FEEDBACK AND

CONTROL SYSTEM
EE 179
EE 179: Feedback and Control System
• Credits: 3 Units Lecture
• Pre-requisite: EE 172
• Text book Reference:
Control Systems Engineering by Norman S. Nise.
• CLASS REQUIREMENTS: (1st Semester)
• 3 long exams – (50%);
• Project (DC motor Position Controller) (20%);
• Quizzes and Problem sets (20%)
• Assignments and attendance (10%)
• Passing grade: 60% = 3.0
• Condition for INC grade: 1 exam missed (1 long OR final exam); OR oral
report missed, provided further that the class standing is passing at the end of
the term.
• LAST DAY for Official Dropping of courses: as scheduled by the Registrar

Instructor: Kister Genesis M. Jimenez

Control Making subject X do task Y.

Manual Control Automatic Control

• Has human-machine • Machine-machine
interface. e.g.: interface. e.g.:
• Driving a car • Rice cooker
• Manipulating a crane • Thermostat
• Turning a voltage supply • Disk drives
to a desired level. • Aircraft control
• Satellites
• Moon landing
 Control System
• A system is an arrangement
of components connected or things
Some
other
related is such a manner to
things
form and/or act as entire unit
Another
System/systems
• Control  to regulate, direct
or command. System

Input; Stimulus Output; Response

(desired response) (actual response)
Control System is an arrangement of components that
can control, regulate or command itself or other systems.
Control Systems
Consists of subsystems and processes assembled for the
purpose of controlling the outputs of the processes.

Example:
Automatic Aircraft Landing System (ALS):
• Radar Unit (sensors) – measures the aircraft position
• Controller – decides the aircraft commands based on the radar output.
• Aircraft – execute commands sent from the controller.

Radar Controller Transmitter

Advantages of Control Systems
1. Power Amplification:
example - Stack container vans on top of each other.
2. Remote Control:
example – Remotely explore Mars.
3. Convenience of Input Form:
example – Increase/decrease the room temperature by turning
a knob.
4. Compensation for Disturbance:
example – Even if you attach a load to a servo motor, it goes to
the input/desired position.
Response Characteristics
• Control Systems provides output/response from a given
stimulus
• Ex. When the 4th floor button of an elevator is pushed
from the ground floor, the elevator rises with a passenger-
comfortable speed and accuracy.
Response Characteristics (cont.)
• The graph in the previous slide is the response of the
elevator to a stimulus or input.

• You can observe the following from the example:

1. Instantaneous change of input vs the gradual change of output.
• A physical entity’s change of state has to follow a path related to it’s
physical properties.
• Ex. acquire or dissipate energy to change state.

• The part were the gradual change occurs is called transient response.
Response Characteristics (cont.)
2. There is a difference in the input and the output.
• After the transient response, the physical system approaches to steady-
state response.
• Caused by the accuracy of the elevator leveling with the floor.
• The difference is called the steady-state error.

Steady-state errors:
• Does exist not only in defective systems.
• Often inherent in the designed systems.
• The control systems engineer determines if error is tolerable or not.
System Configuration:
Open-Loop Systems

• Does not compensate for disturbance

• Only commanded by the input
• More stable
• Can only perform well if calibrated
• Easier to build
System Configuration:
Closed-Loop Systems

• Can compensate for disturbance

• Input signal is subtracted by the Output signal to produce the
actuating/error signal
• Less sensitive to noise
• Requires output transducers
• More complex and expensive than open-loop systems
Computer-Controlled Systems
• Controller or compensator is a digital computer
• Multiple loops can be controlled or compensated through time
sharing
• Adjustments (ex. calibration or changes in the design) can be
made in the software.
• Additional intelligent functions such as scheduling can be added
to the system through programming.
Analysis and Design Objectives
Analysis: determines the system’s performance.
• In the elevator example, we found out responses from the input.
Comparing these responses to a specification is a form of analysis.

Design: system’s performance is created or changed

• We can design a system based on a desired specification.
• Redesigning maybe required if the responses does not meet the
specifications.
Analysis and Design Objective: Transient
Response
• Slow transient response in the elevator example makes
passenger impatient.
• Very rapid response makes them uncomfortable
• Oscillating response for a certain duration results to
disconcerting feeling.

