CONTROL SYSTEMS

Lecture-2 UNIT-I

Classification of Control Systems

Dr.Y.CHALAPATHI RAO
ASSOCIATE PROFESSOR
Dept of ECE, VNR VJIET
Classification of Control Systems
 Classification of Control Systems

1) Natural Control System

 Universe
 Human Body
2) Manmade Control System
 Vehicles
 Aeroplanes
3) Manual Control Systems
 Room Temperature regulation Via Electric Fan
 Water Level Control
4) Automatic Control System
 Room Temperature regulation Via A.C
 Human Body Temperature Control
 Classification of Control Systems
5) Open-Loop Control System
 Washing Machine
 Toaster
 Electric Fan

6) Closed-loop Control System

 Refrigerator
 Auto-pilot system
 Driverless cars

7) Linear Vs Nonlinear Control System

A Control System in which output varies linearly with the
input is called a linear control system.
 Classification of Control Systems
8) Time invariant vs Time variant
 When the characteristics of the system do not depend upon time itself then the system is
said to time invariant control system.
 Time varying control system is a system in which one or more parameters vary with
time.
9) Continuous Data Vs Discrete Data System
 In continuous data control system all system variables are
function of a continuous time t.
 A discrete time control system involves one or more variables that are known
only at discrete time intervals.
10) Deterministic vs Stochastic Control System
 A control System is deterministic if the response to input is predictable and
repeatable.
 If not, the control system is a stochastic control system.
 Classification of Control System

Classification of Control System

(Depending on control action)

Open Loop Closed Loop

Control Control
System System

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 Open Loop Control System
Definition:

“A system in which the control action is totally

independent of the output of the system is called as open
loop system”

Controll
Reference Controller Process ed o/p
I/p
r(t u(t c(t)
) )
Fig. Block Diagram of Open loop Control
System 7
 Open Loop Control System Examples

 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.

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Cond…

 Automatic washing machine

– This machine runs
according to the pre-set time
irrespective of washing is
completed or not.

9
Cond…

 Bread - This
toaster
machine as per
runs
adjusted time
irrespective of toasting is
completed or not.

10
Cond…

 Automatic tea/coffee
Vending Machine –
These machines also
function for pre adjusted
time only.

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Cond…

 Light switch – lamps glow whenever light switch is on

irrespective of light is required or not.

 Volume on stereo system – Volume adjusted

is manually irrespective of output volume
level.

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Advantages of Open Loop Control System

 Simple in construction and design.

 Economical.

 Easy to maintain.

 Generally stable.

 Convenient to use as output is difficult to measure.

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Disadvantages of Open Loop Control System

 They are inaccurate

 They are unreliable

 Any change in output cannot be corrected

automatically.

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Closed Loop System

Definition:

“A system in which the control action is

somehow dependent on the output is called as closed
loop system”

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 Block Diagram of Closed Loop System

Forward
Path
Comman Error Manipulat
Controll
d I/p ed Sign
r(t ed
Reference Sign Controller al Plant
) al O/p
Transduce e(t c(t
m(t
r ) )
)
Referen
ce
I/p
Feedback
Feedba b(t
Transducer c(t
) )
ck
Signal

Feedback
Path
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Closed Loop System Examples

 Automatic Electric Iron- Heating elements

are controlled by output temperature of the iron.

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Cond…

 Servo voltage stabilizer – Voltage controller

operates depending upon output voltage of the
system.

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Cond…

 Perspiration

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Advantages of Closed Loop 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.
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Disadvantages of Closed Loop 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.

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Difference Between OLCS & CLCS
Open Loop Control System Closed Loop Control System

1. The open loop systems closed loop systems

1. The are simple & economical.
are complex and costlier
2. They consume less 2. They consume more
power. power.
3. The systems 3. The CL systems are
OL are not
easier to construct easy to construct
of components required. becauserequired.
components
because of less number of more number
4. The open loop 4. The ofclosed loop systems
systems are are more
inaccurate
unreliable & accurate
reliable. &

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Difference Between OLCS & CLCS
Open Loop Control System Closed Loop Control System

5. is not a 5. Stability is a major problem

Stability in closed loop systems & more
problem major in
Generally OL care is needed to design a
systems.are stable. OL
systems stable closed loop system.
6. Small bandwidth.control 6. Large bandwidth.
7.Feedback element 7.Feedback element
is absent. is present.
8.Output measurement 8.Output measurement
is not necessary. is necessary.
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Difference Between OLCS & CLCS
Open Loop Control System Closed Loop Control System

9. The changes in the output due 9.The changes in the output

to external disturbances are not due to external disturbances
corrected automatically. So they are corrected automatically. So
are more sensitive to noise and they are less sensitive to noise
other disturbances. and other disturbances.

