre-defined value.
• For example, an irrigation sprinkler system, programmed to
turn on at set times could be an example of an open-loop
system if it does not measure soil moisture as a form of
feedback. Even if rain is pouring down on the lawn, the
sprinkler system would activate on schedule, wasting water.
Characteristics of Open-loop Control (Cont…)
• Open-loop control is useful for well-defined systems
where the relationship between input and the
resultant state can be modeled by a mathematical
formula.
• For example determining the voltage to be fed to an
electric motor that drives a constant load, in order to achieve
a desired speed would be a good application of open-loop
control. If the load were not predictable, on the other hand,
the motor's speed might vary as a function of the load as
well as of the voltage, and an open-loop controller would
therefore not be sufficient to ensure repeatable control of
the velocity.
Practical Example of Open-loop Control
• A water bath is to be maintained at a constant temperature. The
water bath is heated by a helical pipe through which steam flows.
The flow rate of steam can be set by means of a control valve. Here,
the control system consists of positioning of the control valve and
the temperature of the water bath. This result in a controlled system
with the input variable “temperature of water bath” and the output
variable “position of a control valve”.
Fig.3: Temperature Control of a Water Bath

Practical Example of Open-loop Control (Cont…)
• In this control system, there is no way to

know whether the desired temperature has
been reached or not. What we know is the
calibration of the opening valve has been
done corresponding to the temperature of
the water. Here, the output temperature
has no influence on the opening of the
steam valve. Therefore, this is an open-
loop control.
Applications of Open-loop Control
• In principle, one can control the system in open-
loop manner when knowledge has been built up on
what input will produce required output, say a
voltage required to be input to an electric motor for
it to run at a certain speed. This will work well if the
knowledge is accurate.
• But if the motor drives a pump which has a load
highly dependent on the temperature of the fluid
being pumped, then the knowledge will not be
accurate unless information is obtained for different
fluid temperatures.
• Again this may not be the only practical aspect that
affects the load on the motor and therefore the
speed at which the motor will run for a given input,
so if accurate speed control is required an alternate
approach is necessary.
09/22/20 63
Applications of Open-loop Control (Cont…)
• An open-loop controller is often used in simple

processes because of its simplicity and low-cost,
especially in systems where feedback is not
critical. A typical example would be a
conventional washing machine, for which the
length of machine wash time is entirely
dependent on the judgment and estimation of
the human operator.
• In an open loop control system, one or more input
variables of a system act on a process variable. The
actual value of the process variable is not being
checked, with the result that possible deviations – e.g.
caused by disturbances– are not compensated for in the
open loop control process. Thus, the characteristic
feature of open loop control is an open action flow.
• The task of the operator illustrated in Fig.4 is to adjust
the pressure (p2) in a pipe line by means of a control
valve. For this purpose, he utilizes an assignment
specification that determines a certain control signal (y)
issued by the remote adjuster for each set point (w).
Since this method of control does not consider possible
fluctuations in the flow, it is recommended to use open
loop control only in systems where disturbances do not
affect the controlled variable in an undesired way
09/22/20 65
Fig. 4: Operator controls the process variable p2 via remote adjuster
09/22/20 66
How Does an Open-loop Control Function?
• The following sequence of events take place
within the controlled system:
• The position of the control value affects the
flow rate of steam through the helical pipe.
• The steam flow – rate determines the amount
of heat passed to the water bath.
• The temperature of the bath increases if the
heat input is greater than the heat loss and
drops if the heat input is less than the heat
loss.
• The sequences give the relationship between
the input and output variable.
• In a open loop system, there is no feedback from
the controlled process. In a closed loop, a sensor
monitors the process variable, and the system
adjusts in accordance to the input.
Advantages & Disadvantages Of Open-loop Control Systems
• Advantages:
– Simple in construction and design.
– Economical.
– Easy to maintain.
– Generally stable.
– Convenient to use as output is difficult to measure.
• Disadvantages:
– They are inaccurate.
– They are unreliable.
– Any change in output cannot be corrected automatically.
09/22/20 68
Closed-loop Control
• Generally, to obtain a more accurate or more adaptive
control, it is necessary to feed the output of the system
back to the inputs of the controller. This type of system is
called a Feedback Control System or Closed-lop Control
System
• Control system 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 closed
loop control system.
• Open loop control system can be converted in to closed
loop control system by providing a feedback. This feedback
automatically makes the suitable changes in the output due
to external disturbance. In this way closed loop control
system is called automatic control system. Figure below
shows the block diagram of closed loop control system in
which feedback is taken from output and fed in to input.
09/22/20 69
Closed-loop Control (Cont…)
• In the Closed loop Control System the control action
is dependent on the desired output, where the output
quantity is considerably controlled by sending a
command signal to input quantity. The closed loop
systems are normally have feedback e.g., Normal
man's action, Automobile systems, traffic signal
control with traffic police etc.
• The approach is the use of feedback where by the
quantity to be controlled, say C is measured,
compared with the desired value, R, and the error
between the two, E = R – C used to adjust C. The
figure in the next slide shows the arrangement of
closed-loop control system
09/22/20 70
Fig.5: Showing the arrangement of the components of Closed-loop control

