Control Systems

EEE306 – Lecture 1

Chapa Sirithunge
B.Sc Eng, PhD.
chapas@sltc.ac.lk
https://scholar.google.com/citations?user=72CpRjoAAAAJ&hl=en
https://www.researchgate.net/profile/Chapa_Sirithunge
Assessment criteria
Type Method Weight (%) Comments
Mid-Semester
-
Examination
Summative
End of Semester Written examination
50
Examination
Quizzes
Assignments 10 4 Online assignments
Projects 30 Individual mini
project
Formative 50
Presentations 10 Implementation of
the mini project
Case Studies
Poster

An example project: https://www.youtube.com/watch?v=OIjWvhLifAY&ab_channel=ScottRumschlag

Lecture outline
• Introduction to Control Systems (CS) and
Digital control systems (DCS)
• Evolution from Analog control systems
• Example Digital Control Systems
• Real life scenarios
 Control systems
• A control system manages, commands, directs, or regulates the behavior of
other devices or systems using control loops. It can range from a single home
heating controller using a thermostat controlling a domestic boiler to large
Industrial control systems which are used for controlling processes or
machines
Eg: temperature control system in a room
• Features:
- The main feature of a control system is that there should be a clear
mathematical relationship between input and output of the system.
eg: linear control systems, non-linear control systems
- created to control outputs
 What are digital control systems?
• Digital control is a branch of control theory that uses digital computers or
processing units to act as controllers in a system.
 Drone example

https://www.youtube.com/watch?v=jEbRVNxL44c&ab_channel=RealEngineering
 Example: rice cooker

https://www.youtube.com/watch?v=FpXVvD11ra0&ab_channel=BYDChannel
 Open and closed loop systems
Considering the example of the temperature control system,

• In former example, the input of the system is • But in the latter case, the heating elements
entirely independent of the output of the of the system function, depending upon the
system. The temperature of the room difference between, actual temperature and
(output) increases as long as the power desired temperature. This difference is called
supply switch is kept on. That means heating the error of the system. This error signal is
element produces heat as long as the power fed back to the system to control the input.
supply is kept on and final room temperature
does not have any control over the input • As the input to the output path and the error
power supply of the system. feedback path create a closed loop, this type
of control system is referred to as a closed
• This system is referred to as an open loop loop control system.
control system.
Open loop control systems

A control system in which the control action is totally independent of output of the system
then it is called open loop control system.

controller
Process response output
Process output
Controller Process
Process
input
The block diagram of an open loop control system
Open loop control systems
Examples

• Electric Hand Drier • Timer Based Clothes Drier

• Automatic Washing Machine • Light Switch
• Bread Toaster • Volume on Stereo System
• Automatic Tea/Coffee Maker
 Closed loop control 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.

input output
Controller Process

Feedback

The block diagram of a closed loop control system

Closed loop control systems

Examples

• Automatic Electric Iron • An Air Conditioner

• Servo Voltage Stabilizer • Missile Launched and Auto

Tracked by Radar
• Water Level Controller
• Cooling System in Car
 A comparison of closed loop and open loop
systems
Open loop systems Closed loop systems
⁺ Closed loop control systems are more accurate even in the
⁺ Simple in construction and design. presence of non-linearity.
⁺ Economical. ⁺ Highly accurate as any error arising is corrected due to presence
⁺ Easy to maintain. of feedback signal.
⁺ Generally stable. ⁺ Bandwidth range is large.
⁺ Convenient to use as output is difficult to ⁺ Facilitates automation.
measure. ⁺ The sensitivity of system may be made small to make system
⁻ Can be inaccurate. more stable.
⁻ Can be unreliable. ⁺ This system is less affected by noise.
⁻ Changes in output cannot be automatically ⁺ They are costlier.
corrected. ⁻ They are complicated to design.
⁻ Required more maintenance.
⁻ Feedback leads to oscillatory response.
⁻ Overall gain is reduced due to presence of feedback.
⁻ Stability is the major problem and more care is needed to
design a stable closed loop system.
 Feedback loop