10. Examples: 10. Examples:

Coffee Maker, Guided Missile,

Automatic Toaster, Temp control of oven,

Hand Drier. Servo voltage stabilizer.

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Classification of Control System

Classification of Control System

Linear Non-linear
Control Control
System System

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Linear Control System

 When an input X1 produces an output Y1 & an

input X2 produces an output Y2, then
any
combination  X1  X should produce an
2
output Y1 Y 2 . In such case system is linear.
Therefore, linear systems are those where the
principles of superposition and proportionality
are obeyed.
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Non-linear Control System

 Non-linear systems do not obey law of superposition.

 The stability of non-linear systems depends on

root location as well as initial conditions & type of

input.

 Non-linear systems exhibit self sustained

oscillations of fixed frequency.

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Difference Between Linear & Non-linear System

Linear System Non-linear System

1. Obey superposition. 1. Do not obey superposition

2. Can be analyzed by standard 2. Cannot be analyzed by standard
test signals test signals
3. Stability depends only 3. Stabilitydepends on
on root locations,
root location type of input
initial conditions
4. Do not exhibit limit cycles 4. Exhibits &
limit cycles
5. Do not exhibit 5. Exhibits hysteresis/
hysteresis/ jump resonance
jump resonance 6. Cannot be analyzed by Laplace
6. Can be analyzed by Laplace transform, z- transform
transform, z- transform
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Classification of Control System

Classification of Control System

Time Time Invarying

Varying Control
Control System
System

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Time varying/In-varying Control System

 Systems whose parameters vary with time are

called time varying control systems.

 When parameters do not vary with time are

called Time Invariant control systems.

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Time varying/In-varying Control System

 The mass of missile/rocket reduces as fuel is

burnt and hence the parameter mass is time

varying and the control system is time varying

type.

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Transfer Function

 The relationship between input & output of a system is

given by the transfer function.

 Definition: The ratio of Laplace transform of the output

to the Laplace transform of the input under the

assumption of zero initial conditions is defined as

“Transfer Function”.

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Transfer Function of open loop system

LT
Syste c(t Syste C(s
r(t R(s
) m ) ) m )
g(t) G(s)
For the system shown,
c(t)= L{c(t)}=
output C(s)
r(t)= input L{r(t)}=
g(t)= R(s)
Therefore L{g(t)}=
System transfer function G(s) for above system is
given by,
function G(s)
C (s)
G(s) Laplace of output
Laplace of = R(s)
=
input
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 Transfer Function of closed loop system
Error Gain for CL system is given
Sign by;
R(s al
E(s) G(s) C(s) G(s) 
C(s)
)
Inpu
+- Outpu E(s)
t t C(s)  G(s).E(s)      (3)
Substitute value of E(s) from eq. 1
B(s H(s) to 3
) C(s)  G(s).(R(s)  B(s))
Feedba
ck C(s)  G(s).R(s)  G(s).B(s)     
Substitute
(4) value of B(s) from eq. 2
ErrorSignal
signal is given by; to 4
E(s)  R(s)  B(s)      (1) C ( s )  G(s) R(s)  G(s).H(s).C(s)
 R(s)  E(s)  B(s) G(s).R(s)  C(s)  G(s).H(s).C(s)
Gain of feedback network is G(s).R(s)  C(s)(1  G(s).H(s))
given by; Transfer function
C(s) is given by;
C(s) T.F. 
H (s) 
B(s) G(s)
R(s) 1  G(s).H(s)
6/30/20B1(6s)  H (s).C(s)      Amit
Nevase
=
Thank
You
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