systems
09/22/20 71
• DIN 19 226 defines closed – loop control as a process where
the controlled variable is continuously monitored and
compared with the reference variable. Depending on the
result of this comparison, the input variable for the system is
influenced to adjust the output variable to the desired value
despite any disturbing influences. This feedback results in a
closed – loop action. Because the output is measured and fed
back to input for comparison, the closed-loop control is also
known as feedback control.
• In a closed-loop control system, an input forcing function is
determined in part by the system response. The measured
response of a physical system is compared with a desired
response. The difference between these two responses
initiates actions that will result in the actual response of the
system to approach the desired response. This in turn drives
the difference signal toward zero. Typically the difference of
signals is processed by another physical system, which is
called a compensator, a controller, or a filter for real-time
control system applications
72
Principle of Closed-loop Control (Cont…)
• Closed loop or feedback control operates
according to the following simple principle:
1. Continuously measure the variable or
parameter to be controlled
2. Feedback the measured value or controlled
variable to input
3. Compare this measured value with the
desired value and determine the difference i.e.,
the error
4. Use this difference or error to adjust the
controlled variable so as to reduce the difference
(error)
09/22/20 73
Measured Value is
compared with the
desired value Measures the
Adjusts the
Variable to be
valve based
controlled
on error
Fig.5: Show a classical feedback control loop structure
09/22/20 74
• This system can be controlled by adjusting the control
valve. This allows the desired volumetric flow to be set.
However, if the applied pressure fluctuates, the
volumetric flow will also fluctuate. In this system, the
human observer looks at the output or control value does
adjust the valve opening to achieve the desired output by
opening and closing the valve. As the control is done
manually, it is manual closed-loop control. If this
adjustment is to take place automatically, the system
must have some automatic device for adjustment. In that
case, the controller will be termed as automatic closed-
loop controller.
09/22/20 75
• In the Closed loop Control System, the control action is
dependent on the desired output, where the output
quantity is considerably controlled by sending a command
signal to input quantity
• In a closed loop control system, the variable to be
controlled (controlled variable x) is continuously measured
and then compared with a predetermined value (reference
variable w). If there is a difference between these two
variables (error e or system deviation xw), adjustments
are being made until the measured difference is
eliminated and the controlled variable equals the
reference variable. Hence, the characteristic feature of
closed loop control is a closed action flow.
09/22/20 76
Examples of Closed-loop Control
(Cont…)
• Example: Let us consider the control system in Fig.6.
The operator depicted in Fig.6 monitors the pressure p2
in the pipeline to which different consumers are
connected. When the consumption increases, the
pressure in the pipeline decreases. The operator
recognizes the pressure drop and changes the control
pressure of the pneumatic control valve until the desired
pressure p2 is indicated again. Through continuous
monitoring of the pressure indicator and immediate
reaction, the operator ensures that the pressure is
maintained at the desired level. The visual feedback of
the process variable p2 from the pressure indicator to
the operator characterizes the closed action flow.
09/22/20 77
Examples of Closed-loop Control (Cont…)
• Closed loop control is a process whereby one
variable, namely the variable to be controlled
(controlled variable) is continuously monitored,
compared with another variable, namely the
reference variable and, depending on the outcome of
this comparison, influenced in such a manner as to
bring about adaptation to the reference variable. The
characteristic feature of closed loop control is the
closed action flow in which the controlled variable
continuously influences itself in the action path of
the control loop.
• A control process can also be regarded as
‘continuous’ if it is composed of a sufficiently
frequent repetition of identical individual processes.
The cyclic program sequence of digital sampling
control would be such a process.
09/22/20 78
Examples of Closed-loop Control (Cont…)
Fig. 6: Operator controls the

process variable p2 in a
closed loop
09/22/20 79
Examples of Closed-loop Control System (Cont…)
• Another example of closed-control is a conveyor
system that is required to travel at a constant
speed. For a constant voltage, the conveyor will
move at a different speed depending on the load
on the motor (represented here by the weight of
objects on the conveyor). In order for the
conveyor to run at a constant speed, the voltage
of the motor must be adjusted depending on the
load. In this case, a closed-loop control system
would be necessary.
09/22/20 80
Practical Examples Of Closed Loop Control System
• Automatic Electric Iron – Heating elements are controlled by
output temperature of the iron.
• Servo Voltage Stabilizer – Voltage controller operates
depending upon output voltage of the system.
• Water Level Controller– Input water is controlled by water
level of the reservoir.
• Missile Launched & Auto Tracked by Radar – The direction
of 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.
09/22/20 81
Advantages OF Closed Loop Control System
• Closed loop control systems are more
accurate even in the presence of non-
linearity.
• Highly accurate as any error arising is
corrected due to presence of feedback signal.
• Bandwidth range is large.
• Facilitates automation.
• The sensitivity of system may be made small
to make system more stable.
• This system is less affected by noise.
09/22/20 82
Disadvantages Of Closed Loop Control System
• They are costlier.
• They are complicated to design.
• Required more maintenance.
• Feedback leads to oscillatory response.
• Overall gain is reduced due to presence of
feedback.
• Stability is the major problem and more care
is needed to design a stable closed loop
system.
09/22/20 83
Examples Showing the Difference
Between the Open-loop and Closed-loop
Control Systems
Open loop: Cooking on the top of most stoves. There
is a heat source, but there is no feedback, so the
process must be balanced by hand. It is entirely
possible to get a runaway condition, where the
process goes out of control.
Closed loop: The oven in the same stove. There is a
thermal sensor installed in the chamber of the oven.
The knob on the control panel sets a control point.
When the sensor output versus the control setting
shows too much heat, the heating systems shuts off.
09/22/20 84
Comparison of Closed Loop And Open Loop
Control System
Sr. No. Open loop control system Closed loop control system
The feedback element is The feedback element is always
1
absent. present.
An error detector is not
2 An error detector is always present.
present.
3 It is stable one. It may become unstable.
4 Easy to construct. Complicated construction.
5 It is an economical. It is costly.
6 Having small bandwidth. Having large bandwidth.
7 It is inaccurate. It is accurate.
8 Less maintenance. More maintenance.
9 It is unreliable. It is reliable.
Examples: Hand drier, tea Examples: Servo voltage stabilizer,
10
maker perspiration
09/22/20 85
Characteristics of Closed-loop Control
A closed-loop control system can be represented by the
general block diagram as shown figure-8. In a closed-loop control
system, control action is dependent on the output.
Fig.8: Closed-loop Control System
In this configuration, a feedback component is applied together with the

