Lecture 1

CONTROL THEORY
Open and Closed Loop Control System

Modelling
Dr. Kapila Palitharathna

Ph.D. (University of Peradeniya)
B.Sc. Eng. (University of Peradeniya)
kapilap@sltc.ac.lk
Outline of the topic
1. Introduction to open loop and closed loop control systems.
2. Mathematical representation of physical systems.
3. Transfer function block diagram and signal flow graphs.
4. Reduction algebra, masons gains.
5. Time domain performance criterion.
6. Transient response of first order, second order & higher order systems.
Introduction to Control Systems
• Engineers create products that help people.
• Control engineers are concerned with understanding the controlling segment of their
environment called systems.
• Systems – an interconnection of elements and devices for a desired purpose.
• Sensor - a device that provides a measurement of a desired external signal.
• Actuator - a device employed by the control system to alter or adjust the environment.
• Control system engineering focuses on the modeling of physical systems and using those
models to design controllers that will cause the closed-loop systems to possess desired
performance characteristics, such as
• stability, relative stability, steady-state tracking with prescribed maximum errors, transient tracking (percent
overshoot, settling time, rise time, and time to peak), rejection of external disturbances, and robustness to
modeling uncertainties.
Open-Loop Control Systems
• Control systems – an interconnection of components forming a system configuration that
will provide a desired system response.
• Open-loop systems – An open-loop control system utilizes an actuating device to control

the process directly without using feedback.
Closed-Loop Control Systems
• Negative feedback - the output is subtracted from the input and the difference is used as
the input signal to the controller.
• Closed-loop systems – A closed-loop control system uses a measurement of the output

and feedback of this signal to compare it with the desired output (reference or command).
• Disturbance – Disturbances to the operation of the system.
• Measurement noise – Noise introduced on the measurement.

• Multi-loop feedback control system – Include more than one loop (inner and outer loops).
• Multi-variable control system – There are interrelationships among several control
variables.
History of Control Systems
• Watt’s flyball governor
• Water-level float regulator
• Internet of things (IoT) and control engineering
• History of Control Systems
Examples of Control Systems
• Automated Vehicles
• Human in the loop control
• Humanoid robots
• Biomedical engineering
• National income
Engineering Design
Control System Design
• Engineering design is the central task of the engineer.
• Design is the process of conceiving or inventing the forms, parts, and details of a system
to achieve a specified purpose.
• The design of control system is a specific example of engineering design.
• The design process consists of seven main building blocks as follows:
1. Establishment of goals and variables to be controlled, and definition of specifications

(metrics) against which to measure performance.
2. System definition and modeling.
3. Control system design and integrated system simulation and analysis.

Control System Design
Mechatronic System Design
Mechatronic System Examples
The future of control systems
Examples for control system design
Mathematical Representation of
Physical Systems
Mathematical Representation of Physical Systems
The approach to dynamic system modeling can be listed as follows:
1. Define the system and its components.
2. Formulate the mathematical model and fundamental necessary assumptions based

on basic principles.
3. Obtain the differential equations representing the mathematical model.
4. Solve the equations for the desired output variables.
5. Examine the solutions and the assumptions.
6. If necessary, reanalyze or redesign the system.

1. Torsional spring Mass System

• The sum of the torques (through variable) acting on the
spring itself must be zero.
• The angular rate (across variable) difference associated

with the torsional spring element is
•
Differential Equations of Physical Systems
Through and across variables
Differential Equations of Physical Systems
Governing differential equations
2. Spring Mass System • Differential equation
• where k is the spring constant of the ideal

spring and b is the friction constant.
3. RLC Circuit
• Integro-differential equation
• The solution of above equation can be

found using the integrating factors and
underdetermined coefficients. Hence the
solution is
3. RLC Circuit
• Integro-differential equation
• The solution of above equation can be

found using the integrating factors and
underdetermined coefficients. Hence the
solution is
LAPLACE TRANSFORM
Laplace Transform
• The ability to obtain linear time-invariant approximations of physical systems

allows the analyst to consider the use of Laplace transform.
• The Laplace transform method substitutes relatively easily solved algebraic

equations for the more difficult differential equations.
• The time-response solution is obtained by the following operations:

1. Obtain the linearized differential equations.
2. Obtain the Laplace transformation of the differential equations.
3. Solve the resulting algebraic equation for the transform of the variable of interest.
Laplace Transform
• The Laplace transformation for a function of time, f(t), is
• The inverse Laplace transform is written as
• But for f(t) to be transformable, it is sufficient that

