BATANGAS STATE UNIVERSITY

BatStateU Alangilan
Alangilan, Batangas City

Module Name and Code Feedback Control System (EE 408)

Semester and Year 1st Sem 2021-2022

Lecture Number/ Week Lecture 1, Week 1

Lecture Topic Introduction to Feedback Control System

ILO1: Define the concept of control system and different types of
Learning Outcome (s)
mathematical system model of control systems.

Module Co-ordinator/ Tutor Dr. Ghafour Amouzad Mahdiraji

Contact Email ghafouramouzad.mahdiraji@g.batstate-u.edu.ph
Chapter 1 – N. S. Nise. Control Systems Engineering. 6th Edition.
Reference
Chapter 1 – K. Ogata. Modern Control Engineering. 5th Edition.

College of Engineering, Architecture and Fine Arts

Electrical and Computer Engineering Department
 Today’s Lecture

• Open-loop and closed-loop systems

• Steady-State Error

• Examples

• Proportional, integral, and derivative controllers

• Examples

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Where are Control Systems?
• Automatic assembly lines
• Machine-tool control
• Weapon systems
• Space technology
• Computer control
• Transportation systems
• Power systems
• Robotics
• Economic systems
 Example

• Inverted Single Pendulum with Servo Pneumatics

• https://www.youtube.com/watch?v=a4c7AwHFkT8

• Triple Pendulum on a Cart

• https://www.youtube.com/watch?v=cyN-CRNrb3E
 Why we need Control
Systems?
• Power amplification
• Carjack, amplifier
• Remote control
• Robots
• Convenience of input form
• Temperature control system
(input: position, output: heat)
• Compensation for
disturbances
• Antenna (disturbed by wind)
Control System Definition and Representation
• System – An interconnection of elements and devices
for a desired purpose.
• Control System – An interconnection of components
forming a system configuration that will provide a
desired response.
• Control system is used to manage, command, direct or
regulate the behaviour of other devices or systems.
• Process – The device, plant, or system under control.
The input and output relationship represents the
cause-and-effect relationship of the process.
 Type of Control System
Open-Loop Control Systems
utilize a controller or control
actuator to obtain the desired
response.

Closed-Loop Control Systems

utilizes feedback to compare
the actual output to the
desired output response.

Multivariable Control System

 Open-Loop System
• An Open-loop system, also referred to as non-feedback
system, is a type of continuous control system in which the
output has no influence or effect on the control action of the
input signal.
• Control action is totally independent of output of the system.
• In other words, in an open-loop control system the output is
neither measured nor “fed back” for comparison with the
input.
• Manual control system is also an open loop control system.

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 Example of Open-Loop Systems

• 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.
• Volume on Stereo System
• Volume is adjusted manually irrespective of output volume level.

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 Open-Loop System
• Also known as “feed-forward” control system.

• Characteristics
– Contains no feedback
– The output is not affected by the input
• Advantages:
– Simple and economical
– Easier to construct
– Generally, OLS are stable
• Dis Advantages:
– Inaccurate and unreliable
– Changes in output due to disturbances are not
corrected automatically
• Application examples:
– Simple electric switch
– Kettle or water heating devices
– Mobile phone
– Alarm clock
– Toaster
Limitation of Open Loop Control Systems

What is the
solution?

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Solution to Overcome the Limitation in Open Loop Control
Systems

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 Closed-Loop Systems
• 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.
• Thus, closed-loop control system is called automatic control
system.

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 Example of Closed-Loop Systems
• 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.

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 Closed-Loop System
• Also known as feedback system.

• Characteristics:
– The system uses the measurement of the
actual output to compare with the input, hence
producing a very effective output as desired.
• Advantages:
– Accurate and even in the presence of
nonlinearities
– Less affected by noise
• Dis Advantages:
– Complex and costlier
– Lead to oscillatory response
– Feedback reduces the overall gain of the
system
• Application examples:
– Washing machine
– Oven
– Driving an automobile
– Law and order
 Open Loop and Closed Loop Systems

• Watch this video lectured by Brian Douglas

• https://www.youtube.com/watch?v=O-
OqgFE9SD4&t=73s
 Examples of
Modern Control
Systems
Control Type: Closed Loop

(a) Automobile steering

control system.
(b) The driver uses the
difference between the
actual and the desired
direction of travel to
generate a controlled
adjustment of the
steering wheel.
(c) Typical direction-of-
travel response.
 Law and Order
• Control type : closed loop, because it has a feedback
mechanism.
 Water Level Control
Manual
water level
First historical feedback system, claimed
by Russia – Water-level float regulator by
control
I.Polzunov in 1765. system

Automated
water level
control system
 Basic Elements in a Feedback System
• Forward path
• Error sensor
• The error sensor is used to receive the output signal and
compare it with the reference value and generate the
command or error signal.
• Amplifier
• Compensating networks
• Compensating systems are required in the forward and
backward paths to improve the overall performance of the
system.
• Feedback path and
• Error detecting device
 What is important in a control system?

Time response of an
elevator going from
the 1st floor to 4th
floor.

Input-----desired response What we usually analyze in a control system?

Output-----actual response
Transient response---due to no instantaneous change
Steady-state response---response once system has settled down
Steady-state error---difference between input command and steady-state response
Stability???
Finances---
Robustness---Errors in models, Non-linear and variable process dynamics & Effects of
disturbances
Analogy
 Stability
• If a system is brought to any particular initial condition
(or state) and its response decays continuously to
zero state, the system is said to be stable of a
particular kind called asymptotically stable.
• If a system grows out of bound without any limit, then
the system is an unstable system.

Analogy:

A stable system Unstable system

 Stability
For a linear system:
• Total response = natural response + forced response
• Natural response describes the way the system dissipates or
acquires energy and it is only dependent on the system, not the
input.
• Forced response depends on the input
• For a control system to be useful, natural response must
be either:
1. Eventually approach zero leaving only the forced response
OR
2. Oscillate
• If natural response is so much greater than forced
response ➔instability
 Examples of Stability

• Double Inverted Pendulum - Robustness

• https://www.youtube.com/watch?v=JpNAhKT7yY4
• Big Dog
• https://www.youtube.com/watch?v=cNZPRsrwumQ
 Quiz
• Classify on the stability of the following systems:
 Quiz
• Classify on the stability of the following systems:

Unstable Unstable

Stable Stable
 Control System Design Process

Outlined by Nise (2007) textbook:

 Control System Design Process

An alternative version is provided by

Dorf & Bishop in his textbook
 Summary

• Open loop system: Input signal or the control

action is totally independent of output of the
system.

• Closed loop system: Input quantity will adjust itself

based on the output system.