input R. The difference between the input and feedback signals is applied
to the controller. In responding to this difference, the controller acts on
the process forcing C to change in the direction that will reduce the
difference between the input signal and the feedback component. This, in
turn, will reduce the input to the process and result in a smaller change in
C. This chain of events continues until a time is reached when C
approximately equals R.
09/22/20 86
Characteristics of Closed-loop Control (Cont…)
• A closed-loop system is able to regulate itself in
the presence of disturbance or variations in its
own characteristics. In this respect, a closed-
loop system has a distinct advantage over an
open-loop system.
• Figure-8 shows another example of closed-loop
control system. The control system maintains a
desired water level in the storage tank. The
system performs this task by continuously
sensing the level in the tank and adjusting a
supply valve to add more or less water to the
tank. The desired level is preset by an operator,
who is not part of the system.
09/22/20 87
Automatic Control System
• The control system in which the output is measured,
transduced, fedback into the input, and compared with the
input, the control action is executed automatically
according to the fbet ween the input and output (i.e., the
error) without the intervention of any human operator is
known as Automatic control.
• Automation is the research area and theoretical base for
mechanization and automation, employing methods from
mathematics and engineering. A central concept is that of the
system which is to be controlled, such as a radar, propeller or
an entire ballistic missile. The systems studied within automatic
control are mostly the linear systems.
• Automatic control systems are composed of three
main components:
– Sensor(s), which measure some physical state such as
temperature or liquid level.
09/22/20 88
Automatic Control System (Cont…)
– Responder(s), which may be simple electrical
or mechanical systems or complex special
purpose digital controllers or general
purpose computers.
– An actuator is a mechanical device for
moving or controlling a mechanism or
system. Actuator(s), which affect a response
to the sensor(s) under the command of the
responder, for example, by controlling a gas
flow to a burner in a heating system or
electricity to a motor in a refrigerator or
pump.
• A common closed-loop controller architecture
is the PID controller (This will be discussed
later in the course if time permits).
09/22/20 89
Manual Versus Automatic Control
In manual control:
• The operator adjusts the output to operate the
plant.
• During startup, this mode is normally used.
In automatic control
• The control algorithm manipulates the output to
hold the process measurements at their setpoint
09/22/20 90
Vocabulary of Closed-loop Control
The terms used in the closed-loop control system are defined
below:
1. Command: The command is the input which is varied by
some means external to and independent of the feedback
control system.
2. Reference Input: The reference input is a signal
established as a standard of comparison for a feedback
control system by virtue of its relation to the command input.
3. System Error: The system error is the ideal value of the
controlled variable minus the value of the final controlled
variable.
4. Controlled Variable: It is the quantity or condition that is
measured & controlled.
5. Control Elements: The control elements comprise of the
feedback and the elements which when employed give the
actuating signal and regulate the output.
09/22/20 91
Vocabulary of Closed-loop Control (Cont…)
6. Disturbances and Uncertainty: One of the things that make control
science interesting is that all real life systems are acted on by noise and
external disturbances. These factors can have a significant impact on
the performance of the system. As a simple example, aircraft are
subject to disturbances in the form of wind-gusts, and cruise controllers
in cars have to cope with different road gradients and different car
loadings. A disturbance is an undesired input signal which affects the
value of the controlled output.
7. Sensors: Sensors are the eyes of control enabling one to see what is
going on. Indeed, one statement that is sometimes made about control
is: If you can measure it, you can control it.
8. Actuators: Once sensors are in place to report on the state of a
process, then the next issue is the ability to affect, or actuate, the
system in order to move the process from the current state to a desired
state
9. Actuating Input (or Signal: This is the reference input minus the
primary feedback and provides for corrective action.
09/22/20 92
Advantages of Closed Loop Control System
• Closed loop control systems are more
accurate even in the presence of non-
linearity.
• Highly accurate as any error arising is
corrected due to presence of feedback signal.
• Bandwidth range is large.
• Facilitates automation.
• The sensitivity of system may be made small
to make system more stable.
• This system is less affected by noise.
09/22/20 93
Disadvantages of Closed Loop Control System
• They are costlier.

• They are complicated to design.
• Required more maintenance.
• Feedback leads to oscillatory response.
• Overall gain is reduced due to presence of
feedback.
• Stability is the major problem and more care
is needed to design a stable closed loop
system.
09/22/20 94
Advantages of Closed-loop Controllers
Closed-loop controllers have the following
advantages over open-loop controllers:
• disturbance rejection (such as unmeasured friction
in a motor)
• guaranteed performance even with model
uncertainties, when the model structure does not
match perfectly the real process and the model
parameters are not exact
• unstable processes can be stabilized
• reduced sensitivity to parameter variations
• improved reference tracking performance
09/22/20 95
Comparison of Open loop & Closed loop Systems
Open Loop System

1. An open loop system has the ability to perform accurately, if its
calibration is good. If the calibration is not perfect its performance
will go down.
2. It is simple, easier to build and less expensive
3. In general it is more stable as the feed back is absent.
4. If non- present; the system operation is not good.
5. Feed back is absent i.e., output has no influence on input
Examples:
(i) Traffic Control System.
(ii) Control of furnace for coal heating.
(iii) An Electric Washing Machine
09/22/20 96
Comparison of Open loop & Closed loop Systems (Cont…)
Closed Loop System

1. A closed loop system has got the ability to perform
accurately because of the feed back.
2. It is complex, difficult to build and costly
3. Comparatively less stable even under the presence of
non- loop system.
5. Feed back is present i.e., output influences the input
Example:
(i) Pressure Control System.
(ii) Speed Control System. (iii) Robot Control System.
(iii) Temperature Control System
Note: Any control system which operates on time basis is
an Open Loop System
09/22/20 97

Summarizing these properties we can
define:
• Systems in which the output quantity has no
effect upon the process input quantity are called
open-loop control systems.
• Systems in which the output has an effect upon
the process input quantity in such a manner as
to maintain the desired output value are called
closed-loop control systems.
09/22/20 98
Fig.15: Components of Open-loop Control Systems
Fig.16: Components of Open-loop Control Systems