• Not meeting a transient response specification may result

to physical damage.

• Parameters and components can be adjusted or

redesigned to yield desired transient response.
Analysis and Design Objective: Steady-
State Response
• Response after the transients have decayed to zero
• The concern is on the accuracy of the steady-state
response.
• Imagine in the elevator example, the input is 4 th floor and
the elevator stops near 4th floor (in between 3rd and 4th
floor)

• Steady-state error can be reduced by designing a

corrective action.
Analysis and Design Objective: Stability
• Analysis and design of transient and steady-state
responses are useless if the system is not stable.
• The total response of a system is the sum of the natural
and forced responses.
• A system is stable if:
• The natural response approach to zero. Leaving only forced
response.
• Or Oscillate.

• If the natural response grows without bounds, the

systems is unstable.
Analysis and Design Objective: Others
• Factors affecting hardware selection – hardware specs
must be considered in the design.

• Financial consideration – budget may affect the design.

• Robustness – system is not sensitive to parameter

changes.
Design Process

Develop a
Mathematical
Model
From the
schematic
(Case Study) Antenna Azimuth: An
Introduction to Position Control Systems
Position Control
• Converts a position input command to a position output
response.
• Used in antennas, robot arms, and computer disk drives.
(Case Study) Antenna Azimuth: An
Introduction to Position Control Systems
Step 1. Transform the requirements to physical system.
• What is to be designed?
• What are the design specifications?
(Case Study) Antenna Azimuth: An
Introduction to Position Control Systems
Step 2. Draw a functional block diagram.
• Translate the qualitative description to functional block
diagram
• Identify components and their interconnections.
• Includes possible
hardware descriptions.
• a detailed layout if
possible.
(Case Study) Antenna Azimuth: An
Introduction to Position Control Systems
Step 3. Create a Schematic.
• Convert the functional block diagram of the electrical, mechanical and
electromechanical components to schematic
(Case Study) Antenna Azimuth: An
Introduction to Position Control Systems
Step 4. Develop a mathematical model.
• Use physical laws on the schematic.
• Electrical systems:
• Kirchoff’s Voltage Law
• Kirchoff’s Current Law

• Mechanical System:
• Newton’s Law

• These laws leads to mathematical models that describes

the input and output relationship of dynamic systems.
ex. A linear, time-invariant differential equation.
(Case Study) Antenna Azimuth: An
Introduction to Position Control Systems
Step 5. Reduce the block diagram.
• A large system may have multiple interconnected subsystems each described
by a mathematical model.
• In order to simplify the analysis and design, the system should be reduced to
a single block that represents the system from it’s input and output.

A system with multiple

subsystems
(Case Study) Antenna Azimuth: An
Introduction to Position Control Systems
Step 6. Analysis and Design.
• Skip the step 5 if the interest in the performance of each
subsystem.
• System response and performance are analyzed and
compared to the response specifications and performance
requirements.
• If the above fails, the designer redesigns or add
hardware/software to achieve desired performance.
• Test input signals are used.
• Standard inputs signals: impulses, steps, ramps,
parabolas, and sinusoids.
Control Systems Engineer
• A field in engineering that covers numerous disciplines and
numerous functions within those disciplines.

• Can be found at the top level of large projects.

• Determines and implement overall system requirements.

• Works in a broad arena and interacts with people from

numerous branches of engineering and sciences.

• Works in a top-down design approach.

• Top-down – Starts from high level picture of requirements going down
to each components.
• Bottom-up – Starts from the components, develop circuits, then
assemble.
 What can students gain from studying
control systems?
• Learn the top-down design approach.
• Be able to apply Math, ES 61, ES 62, EE131/132, etc.
• And stop saying “I had never applied these ^ things in real life”. -_-

• Learn to represent the physical world mathematically

• You can exercise your math skills.

• Speak a common language with other branches of

engineering.
• Therefore, you can develop an appreciation and working knowledge of
other branches.