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Introduction To Control Systems

This document provides an introduction to control systems, including definitions, representations, types, applications, and analysis. It defines a control system as a device used to regulate the behavior of other devices or systems. Control systems can be represented using block diagrams showing inputs, systems, and outputs. The main types are open loop, closed loop, and combinations of natural and man-made systems. Analysis of control systems examines transient response, steady-state response, and stability. The design process involves modeling the system mathematically, analyzing its behavior, and adding feedback to improve performance.

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Leta Emiru
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© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
48 views

Introduction To Control Systems

This document provides an introduction to control systems, including definitions, representations, types, applications, and analysis. It defines a control system as a device used to regulate the behavior of other devices or systems. Control systems can be represented using block diagrams showing inputs, systems, and outputs. The main types are open loop, closed loop, and combinations of natural and man-made systems. Analysis of control systems examines transient response, steady-state response, and stability. The design process involves modeling the system mathematically, analyzing its behavior, and adding feedback to improve performance.

Uploaded by

Leta Emiru
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Chapter 6

Introduction to Control
Systems
Definitions
 Control system is a device or set of devices used to manage,
command, direct or regulate the behavior of other devices or
systems.
 Control engineering is based on the foundations of feedback
theory and linear system analysis, and it generates the concepts
of network theory and communication theory.
 Accordingly, control engineering is not limited to any
engineering discipline but is applicable to aeronautical, chemical,
mechanical, environmental, civil, and electrical engineering.
 There are three things that define control systems: input, systems
and output.
Control System Representation
We can represent a control system in block diagrams, in
terms of input, system and output.

The output may or may not be equal to the specified response by


the input.

Thus, the purpose of control system is regulate the system to


produce the desired output.
Types of Control System
 Broadly speaking, there are three major type of control
systems:
-Man made control system
- Natural control system
- Mixed (combination) control system
Man Made Control System
The system (technology) is created by human.
Example : electrical switch
Natural Control System
Also called biological control.
The type of control is available in nature.
Example : pointing a finger.

Input : precise direction of the object


Output : actual pointed direction
Mixed (Combination) Control System
The system is controlled by nature (human) through man-
made technology.
Example : driving a car
Application Examples
Type of Control System
 Two types : open loop and closed loop.
 Open loop : systems that utilizes a device to control the process without using
feedback.
 Closed loop : systems that uses a measurement of the output (usually a
sensor) and compares it with the desired input.
Open Loop System
Typical Open Loop Block Diagram
Example 1 : Kettle
Closed Loop System
Example Application of Closed-Loop System
Example : Air Conditioner Control
Example : Water Level System
Input and Output System
Sometimes, we might have one input and one output, but
there are cases where we might have multiple input and
multiple output.

The one (single) input and one (single) output is sometimes


called the SISO system.

On the other hand, the multiple input and multiple output is
sometimes called the MIMO system.
Example : SISO and MIMO system
Cont’d
Classes of Control Systems

We can also categorize a control system in two (2) classes:


servomechanism and regulators.

Servomechanism is a power amplifying feedback device in


which the controlled variable is a mechanical position or
time derivative of position such as velocity or acceleration.

A regulator is a system where the reference input is


constant for a long period of time.
Servomechanism
Cont’d
Cont’d
Example : Remote Antenna Positioning System
Example : Industrial Robot
Example : Regulators
Static System
 A static system is a deterministic system. The effects of inertia is ignored.

 Statics is branch of mechanics dealing with analysis of behavior (usually in


terms of displacements, strains, stresses and forces) of bodies (mechanical
systems, structures) while neglecting inertia effects. It is based on equilibrium
conditions and the quantity time plays no role in the analysis.

 For a static system, the output response to an input that does not change with
time i.e. the input is held constant. Mathematically:

 The output signal, y(t), at time t, depends on the value of input at time “t”.
Dynamic System
 Dynamics is a branch of mechanics where due emphasis is paid to inertial effects
as opposed to statics where such effects are ignored.

 A dynamic system may or may not be a deterministic and predictable system. It


is a system that evolve or change with respect to time.

 Generally, this particular system is described by differential equations.


Mathematically:

 The output signal y(t), at time t, depends on past values of the input.
Static vs Dynamic
 Consider Figures (a) and (b) below:

 For the resistor in Figure (a), the output e(t) is given as e(t)=R i(t). This output
depends only upon the input at that time so the resistor represents memory-less
or static system.
 In the case of the capacitor, the output is expressed as:

 It is evidently clear that a capacitor is a dynamic system. The output depends on


all past inputs.
Stable and Unstable System
 If a system is brought to any particular initial condition (or state) and its
response decays continuously to zero state, the system is said to be stable of a
particular kind called asymptotically stable.

 If a system grows out of bound without any limit, then the system is an
unstable system.
Linear vs Non-linear System
 Linear system is a type of system that satisfies the principle of superposition
and homogeneity.

 A non-linear system is not a linear system. Mathematically, it is a set of non-


linear equations where the variables to be solved cannot be written as a linear
combination of independent components.
Analysis of Control System
The main objective of a control system is to produce a
desired system, reducing errors and achieving system’s
stability.

What do we analyze in control system?


– Transient (temporary) response
– Steady-state response
– Stability
Transient Response
Also known as the natural response (remember differential
equations?) – it is the homogeneous solution.
 Example : consider an elevator going from the first floor to
the fourth floor.
If a transient response is:
– Too slow – passenger would be angry
– Too fast – you would be scared
Steady State Response
An approximation to the desired response.

It is also the response that exist for a long time following the
given input signal.

In the previous lift example, the steady state response is


when the lift is about to reach the fourth floor.

We will also examine the steady state error, which is how
accurately the system performs.
Output Response of Control System
Consider an example of an elevator going from the first floor
to the fourth floor.
The output of the elevator can be represented as follows (Nise,
2007)
Analogy
Stability
 It is a performance measure of a system.

 If a system is stable, then it should operate properly.

 An unstable system would lead to self-destruction or chaos. For example, in


flight control system, if it is unstable, it would crash.
 The total response of the system is given by:

 For a particular control system to be useful, we want the natural response to


either approach to zero or oscillate. Sometimes, the natural response will go out
of bound, hence the system would be unstable.
 We can use mathematical techniques to analyze and control the stability of a
particular control system.
Control System Design Process
The following are the steps as outlined by Nise(2007) in his
book:
Cont’d
An alternative version is provided by Dorf & Bishop in his
textbook:
Mathematical Modeling
 It uses mathematical language to describe a particular system.
 Why?

– Important to gain understanding and further insight to the system, hence


enabling us to perform analysis.

– Useful for prediction, formulation and simulation.

– Useful for estimation and prediction of unforeseeable event that could


somehow affect the system.
How to Start Modeling
Uses conservation laws – a set of principles describing
certain quantities within an isolated system that does not
change with time.

It is a preserved (conserved) quantity.

Among the aspects conserved : mass, momentums, energy,


charges etc.

Example : Kirchoff’s Voltage and Current Laws.


Control System Design Example
Cont’d
Cont’d
Cont’d

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