09/22/20 99
Open loop

- manual operation of the accelerator in an automobile
- manual operation of the brake system in an automobile
- Any light switch in your home
- Motor speed regulator using a governor
- Train crossing signals/gates
Closed loop:
- furnace/heating system with a thermostat
- refrigerator temperature regulating system
- automobile cruise control (some can be considered complex)
- The power supply in a computer or other electronic device
– Motor speed regulator using tachometer and/or current sensor
09/22/20 100
Feedback Controls
• Closed-loop Control is sometimes referred to as
Feedback Control as the outout of the system fed back
into the input for computing error. In the case of linear
feedback systems, a control loop, including sensors,
control algorithms and actuators, is arranged in such a
fashion as to try to regulate a variable at a setpoint or
reference value.
• An example of this may increase the fuel supply to a
furnace when a measured temperature drops.
• PID controllers are common and effective in cases such
as this. Control systems that include some sensing of the
results they are trying to achieve are making use of
feedback and so can, to some extent, adapt to varying
circumstances.
Feedback Controls (Cont…)
• Feedback describes the situation when output from (or
information about the result of) an event or phenomenon in
the past influence the same event/phenomenon in the
present or future. When an event is part of a chain of cause-
and-effect that forms a circuit or loop, then the event is said
to "feed back" into itself.
• Feedback is a mechanism, process or signal that is looped
back to control a system within itself. Such a loop is called a
feedback loop. Intuitively many systems have an obvious
input and output; feeding back part of the output so as to
increase the input is positive feedback; feeding back part of
the output in such a way as to partially oppose the input is
negative feedback.
Position Feedback
• Position feedback is that type of feedback employed
in a system in which the output is either a linear
distance or an angular displacement, and a portion
of the output is returned or fed back to the input.
Position feedback is essential in weapon control
systems and is used to make the output exactly
follow the input.
• For example: if, in a missile-launcher control system,
the position feedback were lost, the system
response to an input signal to turn clockwise 10o
would be a continuous turning in the clockwise
direction, rather than a match-up of the launcher
position with the input order.
Position Feedback (Cont…)
• Motion smoothing by means of feedback is
accomplished by the use of rate and acceleration
feedback. In the case of rate (velocity) feedback, a
portion of the output displacement is differentiated and
returned so as to restrict the velocity of the output.
Acceleration feedback is accomplished by differentiating
a portion of the output velocity, which when fed back
serves as an additional restriction on the system output.
The result of both rate and acceleration feedback is to
aid the system in achieving changes in position without
overshoot and oscillation.
The Main Objectives of Feedback Control
The main objectives of feedback control
system analysis are the determination of the
following characteristics of a system.
(1) The degree or extent of stability of the
system
(2) The steady state performance.
(3) The transient performance
Advantages of Feedback Control
• Reduce error (eliminating the error)
• Reduce sensitivity to parameter variations
• Enhance robustness
• Disturbance rejection or elimination
• Improve dynamic performance or adjust
the transient response (such as reduce
time constant
• Reduce the steady-state error
Types of Feedback
Fig.17: Ideal feedback model. The feedback is negative if B < 0
• When feedback modifies an event/phenomenon, the

modification will subsequently influence the feedback signal
in one of three ways:
1 - the feedback signal increases, leading to more modification.
This is known as positive feedback.
2 - the feedback signal decreases, leading to less modification.
This is known as negative feedback.
3 - the feedback signal does not change, indicating the
phenomenon is in equilibrium.
Negative Feedback Controls (Cont…)
• Negative Feedback: All automatic control systems use
Negative feedback for controlling a physical parameter
like position, velocity, torque, etc. The parameter which
has to be controlled is sensed by suitable transducers
and fed back to the input, for comparison with the
reference value.
• This subtraction of the measured output from that of
reference input is called Negative feedback. The
difference signal, called the ``error" is then amplified to
drive the system (referred to as actuator) in such a
manner that the output approaches the set reference
value. In other words the system is designed to minimize
the error signal.
Negative Feedback Controls (Cont…)
• Negative feedback, which seeks to reduce the

feedback signal that caused it, is also known as
a self-correcting or balancing loop.[1] Such loops
tend to be goal-seeking, as in a thermostat
which compares actual temperature with desired
temperature and seeks to reduce the difference.
Balancing loops are sometimes prone to
hunting: an oscillation caused by an excessive
or delayed feedback signal, resulting in over-
correction.
Types of Negative Feedback Control
On–off control: For example, a thermostat is a simple
negative-feedback control: when the temperature (the
"measured variable" or MV) goes below a set point (SP),
the heater is switched on. Another example could be a
pressure switch on an air compressor: when the
pressure (MV) drops below the threshold (SP), the pump
is powered. Refrigerators and vacuum pumps contain
similar mechanisms operating in reverse, but still
providing negative feedback to correct errors.
• Simple on–off feedback control systems like these are
cheap and effective. In some cases, like the simple
compressor example, they may represent a good design
choice.

Types of Negative Feedback Control (Cont…)
• In most applications of on–off feedback control,