• In any control system, the output is affected due to change in

environmental condition or any kind of disturbance.
• One signal is taken from the output and is fed back to the input.
• This signal is compared with a reference input and the error signal
is generated.
• This error signal is applied to controller and output is corrected.
Such a system is called feedback system.
 Feedback loop
Actuating signal Manipulated
input (error signal) variable
Controller Plant
Set point + Output
-
(reference) (controlled
variable)
Feedback
Feedback signal elements

• When the feedback signal is positive then system called positive feedback system. For positive
feedback system, the error signal is the addition of reference input signal and a feedback signal.
When the feedback signal is negative then the system is called negative feedback system. For
negative feedback system, the error signal is given by the difference of reference input signal and
the feedback signal.
 DCS
Output
(controlled
input Error variable)
ADC Control Plant
algorithm
DAC
r(t) + e(t) u(t) y(t)
-

sensor

ADC-Analog to digital converter

DAC-Digital to analog converter
A typical continuous time control system

• In continuous time control systems, all the system variables are continuous signals.
• Variables are continuously present and therefore available at all times.
 DCS Block diagram
input Error Output
ADC Control Plant
algorithm
DAC
r(t) + e(t) u(t) y(t)
-

sensor

A general block diagram of a digital control system

In a digital control system, the control algorithm is implemented in a digital computer. The
error signal is discretized and fed to the computer by using an ADC. The controller output is
again a discrete signal which is applied to the plant after using a DAC.
 Sampling
Sampling is a process by which a continuous time signal is converted into a sequence of
numbers at discrete time intervals.

In the previous block diagram, e(t) is sampled at intervals of T. Sampling is a fundamental

property of digital control systems because of the discrete
nature of operation of digital computer.
Pulse train generator

p(t)
e(t) Pulse e*p(t)
amplitude
modulation

Basic structure and operation of a finite pulse width sampler

 Why DCS?
Advantages Disadvantages
• Probability of accuracy or drift can be • Complex system design
removed. • Loss of signal information
• Easy to implement sophisticated • Software errors
algorithms. • Use of converters in the systems adds
• Easy to include logic and nonlinear some delay
functions.
• Time sharing
• System design
 Analog control systems (ACS)

• An analog system is a system that represents data using a direct conversion from one form
to another. In other words, an analog system is a system that is continuous in both time
and magnitude.
 Analog vs digital control systems
• Analog systems are electronic systems with a continuously variable signal, in
contrast to digital electronics where signals usually take only two levels.

Analog waveform Digital waveform

 Analog control systems
input
Controller Plant
Output
(controlled
variable)
Feedback
elements

Block diagram of an ACS

 Components of analog control systems

Brushless analog rotation transducer Potentiometer Rack and pinion drive for
couch movements
Features of ACS
Advantages Disadvantages

• Uses less bandwidth • Analog instruments draws large power

• More accurate • High cost of signal conversion inside the
• Analog signals are easier to process display
• Best for video and audio transmission • Upgrade to digital interface not possible
• Provides more accurate • Prone to generation loss
representation of changes in physical • Disturbed in long distance transmission of
phenomena such as pressure, position signals
etc. • Subjected to noise and distortion
Analog Signals: Systems and Applications

• Temperature sensing
• Audio recording and reproduction
• Image sensing
• Radio stations
• Telephones
Digital Signals: Systems and Applications

• Networking
• Data communication
• Broadband systems
• Digital program interfaces
References

E-books Web sites

• http://www.ece.mtu.edu/faculty/ • http://ctms.engin.umich.edu/CTMS
shiyan/EE4262Spring17/DigitalCo /index.php?example=Introduction&
ntrolTextBook.pdf section=ControlDigital
• Modern Control Systems by • https://www.youtube.com/watch?v
Richard C. Dorf, Robert H. Bishop, =G4OLOjY4MpQ&ab_channel=MAT
Prentice Hall, 2008 LAB

Requirements: MATLAB simulation software

Thank you!