FECSYS

FEEDBACK AND CONTROL SYSTEM

Course Code: FECSYS Credit Units: 3.0
Course Name: FEEDBACK AND CONTROL SYSTEM Pre-Requisites: NUMETH, FUELCI

Course Description:
This course focuses on the classifications of control system; continuous time, and discrete time control, open
and closed loop control system, types of feedback and its effect, mathematical model such as; differential equation
model, and transfer function model. It includes also modelling of mechanical systems and its electrical analogies,
control system block diagram and its basic elements, block diagram algebra, block diagram reduction, signal flow
graphs, Mason’s Gain Formula for complicated block diagram, time response analysis, response of the first order
system, response of the second order system, time domain specifications, steady state errors, stability, stability
analysis, root locus, construction of root locus, frequency response analysis, and bode plot.
The learners are expected to solve complex control system using mathematical model.
Learning Outcomes:
 Understand generally the principles, concepts, of feedback and control systems.
 Apply mathematical models correctly in solving complex control system with feedback.
 Solve problems in control system with or without feedback using methods, techniques, or mathematical
model.
 Develop mathematical model based on a design control system.

Tools or Application to Use:

 Student Achievement Monitoring System (SAMS)  Facebook Group
 Facebook Messenger  Google Meet, Zoom

Mode of Assessment:
 Quiz
 Oral questioning via messenger, Google meet, zoom

References:
 Feedback and Control Systems 3rd Edition. J. DiStefano III, and Et. Al.
 Modern Control Systems 10th Edition. R. C. Dorf, and R. H. Bishop
 LESSON 1 INTRODUCTION TO CONTROL SYSTEM AND FEEDBACK

Lesson Overview
In this lesson, it discusses how control system works, classification of control system, and the role of feedback
in a control system.

Specific Learning Outcomes:

 Understand how a control system works, and how output is controlled by a varying input.
 Classify control system either discrete time or continuous time based on some parameters.
 Identify correctly whether it is an open or closed system.
 Differentiate between open and closed loop control system.

Additional Reference/s:
 tutorialspoint.com

Key Terminologies:
 control system  is a system, which provides the desired response by controlling the
output
 feedback  output or some part of the output is returned to the input side and
utilized as part of the system input
 discrete  values of variables as occurring at distinct, separate “points” in time
 continuous  variables as having a particular value for potentially only an
infinitesimally short amount of time

Control System – Introduction

A control system is a system, which provides the desired response by controlling the output.

Simple block diagram of a Control System

Here, the control system is represented by a single block. Since, the output in controlled by varying
input, the control system got this name.

Traffic Light System and Washing Machine are few examples of control system.
Traffic Lights Control System
A sequence of input signal is applied to this control system and the output is one of the three lights
that will be on for some duration of time. During this time, the other two lights will be off. Based on the traffic
study at a particular junction, the on and off times of the lights can be determined. Accordingly, the input
signal controls the output. So, the traffic lights control system operates on time basis.

Classifications of Control Systems based on some Parameters

Continuous Time and Discrete Time Control System based on the type of signal.
 In continuous time control system, all signals are continuous in time.
 But, in discrete time control system, there exists one or more discrete time signals.

SISO and MIMO Control System

 Control systems can be classified as SISO and MIMO control systems based on the number of
inputs and outputs present.
 SISO (Single Input Single Output) have one input and one output. MIMO (Multiple Input and
Multiple Output) have more than one input and more than one output.

Open loop and Closed loop Control Systems

Control Systems can be classified as open loop and closed loop control systems based on the
feedback path.

 In open-loop control systems, output is not feedback to the input. So, the control action is
independent of the desired output.

Block diagram of open-loop control system

Here, an input is applied to a controller and it produces an actuating signal or controlling signal. This
signal is given as an input to a plant or process which is to be controlled. So, the plant produces an output,
which is controlled. The traffic lights control system which we discussed earlier is an example of an open loop
control system.
 In closed loop control systems, output is fed back to the input. So, the control action is
dependent on the desired output.
 Block diagram of closed-loop control system

The error detector produces an error signal, which is the difference between the input and the
feedback signal. This feedback signal is obtained from the block (feedback elements) by considering the output
of the overall system as an input to this block. Instead of the direct input, the error signal is applied as an input
to a controller.
So, the controller produces an actuating signal which controls the plant. In this combination, the
output of the control system is adjusted automatically till we get the desired response. Hence, the closed loop
control systems are also called the automatic control systems. Traffic lights control system having sensor at
the input is an example of a closed loop control system.

The differences between the open loop and the closed loop control systems are mentioned in the
following table.
Open Loop Control System Closed Loop Control System
Control action is independent of the desired output. Control action is dependent on the desired output.
Feedback path is not present. Feedback path is present.
These are also called non-feedback control system. These are also called a feedback control system.
Easy to design. Difficult to design.
These are economical. These are costlier.
Inaccurate. Accurate.