some consideration needs to be given to other
costs, such as wear and tear of control valves
and maybe other start-up costs when power is
reapplied each time the MV drops. Therefore,
practical on–off control systems are designed to
include hysteresis, usually in the form of a
deadband, a region around the setpoint value in
which no control action occurs. The width of
deadband may be adjustable or programmable.
• Linear control: Linear control systems use linear negative feedback
to produce a control signal mathematically based on other variables,
with a view to maintaining the controlled process within an acceptable
operating range.
• The output from a linear control system into the controlled process
may be in the form of a directly variable signal, such as a valve that
may be 0 or 100% open or anywhere in between. Sometimes this is
not feasible and so, after calculating the current required corrective
signal, a linear control system may repeatedly switch an actuator,
such as a pump, motor or heater, fully on and then fully off again,
regulating the duty cycle using pulse-width modulation.
• The most complex linear control systems developed to date are in oil
refineries[citation needed] (model predictive control). The chemical reaction
paths and control systems are normally designed together using
specialized computer-aided-design software.
• Proportional Control: When controlling the temperature
of an industrial furnace, it is usually better to control the
opening of the fuel valve in proportion to the current
needs of the furnace. This helps avoid thermal shocks
and applies heat more effectively.
• Proportional negative-feedback systems are based on
the difference between the required set point (SP) and
measured value (MV) of the controlled variable. This
difference is called the error. Power is applied in direct
proportion to the current measured error, in the correct
sense so as to tend to reduce the error (and so avoid
positive feedback). The amount of corrective action that
is applied for a given error is set by the gain or sensitivity
of the control system.
Features of Negative Feedback Control:
The most important features that negative feedback
imparts to a control system are:
(1) Increased accuracy--An increase in the system's ability
to reproduce faithfully in the output that which is dictated
by an input.
(2) Reduced sensitivity to disturbance--When fluctuations in
the relationship of system output to input caused by
changes within the system are reduced. The values of
system components change constantly throughout their
lifetime, but by using the self-correcting aspect of
feedback, the effects of these changes can be
minimized.
(3) Smoothing and filtering--When the undesired effects of
noise and distortion within the system are reduced.
(4) Increased bandwidth--When the bandwidth of any
system is defined as that range of frequencies or
changes to the input to which the system will respond
satisfactorily.
Positive Feedback Control
• Positive feedback, which seeks to increase the
event that caused it, as in a nuclear chain-
reaction, is also known as a self-reinforcing loop.
[1] An event influenced by positive feedback will
increase or decrease its output/activation until it
hits a limiting constraint. Such a constraint may be
destructive, as in thermal runaway or a nuclear
chain reaction. Self-reinforcing loops can be a
smaller part of a larger balancing loop, especially
in biological systems such as regulatory circuits.
Feedback Terminologies
Feedback: Feedback is an arrangement by which the
actual output of a system is fed back to the input end for
comparison with the desired output.
Feedback describes the situation when output from (or
information about the result of) an event or phenomenon
in the past will influence the same event/phenomenon in
the present or future. When an event is part of a chain of
cause-and-effect that forms a circuit or loop, then the
event is said to "feed back" into itself.
Feedback Control: It is an operation that, in the presence
of disturbance tends to reduce the difference between
the output of a system & some reference input.
Feedback Loop: the causal path that leads from the initial
generation of the feedback signal to the subsequent
modification of the event.
Feedback and Feedforward Control
• In some systems, closed-loop and open-loop controls are
used simultaneously. In such systems, the open-loop control
is termed feedforward and serves to further improve reference
tracking performance.
1. Feed-forward is a term describing a kind of system which
reacts to changes in its environment, usually to maintain some
desired state of the system. A system which exhibits feed-
forward behavior responds to a measured disturbance in a
pre-defined way - in contrast with a feedback system.
2. This is a control technique that can be measured but not
controlled. The disturbance is measured and fed forward to an
earlier part of the control loop so that corrective action can be
initiated in advance of the disturbance having an adverse
effect on the system response.
09/22/20 117
Feedback and Feedforward Control (Cont…)
• In feedforward control, the effect of anticipated
disturbance in the system or the process is measured and
added to the input signal in order to compensate for the
influence f the disturbance on the measured output.
• The feedforward controller determines the needed change
in the manipulated variable, so that, when the effect of the
disturbance is combined with the effect of the change in
the manipulated variable, there will be no change in the
controlled variable at all. The controlled variable is always
kept at its setpoint and hence disturbances have no effect
on the process. This perfect compensation is a difficult
goal to obtain. It is , however, the objective for which
feedforward control is structural. A typical feedforward
control loop is shown in the figure below.
09/22/20 118
Fig.18: A typical Feedforward Control Loop
09/22/20 119
• Another name for feedforward control is open loop
control. The reason is that the measured signal goes to
the controller parallely to the process. This can be seen
in the next figure. This is in contrast to feedback or
closed loop control.
• The structure of feed forward control assumes that
– The disturbances are known in advance.
– The disturbance will have sensors associated with them
(measurable).
– There will not be significant unmeasured disturbances.
09/22/20 120
• The difficulty with Feedforward control is that the
effect of the disturbances must be accurately
predicted and measured. For instances, if the
windows are open and not taken care of, the
thermostat might still let the house to cool down.
• To achieve the benefits FB control (controlling
unknown disturbances and not having to exactly
know how a system will respond to
disturbances) and benefits of FF control
(responding to disturbances before they can
affect the system) combinations of FB and FF
controls are used.
09/22/20 121
• Let us consider that the process in figure-17 describes the
temperature control of house. If the door of the house were opened
on a cold day, the house would cool down. After it fell below the
desired temperature (setpoint), the heater would kick on, but there
would be a period when the house was colder than desired.
• In more general terms, a control system has input from an external
signal source and output to an external load; this defines a natural
sense (or direction) or path of propagation of signal; the feedforward
sense or path describes the signal propagation from input to output
• The natural sense of feedforward is defined chemically by some
irreversible reaction, or electronically by an active circuit element that
has access to an auxiliary power supply, so as to be able to provide
power gain to amplify the signal as it propagates from input to output.
• For example, an amplifier can use power from its controlled power
reservoir, such as its battery, to provide power gain to amplify the
signal; but the reverse is not possible: the signal cannot provide
power to re-charge the battery of the amplifier.
• These limitations on the disturbances constrain the application of feedforward
