Module – 1 Systems and their Representations

Contents
 Basic elements in control systems
 open loop & closed loop
 Transfer functions of mechanical, electrical and analogous systems.
 Block diagram reduction
 signal flow graphs.

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 Introduction
 A control system is a system, which provides the desired response by controlling the output.
The following figure shows the simple block diagram of a control system.

 Here, the control system is represented by a single block. Since, the output is controlled by
varying input, the control system got this name. We will vary this input with some
mechanism. 
 Examples − Traffic lights control system, washing machine

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 Introduction
Classification of Control Systems
Based on some parameters, we can classify the control systems into the following ways.
Continuous time and Discrete-time Control Systems
 Control Systems can be classified as continuous time control systems and discrete time control
systems based on the type of the signal used.
 In continuous time control systems, all the signals are continuous in time. But, in discrete
time control systems, there exists one or more discrete time signals.
SISO and MIMO Control Systems
 Control Systems can be classified as SISO control systems and MIMO control systems based on
the number of inputs and outputs present.
 SISO (Single Input and Single Output) control systems have one input and one output.
Whereas, MIMO (Multiple Inputs and Multiple Outputs) control systems have more than one
input and more than one output.

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 Introduction
Open Loop and Closed Loop Control Systems
 Control Systems can be classified as open loop control systems and closed loop control
systems based on the feedback path.
 In open loop control systems, output is not fed-back to the input. So, the control action is
independent of the desired output.
 The following figure shows the block diagram of the 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. 
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 Introduction
Open Loop and Closed Loop Control Systems
 In closed loop control systems, output is fed back to the input. So, the control action is
dependent on the desired output.
 The following figure shows the block diagram of negative feedback closed loop control system.

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 Introduction
Open Loop and Closed Loop Control Systems
 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.

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 Introduction
The differences between the open loop and the closed loop control systems are mentioned in
the following table.

Open Loop Control Systems Closed Loop Control Systems

Control action is independent of the desired output. Control action is dependent of the desired output.

Feedback path is not present. Feedback path is present.

These are also called as non-feedback control systems. These are also called as feedback control systems.

Easy to design. Difficult to design.

These are economical. These are costlier.
Inaccurate. Accurate.

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 Laplace Transform

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 Laplace Transform

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 Laplace Transform

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 Laplace Transform

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 Laplace Transform

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Transfer Function

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Block Diagram Reduction

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 Signal Flow Graphs
Signal flow graph is a graphical representation of algebraic equations.
Basic Elements of Signal Flow Graph
Nodes and branches are the basic elements of signal flow graph.
Node
Node is a point which represents either a variable or a signal. There are three types of nodes —
input node, output node and mixed node.
Input Node − It is a node, which has only outgoing branches.
Output Node − It is a node, which has only incoming branches.
Mixed Node − It is a node, which has both incoming and outgoing branches.

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 Signal Flow Graphs

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 Signal Flow Graphs

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 Signal Flow Graphs

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 Signal Flow Graphs

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 Signal Flow Graphs

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 Signal Flow Graphs

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 Signal Flow Graphs

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 Signal Flow Graphs

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 Mason’s Gain Formula

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 Mason’s Gain Formula

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 Mason’s Gain Formula

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 Mason’s Gain Formula

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 Mason’s Gain Formula

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 Mason’s Gain Formula

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 Mason’s Gain Formula

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 Mason’s Gain Formula

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 Mason’s Gain Formula

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