Control Systems Laboratory Experiment 4 Open-Loop vs. Closed-Loop Control Systems

CONTROL SYSTEMS LABORATORY
EXPERIMENT 4
OPEN-LOOP vs. CLOSED-LOOP CONTROL SYSTEMS
151220102038 Hakan Kahraman
Introduction
The main purpose of experiment introduce to open-loop and closed-loop control system. We
have tried to learn how to use MATLAB scripts to create mathematical model of a DC motor
by open loop and closed loop control systems and we create SIMULINK model of a DC motor
similarly. Finally we have observed outputs and discussed differences and similarities
between open loop and closed loop control systems.
Definitions and Theory

Open-Loop Control System
Figure 1
Figure 1 shows a simple open loop control system. Its operation is very simple, when an
input signal directs the control element to respond, an output will be produced. Examples of
the open loop control systems include washing machines, light switches, gas ovens, etc.
Closed-Loop Control System
The output signal is feedback
to the input to produce a new
output. A well-designed
feedback system can often
increase the accuracy of the
output.
Figure 2
Sometimes, we may use the output of the control system to adjust the input signal. This is
called feedback. Feedback is a special feature of a closed loop control system. A closed loop
control system compares the output with the expected result or command status, then it
takes appropriate control actions to adjust the input signal. Therefore, a closed loop system
is always equipped with a sensor, which is used to monitor the output and compare it with
the expected result. Figure 2 shows a simple closed loop system.
Differences between open-loop and closed-loop systems
Comparing open-loop control with closed-loop control the following differences are seen:
Closed-loop control Open-loop control
 shows a closed-loop action (closed control  shows an open-loop action (controlled

loop); chain);
 can counteract against disturbances  can only counteract
(negative feedback); against disturbances, for which it has
 can become unstable, i.e. the controlled been designed; other disturbances
variable does not fade away, but grows cannot be removed;
(theoretically) to an infinite value.  cannot become unstable - as long as
the controlled object is stable.
Summarising 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.
Consider the armature current-controlled DC motor given in Figure 3
Figure 3
Torque Equations:
Transfer Functions:
Stages of Experiment
In the first part of experiment:
Firstly, we have observed transfer function as you seen in Figure 4
num=[5000];
den=[1 1020 20500];
sys=tf(num,den);
step(sys)
Figure 4
Secondly, we have applied unit step function to input of the motor, for open-loop speed
control operation and observed output as you seen in Figure 5
a=tf([1],[1 0]);
den1=[1 1020 20500];
sys1=tf(num,den1);
sys1=series(sys,a);
figure
step(sys1)
Figure 5
Finally we have used proportional controller with K=100 and unity feedback path and
observed the unit step response of this system as you seen in Figure 6.
sys2=100*sys1;
sys3=feedback(sys2,1);
figure
step(sys3)
Figure 6
Settling time(seconds)=0.375
In the second part of experiment we created a Simulink model by applying 1V step input to
the system as you seen in Figure 7.
Figure 7
Our integrator outputs are shown in the Figure 7.

Then, we have observed the output on scope as you seen in Figure 8.
Figure 8
Finally we have set simulation duration to 0.5 sec and observed output between 0 and 0.5
sec as you seen in Figure 9.
Figure 9
Conclusion
In summary, we have discussed open-loop and closed-loop control system. We have created
open and closed loop systems by using MATLAB scripts and SIMULINK and we observed
output of created systems. We have learned creating open loop and closed loop control
systems and determined differences between the systems.

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CONTROL SYSTEMS LABORATORY

OPEN-LOOP vs. CLOSED-LOOP CONTROL SYSTEMS

151220102038 Hakan Kahraman

Definitions and Theory

 shows a closed-loop action (closed control  shows an open-loop action (controlled

Summarising these properties we can define:

Consider the armature current-controlled DC motor given in Figure 3

Our integrator outputs are shown in the Figure 7.

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