Laplace Transform
• Important Laplace transforms
Laplace Transform
• Example
• Reconsider the spring-mass-damper system described by
• By applying the Laplace transform
• when
(Characteristic equation/
transfer function of the system)
Laplace Transform
• The roots of the numerator are called zeros.
• The roots of the denominator are called poles.
• To observe the characteristics of the system, poles and zeros are marked on a complex plane
called s-plane.
• Consider below example

Laplace Transform
• Expanding the above equation using partial fractions (k1 and k2 are residues)
• To find the residues using below method
• Then Laplace inverse transform is used
• From the table

Laplace Transform
• The steady-state or final value of the response can be found using the final value theorem as
follows.
• For the above example steady-state value becomes zero.
• The characteristic equation of the above system can be rewritten as

Laplace Transform
• When underdamped
• The s-plane plot of the poles and zeros are as follows

Laplace Transform
• Response of a spring mass system
TRANSFER FUNCTION OF
LINEAR SYSTEMS
Linear Systems
• The transfer function of a linear system is defined as the ratio of the Laplace transform of the
output variable to the Laplace transform of the input variable, with all initial conditions
assumed to be zero.
• The transfer function is defined for a linear time-invariant (LTI) systems.
• The transfer function of the spring-mass-damper system is obtained with zero initial
conditions as follows:
• Then the transfer function id the ratio of the output to the input
Linear Systems
• The transfer function of the RC network is obtained by writing the Kirchhoff voltage equation,
yielding
• The output voltage is
• where t = RC
Linear Systems
Transfer functions of systems
BLOCK DIAGRAM MODELS
Block Diagram Models
• The Laplace transformation reduces the problem to the solution of a set of linear algebraic
equations.
• This relationship is typically represented by the transfer function of the subsystem relating
the input and output variables.
• The relationship of system variables are graphically represented using block diagrams.
Block Diagram Models
• To represent a system with several variables under control, an interconnection of blocks is
utilized
Block Diagram Transformations
Transfer Function of Closed-loop System
• This negative feedback control system is described by the equation for the actuating
signal, which is
Block Diagram Reduction
• Example
Find the block diagram reduction of following multiple-loop feedback

control system.
Block Diagram Reduction

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CONTROL THEORY

Open and Closed Loop Control System

Dr. Kapila Palitharathna

1. Introduction to open loop and closed loop control systems.

2. Mathematical representation of physical systems.

3. Transfer function block diagram and signal flow graphs.

4. Reduction algebra, masons gains.

5. Time domain performance criterion.

• Systems – an interconnection of elements and devices for a desired purpose.

• Sensor - a device that provides a measurement of a desired external signal.

• Open-loop systems – An open-loop control system utilizes an actuating device to control

• Closed-loop systems – A closed-loop control system uses a measurement of the output

• Measurement noise – Noise introduced on the measurement.

• The design of control system is a specific example of engineering design.

• The design process consists of seven main building blocks as follows:

1. Establishment of goals and variables to be controlled, and definition of specifications

2. System definition and modeling.

3. Control system design and integrated system simulation and analysis.

The approach to dynamic system modeling can be listed as follows:

1. Define the system and its components.

2. Formulate the mathematical model and fundamental necessary assumptions based

3. Obtain the differential equations representing the mathematical model.

4. Solve the equations for the desired output variables.

5. Examine the solutions and the assumptions.

6. If necessary, reanalyze or redesign the system.

1. Torsional spring Mass System

• The angular rate (across variable) difference associated

2. Spring Mass System • Differential equation

• where k is the spring constant of the ideal

• The solution of above equation can be

• The solution of above equation can be

• The ability to obtain linear time-invariant approximations of physical systems

• The Laplace transform method substitutes relatively easily solved algebraic

• The time-response solution is obtained by the following operations:

2. Obtain the Laplace transformation of the differential equations.

• The Laplace transformation for a function of time, f(t), is

• The inverse Laplace transform is written as

• But for f(t) to be transformable, it is sufficient that

• By applying the Laplace transform

• The roots of the denominator are called poles.

• Consider below example

• To find the residues using below method

• Then Laplace inverse transform is used

• From the table

• For the above example steady-state value becomes zero.

• The characteristic equation of the above system can be rewritten as

• The s-plane plot of the poles and zeros are as follows

• The transfer function is defined for a linear time-invariant (LTI) systems.

• The output voltage is

Find the block diagram reduction of following multiple-loop feedback

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