Chapter 1: Introduction to Control Systems

Objectives
In this chapter we describe a general process for designing a control system.

A control system consisting of interconnected components is designed to achieve a

desired purpose. To understand the purpose of a control system, it is useful to
examine examples of control systems through the course of history. These early
systems incorporated many of the same ideas of feedback that are in use today.

Modern control engineering practice includes the use of control design strategies for
improving manufacturing processes, the efficiency of energy use, advanced
automobile control, including rapid transit, among others.

We also discuss the notion of a design gap. The gap exists between the complex
physical system under investigation and the model used in the control system
synthesis.

The iterative nature of design allows us to handle the design gap effectively while
accomplishing necessary tradeoffs in complexity, performance, and cost in order to
meet the design specifications.
Illustrations
 Course Synopsis

• Provides a background of control principles in

various engineering applications. Basic
mathematical tools such as Laplace transform,
transfer function, block diagram, signal flow
graph, mathematical modeling of dynamic
systems, time response analysis, stability of linear
system, root locus and frequency domain analysis
are utilized.

Illustrations
 Course Outcomes (CO)

 CO1
 Ability to apply various mathematical principles (from calculus and
linear algebra) to solve control system problems.
 CO2
 Ability to obtain mathematical models for such mechanical, electrical
and electromechanical systems.
 CO3
 Ability to derive equivalent differential equation, transfer function and
state space model for a given system.
 CO4
 The ability to perform system’s time and frequency-domain analysis
with response to test inputs. Analysis includes the determination of the
system stability.

Illustrations
 System – An interconnection of elements and devices for a desired purpose.

Control System – An interconnection of components forming a system

configuration that will provide a desired response.

Process – The device, plant, or system

under control. The input and output
relationship represents the cause-and-
effect relationship of the process.

Illustrations
 • The interaction is defined in terms of variables.
i. System input
ii. System output
iii. Environmental disturbances

Illustrations
 Control System

• Control is the process of causing a system variable to conform

to some desired value.
• Manual control Automatic control (involving machines
only).
• A control system is an interconnection of components forming
a system configuration that will provide a desired system
response.
Input Output
Control
Signal Signal
System

Energy
Source

Illustrations
 Open-Loop Control Systems
utilize a controller or control
actuator to obtain the desired
response.

Closed-Loop Control
Systems utilizes feedback to
compare the actual output to
the desired output response.

Multivariable Control System

Illustrations
 Control System Classification

Missile Launcher System

Open-Loop Control System

Illustrations
 Control System Classification

Missile Launcher System

Closed-Loop Feedback Control System

Illustrations
 Manual Vs Automatic Control

• Control is a process of causing a system variable such as

temperature or position to conform to some desired value or
trajectory, called reference value or trajectory.
• For example, driving a car implies controlling the vehicle to
follow the desired path to arrive safely at a planned destination.
i. If you are driving the car yourself, you are performing manual control of
the car.

ii. If you use design a machine, or use a computer to do it, then you have
built an automatic control system.
Illustrations
 Control System Classification

Desired
Controller Output
Output Process
Response Variables

Measurement

Multi Input Multi Output (MIMO) System

Illustrations
 Purpose of Control Systems

i. Power Amplification (Gain)

– Positioning of a large radar antenna by low-power rotation of a
knob
ii. Remote Control
– Robotic arm used to pick up radioactive materials
iii. Convenience of Input Form
– Changing room temperature by thermostat position
iv. Compensation for Disturbances
– Controlling antenna position in the presence of large wind
disturbance torque

Illustrations
 Historical Developments

i. Ancient Greece (1 to 300 BC)

– Water float regulation, water clock, automatic oil lamp
ii. Cornellis Drebbel (17th century)
– Temperature control
iii. James Watt (18th century)
– Flyball governor
iv. Late 19th to mid 20th century
– Modern control theory

Illustrations
 Watt’s Flyball Governor

Illustrations
 Human System

The Vetruvian Man

Illustrations
 Human System

i. Pancreas
 Regulates blood glucose level
ii. Adrenaline
 Automatically generated to increase the heart rate and oxygen in
times of flight
iii. Eye
 Follow moving object
iv. Hand
 Pick up an object and place it at a predetermined location
v. Temperature
 Regulated temperature of 36°C to 37°C

Illustrations
 History
18th Century James Watt’s centrifugal governor for the speed control of a steam
engine.
1920s Minorsky worked on automatic controllers for steering ships.
1930s Nyquist developed a method for analyzing the stability of controlled systems
1940s Frequency response methods made it possible to design linear closed-loop
control systems
1950s Root-locus method due to Evans was fully developed
1960s State space methods, optimal control, adaptive control and
1980s Learning controls are begun to investigated and developed.
Present and on-going research fields. Recent application of modern control theory
includes such non-engineering systems such as biological, biomedical, economic and
socio-economic systems
???????????????????????????????????

Illustrations
 Control System Components

i. System, plant or process

– To be controlled
ii. Actuators
– Converts the control signal to a power signal
iii. Sensors
– Provides measurement of the system output
iv. Reference input
– Represents the desired output

Illustrations
 General Control System

Disturbance

Controlled Manipulated
Set-point Error Signal Variable
or
Reference Actual
input + + Output
+
+ Controller Actuator + Process
-

Feedback Signal
Sensor

Illustrations
 Control System Design Process

1. Establish control goals

2. Identify the variables to control

3. Write the specifications for the variables

4. Establish the system configuration and identify the actuator

If the performance does not 5. Obtain a model of the process, the actuator and the sensor
meet specifications, then
iterate the configuration
and actuator
6. Describe a controller and select key parameters to be adjusted

7. Optimize the parameters and analyze the performance

If the performance meet the specifications, then finalize design

Illustrations
Illustrations
 Examples of Modern Control Systems

(a) Automobile
steering control
system.
(b) The driver uses
the difference
between the actual
and the desired
direction of travel
to generate a
controlled adjustment
of the steering wheel.
(c) Typical direction-
of-travel response.

Illustrations
 Examples of Modern Control Systems

Illustrations
 Examples of Modern Control Systems

Illustrations
 Examples of Modern Control Systems

Illustrations
 Examples of Modern Control Systems

Illustrations
 Examples of Modern Control Systems

Illustrations
 Examples of Modern Control Systems

Illustrations
 Examples of Modern Control Systems

Illustrations
 Examples of Modern Control Systems

Illustrations
 The Future of Control Systems

Illustrations
 The Future of Control Systems

Illustrations
 Design Example

Illustrations
 Design Example
ELECTRIC SHIP CONCEPT

Vision
Electrically
Reconfigurable
All
Integrated Ship
Electric
Power Ship
System  Technology
Insertion Increasing Affordability and Military Capability
 Reduced manning
 Electric Drive  Warfighting
 Reduce # of Prime  Automation
Capabilities
Movers  Eliminate auxiliary
systems (steam,
 Fuel savings hydraulics, compressed Main Power
 Reduced maintenance air) Distribution
Propulsion Motor Prime
Generator
Motor Drive Mover

Power Ship
Conversion Service
Module Power

Illustrations
 Design Example

CVN(X) FUTURE AIRCRAFT CARRIER

Illustrations
 Design Example

Illustrations
 Design Example

Illustrations
 Design Example

Illustrations
 Design Example

Illustrations
Illustrations
Illustrations
 Design Example

Illustrations
 Design Example

Illustrations
 Sequential Design Example

Illustrations
Illustrations
 Sequential Design Example

Illustrations
Illustrations
Illustrations