Control Systems – Feedback

If either the output or some part of the output is returned to the input side and utilized as part of the
system input, then it is known as feedback. Feedback plays an important role in order to improve the
performance of the control systems. In this chapter, let us discuss the types of feedback & effects of feedback.
Types of Feedback
 Positive Feedback
 Negative Feedback
Positive Feedback
The positive feedback adds the reference input, R( ) and feedback output.

Block diagram of the positive feedback

The concept of transfer function will be discussed in later chapters. For the time being, consider the transfer
function of positive feedback control system is,

Where,
 T is the transfer function or overall gain of positive feedback control system.
 G is the open loop gain, which is function of frequency.
 H is the gain of feedback path, which is function of frequency.

Negative Feedback
Negative feedback reduces the error between the reference input, R( ) and system output.

Block diagram of Negative Feedback

Transfer function of negative feedback control system is,

Where,
 T is the transfer function or overall gain of negative feedback control system
 G is the open loop gain, which is function of frequency
 H is the gain of feedback path, which is function of frequency

Effects of Feedback

1. Effect of feedback on overall gain

 From Equation 2, we can say that the overall gain of negative feedback closed loop control system is
the ratio of ‘G’ and (1+GH). So, the overall gain may increase or decrease depending on the value of
(1+GH).
  If the value of (1+GH) is less than 1, then the overall gain increases. In this case, ‘GH’ value is negative
because the gain of the feedback path is negative.
 If the value of (1+GH) is greater than 1, then the overall gain decreases. In this case, ‘GH’ value is
positive because the gain of the feedback path is positive.

In general, ‘G’ and ‘H’ are functions of frequency. So, the feedback will increase the overall gain of the
system in one frequency range and decrease in the other frequency range.

2. Effect of feedback on sensitivity

 Sensitivity of the overall gain of negative feedback closed loop control system (T) to the variation in
open loop gain (G) is defined as

Where, T is the incremental change in T due to incremental change in G.

We can rewrite Equation 3 as

Do partial differentiation with respect to G on both sides of Equation 2.

From Equation 2, you will get

Substitute Equation 5 and Equation 6 in Equation 4.

So, we got the sensitivity of the overall gain of closed loop control system as the reciprocal of (1+GH).
So, Sensitivity may increase or decrease depending on the value of (1+GH).

 If the value of (1+GH) is less than 1, then sensitivity increases. In this case, ‘GH’ value is negative
because the gain of feedback path is negative.
 If the value of (1+GH) is greater than 1, then sensitivity decreases. In this case, ‘GH’ value is positive
because the gain of feedback path is positive.

In general, ‘G’ and ‘H’ are functions of frequency. So, feedback will increase the sensitivity of the
system gain in one frequency range and decrease in the other frequency range. Therefore, we have to choose
the values of ‘GH’ in such a way that the system is insensitive or less sensitive to parameter variations.
 3. Effect of feedback on stability
 A system is said to be stable, if its output is under control. Otherwise, it is said to be
unstable.
 In Equation 2, if the denominator value is zero (i.e., GH = -1), then the output of the
control system will be infinite. So, the control system becomes unstable.
Therefore, we have to properly choose the feedback in order to make the control system stable.

4. Effect of feedback on noise

To know the effect of feedback on noise, let us compare the transfer function relations
with and without feedback due to noise signal alone.

Consider an open loop control system with noise signal as shown below.

The open loop transfer function due to noise signal alone is

It is obtained by making the other input ( ) equal to zero.

Consider a closed loop control system with noise signal as shown below.
 The closed loop transfer function due to noise signal alone is

It is obtained by making the other input ( ) equal to zero.

Compare Equation 7 and Equation 8,

In the closed loop control system, the gain due to noise signal is decreased by a factor of (1 + )
provided that the term (1 + ) is greater than one.
 WORKSHEET IN <Introduction to Control System and Feedback>

Student’s Name: Section:

Instructor’s Name: BENJIE GABIANA Date Submitted:

General Instructions:
 Read the following statement given and write your answer in a one whole sheet of paper and scan it or take
picture for the submission and sent it to my email account.

1. Give at least three (3) example of open and closed loop control system.
2. Differentiate open loop and closed loop control system based on diagram below.

Open Loop Control System

Closed Loop Control System

3. Derive the formula of the positive and negative feedback in a transfer function model (T). From
equation 1 and 2 of this notes.
4. What can you say about the effect of feedback on overall gain, sensitivity, stability, and noise in control system?
Is it important? (yes/no) then why.
5. Refer from question number 2, explain what is the function of each block of the block diagram of a closed loop
control system.