control, as most disturbances in the industrial processes are unpredictable
and un-measurable.
09/22/20 122
• Feedback is a synonym for:
– Feedback signal - the measurement of the actual level of the parameter of
interest.
– Feedback mechanism - the action or means used to subsequently modify the
gap.
– Feedback loop - the complete causal path that leads from the initial detection
of the gap to the subsequent modification of the gap.
• The input to a feedback controller is the same as what it is trying
to control - the controlled variable is "fed back" into the controller.
The thermostat of a house is an example of a feedback
controller. This controller relies on measuring the controlled
variable, in this case the temperature of the house, and then
adjusting the output, whether or not the heater is on. However,
feedback control usually results in intermediate periods where the
controlled variable is not at the desired setpoint .
09/22/20 123
• Feedback is usually either positive and negative.
The terms can be applied in two contexts:
• The context of the gap between reference and
actual values of a parameter, based on whether
the gap is widening (positive) or narrowing
(negative).[1]
• The context of the action or effect that alters the
gap, based on whether it has a happy (positive)
or unhappy (negative) emotional connotation to
the recipient or observer.[8]
09/22/20 124
Why Use Feedback Control?
The first question is really "Why do you need a control
system at all?" Consider the following:
• What good is an airplane if you are a pilot and you can't
make it go where you want it to go?
• What good is a chemical product in the production line if
you can't control temperature, pressure and pH in the
process and you end up making tons of garbage?
• What good is an oven if you can't control the
temperature? (And, does it matter if it's an oven in a
kitchen or an oven in a heat-treating department that is
used to harden metal parts?)
• What good is a pump if you can't control the flow rate it
produces? (And, there are many times when the flow
rate must be controlled.)
09/22/20 125
Why Use Feedback Control? (Cont…)
• The common denominator in all of these questions is
that there is some physical quantity that must be
somehow controlled in a way that ensures that the
physical quantity takes on the value that is specified.
There are even times when the physical quantity should
take on some pre-determined values that follow a
function of time. (An example of that would be landing
an airplane where you want the plane to meet t how well
it is doing. That implies a couple of things. First, you
need to know what you want the system to do. There
are lots of ways you can do that. For example, in your
home you set a temperature by dialing it into the
thermostat. That's the way he ground following a
specified curve.) We need to think about how to control
physical quantities in general, and to determine what can
be done - in a general way - to implement any scheme
we devise.
09/22/20 126
• What is clear is that if you want to control a system, you
need to know what you want it to do, and you need to
know you tell the system what you want it to do. When
an airplane is landing there is a radar beacon at the far
end of the runway that tells the aircraft if it is too high or
too low, too far right or too far left, and how much in all
those cases. There are any numbers of ways you can
tell a system what you want it to do. You can turn a dial,
type a number into a computer program, or you can use
some other physical quantity. (An example of that is
trying to point an antenna at a weather or
communications satellite. The satellite's position - which
might be predictable with an astronomical formula - gives
the system the information it needs on where the
antenna has to point.) One way or another, the control
system has to know what it has to do.
09/22/20
• The other thing that the control system has to know is
how well the system is doing. That radar antenna at the
end of the runway when the airplane is landing tells the
airplane what to do, but it also tells the airplane where it
is at (up/down and left/right) and how far off the desired
position the aircraft is. The thermostat tells the system
whether the temperature is above or below where it is
desired to be. You can use temperature sensors,
pressure sensors, tachometers and many other sensors
that measure physical variables to get a handle on
system performance. One way or the other, the system
has to measure or monitor its performance.
09/22/20 128
• Once you have the information on how well the system is
performing, you have to do something with that
information. The problem the control system designer
faces is to determine how to use the information
available to develop and apply a control signal that will
make the system do what he or she wants it to do. As
you think about what you have to do to control a system,
you realize that the information about how well a system
is performing - usually taken at the output of the system -
has to be fed back around the system to the input and
compared somehow with the input - the information
about what you want the system to do - and that
comparison gives you the information you need to
produce/develop and apply a control signal. Feeding
back that performance information is what gives us the
idea of feedback and feedback control systems.
09/22/20 129
When to use Feed Forward &
when to use Feedback?
If you read the above two sections on feedforward, and
feed-back control, you should have a good idea of when
to use the two approaches. Here are some basic
guidelines that cover 99% of the designs found in
industrial controls applications:
1) Use ONLY feedforward control if:
– The physics/chemistry of the application are well known
– You can easily measure or calculate the variables in the
equations
– There are no significant process disturbances
– The accuracy of the measurements used is an order of
magnitude better than the application specifications
09/22/20 130
When to use feed forward, when
to use Feedback? (Cont…)
2) Use ONLY feedback control if:
• Significant un-modeled process disturbances exist
• You cannot measure or calculate variables in the equations
describing the physics/chemistry of the application.
• The accuracy of the measurements used is NOT an order of
magnitude better than the application specifications.
3) Use both when:
• The physics/chemistry of the application are well known
• You can easily measure or calculate the variables in the equations
• The accuracy of the measurements used is on the order of the
application specifications
• You want to prevent saturation of the controller integrators
• You want to improve trajectory tracking, but 2nd and higher order
dynamics in the plant limit your controller bandwidth
09/22/20 131
Further Classifications of Control Systems
• Control Systems may be further classified
as:
• Analog & Digital Controls
• Process Control & Servo Mechanism
• Linear & Non-linear Controls
• Time Variant and Time Invariant Controls
• Continuous & Discrete
• Modulated & Unmodulated, etc.
09/22/20 132
Further Classifications of Controls (Cont…)
Analog Control: based on analogy
Digital Control: based on the deploying digital computer for
control purposes
• We may classify feedback controls based on different
criteria or the purpose of control:
• Application Areas
– Process Control; and
– Servo-mechanism
• Method of Analysis and Design
– Linear & Non-linear
– Time Variant & Time-invariant
09/22/20 133
Further Classifications of Controls (Cont…)
• According to the types of signal found in
the system:
– Continuous and Discrete Systems
– Modulated and Un-modulated Systems
• Types of System Components
– Electro-mechanical systems
– Hydraulic Systems
– Pneumatic Systems
09/22/20 134
Holistic View of a Control System
• The control systems have some other
components over and above the physical
components like controller, actuator, plant,
sensor, etc. These components must be
integrated together to get the complete
control system. Success in control
engineering depends on taking a holistic
view of the system. Some of the issues
are:
09/22/20 135
Holistic View of a Control System (Cont…)
• plant, i.e. the process to be controlled

• objectives
• sensors
• actuators
• communications
• computing
• architectures and interfacing
• algorithms
• accounting for disturbances and uncertainty
• Cost Benefits
09/22/20 136
• Plant: The physical layout of a plant is an intrinsic part of
control problems. Thus a control engineer needs to be familiar
with the "physics" of the process under study. This includes a
rudimentary knowledge of the basic energy balance, mass
balance and material flows in the system.
• Objectives: Before designing sensors, actuators or control
architectures, it is important to know the goal, that is, to
formulate the control objectives. This includes
• what does one want to achieve (energy reduction, yield
increase,...)
• what variables need to be controlled to achieve these
objectives
• what level of performance is necessary (accuracy, speed,...)
09/22/20 137
• Sensors: Sensors are the eyes of control
enabling one to see what is going on.
Indeed, one statement that is sometimes
made about control is:
• If you can measure the output of a plant or
process, you can control it.
• Sensors have some desirable attributes.
These are: It must be reliable, accurate,
responsive, noise immune ,linear, and Non
intrusive
09/22/20- 138
• Actuators: Once sensors are in place to report on
the state of a process, then the next issue is the
ability to affect, or actuate, the system in order to
move the process from the current state to a
desired state
• Communications: Interconnecting sensors to
actuators, involves the use of communication
systems. A typical plant can have many thousands
of separate signals to be sent over long distances.
Thus the design of communication systems and
their associated protocols is an increasingly
important aspect of modern control engineering
09/22/20 139
• Computing: In modern control systems, the
connection between sensors and actuators is
invariably made via a computer of some sort. Thus,
computer issues are necessarily part of the overall
design. Current control systems use a variety of
computational devices including DCS's (Distributed
Control Systems), PLC's (Programmable Logic
Controllers), PC's (Personal Computers), etc.
• Algorithms: The real heart of control engineering is
the algorithm that connect the sensors to the
actuators. It is all too easy to underestimate this final
aspect of the problem.
09/22/20 140
• Disturbances and Uncertainty: One of the things that
makes control science interesting is that all real life systems
are acted on by noise and external disturbances. These
factors can have a significant impact on the performance of
the system. As a simple example, aircraft are subject to
disturbances in the form of wind-gusts, and cruise controllers
in cars have to cope with different road gradients and
different car loadings.
• Homogeneity: A final point about control system is that all
interconnected systems, including control systems, are only
as good as their weakest element. The implications of this in
control system design are that one should aim to have all
components (plant, sensors, actuators, communications,
computing, interfaces, algorithms, etc) of roughly comparable
accuracy and performance.
09/22/20 141
Devices Used in Control Systems
• Various components employed in control
systems are:
(1) Servo-Motors
(2) Amplidynes
(3) Synchros
(4) Stepper Motors
(5) Tachometers
(6) Gyroscopes Etc.
09/22/20 142
Types of Control Systems: Linear and
Non Linear Control System
• Linear Control Systems: In order to
understand the linear control system, we
should know the principle of superposition. The
principle of superposition theorem includes two
the important properties and they are explained
below:
• Homogeneity: A system is said to be
homogeneous, if we multiply input with some
constant ‘A’ then output will also be multiplied
by the same value of constant (i.e. A).
09/22/20 143
Types of Control Systems: Linear and Non
Linear Control System
• Additivity: Suppose we have a system ‘S’ and we are giving
the input to this system as ‘a1’ for the first time and we are
getting output as ‘b1’ corresponding to input ‘a1’. On second
time we are giving input ‘a2’ and correspond to this we are
getting output as ‘b2’. Now suppose this time we giving input
as summation of the previous inputs ( i.e. a1 + a2 ) and
corresponding to this input suppose we are getting output as
(b1 + b2) then we can say that system ‘S’ is following the
property of additivity.
• Now we are able to define the linear control systems as
those types of control systems which follow the principle of
homogeneity and additivity
09/22/20 144
Examples of Linear Control System
• Consider a purely resistive network with a
constant dc source. This circuit follows the
principle of homogeneity and additivity. All
the undesired effects are neglected and
assuming ideal behavior of each element in
the network, we say that we will get linear
voltage and current characteristic. This is the
example of linear control system.
09/22/20 145
Non-linear Systems
• We can simply define non linear control system as all
those system which do not follow the principle of
homogeneity. In practical life all the systems are non-linear
system.
• Examples of Non-linear System: A well known example
of non-linear system is magnetization curve or no load
curve of a dc machine. We will discuss briefly no load
curve of dc machines here: No load curve gives us the
relationship between the air gap flux and the field winding
mmf. It is very clear from the curve given in the next slide
that in the beginning there is a linear relationship between
winding mmf and the air gap flux but after this, saturation
has come which shows the non linear behavior of the curve
or characteristics of the non linear control system.
09/22/20 146
Analog or Continuous System
• In these types of control system, we
have continuous signal as the input to the
system. These signals are the continuous
function of time. We may have various
sources of continuous input signal like
sinusoidal type signal input source, square
type of signal input source, signal may be
in the form of continuous triangle etc
09/22/20 147
Digital or Discrete System
discrete signal (or signal may be in the form of
pulse) as the input to the system. These
signals have the discrete interval of time. We
can convert various sources of continuous
input signal like sinusoidal type signal input
source, square type of signal input source etc
into discrete form using the switch.
09/22/20 148
Advantages of Digital or Discrete System
• Now there are various advantages of
discrete or digital system over the analog
system and these advantages are written
below:
– Digital systems can handle non linear control
systems more effectively than the analog type of
systems.
– Power requirement in case of discrete or digital
system is less as compared to analog systems.
– Digital system has higher rate of accuracy and can
perform various complex computations easily as
compared to analog systems.
09/22/20 149
Advantages of Digital or Discrete System
(Cont…)
• Reliability of digital system is more as compared to
analog system. They also have small and compact
size.
• Digital system works on the logical operations
which increases their accuracy many times.
• Losses in case of discrete systems are less as
compared to analog systems in general.
09/22/20 150
SISO & MIMO Systems
• Single Input Single Output Systems: These are also
known as SISO type of system. In this the system
has single input for single output. Various example of
this kind of system may include temperature control,
position control system etc.
• Multiple Input Multiple Output Systems: These are
also known as MIMO type of system. In this the
system has multiple outputs for multiple inputs.
Various example of this kind of system may include
PLC type system etc.
09/22/20 151
Lumped and Distributed Parameter Systems
• Lumped Parameter System: In these types of control
systems the various active (resistor) and passive parameters
(like inductor and capacitor) are assumed to be concentrated
at a point and that’s why these are called lumped parameter
type of system. Analysis of such type of system is very easy
which includes differential equations.
• Distributed Parameter System: In these types of control
systems the various active (resistor) and passive
parameters (like inductor and capacitor) are assumed to be
distributed uniformly along the length and that’s why these
are called distributed parameter type of system. Analysis of
such type of system is slightly difficult which includes partial
differential equations.
09/22/20 152
09/22/20 153
The Gain of a Controller
• The gain of a system is defined to be the output over
input
• If the gain in the forward path, from the error to the
output, is large, then a small error can produce a much
larger output.
• There is certain logic to that strategy. We want a small
error, but need a control effort large enough to control
the system. This implies that the gain of the controller
should be large.
• It looks like a good strategy would be for the controller to
be a high gain power amplifier (for many control
situations) because then a small error could produce the
output we want, or something very close to what we
want - because the error would be small.
09/22/20 154
The Gain of a Controller (Cont…)
• Let's assume that the system we are trying to control is
a linear system.
• To account for the linear dynamics, use the transfer
function description of the system so that the transfer
function will be G(s).
• Once we realize that we can describe the system we are
controlling, the plant, we realize that we can describe all
of the components in the system with a transfer function
description.
• The sensor most likely has an output - typically a voltage
- that is proportional to the physical variable it
measures. That means that the transfer function is just a
constant - a gain. We'll denote that by Ks.
09/22/20 155
Cascaded Control
• Feedback systems can be combined in many ways. One
example is cascade control in which one control loop
applies control algorithms to a measured variable
against a setpoint, but then actually outputs a setpoint to
another controller, rather than affecting power input
directly.
• Usually if a system has several measurements to be
controlled, feedback systems will be present for each of
them.
09/22/20 156
Cascaded Control (Cont…)
• A cascade control system is a multiple-loop system
where the primary variable is controlled by adjusting the
setpoint of a related secondary variable controller. The
secondary variable then affects the primary variable
through the process.
• The primary objective in cascade control is to divide an
otherwise difficult to control process into two portions,
whereby a secondary control loop is formed around a
major disturbances thus leaving only minor disturbances
to be controlled by the primary controller.
• The use of cascade control is described in many texts on
process control applications.
09/22/20 157
The advantages of cascade control are all somewhat
interrelated. They include:
– Better control of the primary variable
– Primary variable less affected by disturbances
– Faster recovery from disturbances
– Increase the natural frequency of the system
– Reduce the effective magnitude of a time-lag
– Improve dynamic performance
– Provide limits on the secondary variable
09/22/20 158
• Cascade control is most advantageous on applications where the
secondary closed loop can include the major disturbance and
second order lag and the major lag is included in only the primary
loop. The secondary loop should be established in an area where
the major disturbance occurs. It is also important that the secondary
variable respond to the disturbance. If the slave loop is controlling
flow and the disturbance is in the heat content of the fluid, obviously
the flow controller will not correct for this disturbance.
• There is only one master controller and usually only one slave
controller and only one manipulated variable. See Figure 1 (a), (b),
and (c). However, some applications can benefit from the use of
more than one slave controller. There will be a separate secondary
variable and manipulated variable associated with each slave
controller in the system if the slave loops are in parallel as shown in
Figure 1 (d). Another configuration, shown in Figure 1(e), is the
operating of a cascade system with two slave loops in series.
09/22/20 159
Fig.19:
09/22/20 160
09/22/20 161
Fig. 20: Cascaded Control of Boiler Drum

09/22/20 162
Cascaded Control Systems
(Cont…)
Fig.21: Cascaded
Control of Multiple
Combustion
09/22/20 163
(Cont…)
• The distinguishing feature of a cascade
control system is that the output of the
master controller adjusts the setpoint of a
slave controller. More than one slave
controllers may be arranged in parallel or
in series (See Next slide: Fig.22)
09/22/20 164
(Cont…)
Fig.22: Cascaded Control with Output Tracking on Master

Controller
09/22/20 165
(Cont…)
Fig.23:
09/22/20 166
Control System Design
• Focus of Control System Design:Control
systems analysis and design focuses on
three primary objectives:
1. Produce the desired transient response
2. Reducing he steady-state errors
3. Achieving stability
09/22/20 167
Control System Design (Cont…)
• The Design of a control system are organized into
6 steps:
Step 1: Determine a physical system and specifications from
requirements
Step 2: Draw functional block diagram
Step 3: Represent the physical system as a schematic
Step 4: Use the schematic to obtain mathematical model, such as
block diagram\
Step 5: Reduce the block diagram
Step 6: Analyze and design the system to meet specified
requirements and specifications that include stability, transient
response, and steady state performance

09/22/20 168
Problems in Closed-loop Control Design
• In addition, different types of systems ( control system) require different
control strategy. Systems that responded slowly must be adjusted
carefully and with forethought. This describes some of the control
engineering problems faced by the closed – loop control engineer.
• Design of a closed – loop control requires the following steps:
1. Determine manipulation variable ( thus defining the controlled
system)
2. Determine the behaviour of the controlled system
3. Determine control strategy for the controlled system (behaviour
of the “ controller” system)
4. Select suitable measuring and manipulation elements.
09/22/20 169
END OF THE
PRESENTATION
09/22/20 170

Lesson #1a Overview of Control System

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Lesson #1a Overview of Control System

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EEE401: Control System Design

Overview of Control System

M. Azharul Haque, EEE Dept.

Fig. 1: a & b Basic components of control systems

In general, the objective of the control system is to

Fig.2: Showing The Behavior of a Non-linear System

• Modern Controls: Methods where high-order differential

• So, we find that ‘a control system in which the control

Fig.3: Block Diagram Representation of Open-loop Control Systems

Fig.3: Temperature Control of a Water Bath

• In this control system, there is no way to

• An open-loop controller is often used in simple

Fig. 4: Operator controls the process variable p2 via remote adjuster

Fig.5: Showing the arrangement of the components of Closed-loop control

Fig.5: Show a classical feedback control loop structure

Fig. 6: Operator controls the

Fig.8: Closed-loop Control System

In this configuration, a feedback component is applied together with the

• They are costlier.

Open Loop System

Closed Loop System

Fig.15: Components of Open-loop Control Systems

Fig.16: Components of Open-loop Control Systems

Fig.17: Ideal feedback model. The feedback is negative if B < 0

• When feedback modifies an event/phenomenon, the

• Negative feedback, which seeks to reduce the

• In most applications of on–off feedback control,

Fig.18: A typical Feedforward Control Loop

• plant, i.e. the process to be controlled

Fig. 20: Cascaded Control of Boiler Drum

Fig.22: Cascaded Control with Output Tracking on Master

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