Control Systems

1
 Recommended References
1. Modern Control Engineering, (5th
Edition)
By: Katsuhiko Ogata.
Mechanical Engineering
University of Minnesota

2. Control Systems Engineering, (6th

Edition)
By: Norman S. Nise.
Electrical and Computer Engineering
Department at California State
Polytechnic University 2
Introduction
to control
systems

3
Classical Control Modern Control
• System Modelling • State Space Modelling
• Transfer Function • Eigenvalue Analysis
• Block Diagrams • Observability and Controllability
• Signal Flow Graphs • Solution of State Equations (state
• System Analysis Transition Matrix)
• Time Domain Analysis • State Space to Transfer Function
• Frequency Domain Analysis • Transfer Function to State Space
• Bode Plots, Nyquist Plots, Nichol’s • Direct Decomposition of Transfer
Chart Function
• Root Locus • Cascade Decomposition of Transfer
• System Design Function
• Compensation Techniques • Parallel Decomposition of Transfer
• PID Control Function
• State Space Design Techniques
4
 Requirements

 For Classical Control Theory:

 Differential Equations
 Laplace Transform
 Basic Physics
 Ordinary and Semi-logarithimic graphs
 For Modern Control theory:
 Linear Algebra
 Matrices

5
 What is the Control System?
 A system Controlling the operation of another
system.

 A system that can regulate itself and another

system.

 A control System is a device, or set of devices to

manage, command, direct or regulate the behaviour
of other device(s) or system(s).

6
Definitions
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.

Input Process Output

7
Definitions
Controlled Variable– It is the quantity or condition that
is measured and controlled. Normally, controlled
variable is the output of the control system.

Manipulated Variable– It is the quantity of the

condition that is varied by the controller so as to affect
the value of controlled variable.

Control – Control means measuring the value of

controlled variable of the system and applying the
manipulated variable to the system to correct or limit
the deviation of the measured value from a desired
value.
8
Definitions
Manipulated Variable

Input
or Output
Set point Controll Proces
Or
or er s Controlled Variable
reference

Disturbances– A disturbance is a signal that tends to

adversely affect the value of the system. It is an
unwanted input of the system.
• If a disturbance is generated within the
system, it is called internal disturbance. While an
external disturbance is generated outside the
system. 9
Types of Control Systems

 Natural Control System

 Universe
 Human Body

10
Types of Control Systems
 Manmade Control Systems:
 Aeroplanes
 Chemical Process

11
Types of Control System

 Manual Control Systems

 Room Temperature regulation Via Electric Fan
 Water Level Control

 Automatic Control System

 Home Water Heating Systems (Geysers)
 Room Temperature regulation Via A.C
 Human Body Temperature Control

12
 Types of Control System
Open-Loop Control
Systems
Open-Loop Control Systems utilize a controller or
control actuator to obtain the desired response.
• Output has no effect on the control action.
• In other words output is neither measured nor fed
back.
Input Output
Controll Proces
er s

Examples:- Washing Machine, Toaster, Electric Fan,

microwave oven, 13 e.t.c
 Types of Control System
Open-Loop Control
Systems
• Since in open loop control systems reference input
is not compared with measured output, for each
reference input there is fixed operating condition.
Therefore, the accuracy of the system depends on
calibration.

• The performance of open loop system is severely

affected by the presence of disturbances, or
variation in operating/ environmental conditions.

14
The major advantages of open-loop
control systems
1. Simple construction and ease of maintenance.

2. Less expensive than a corresponding closed-

loop system.

3. There is no stability problem.

4. Convenient when output is hard to measure or

measuring the output is economically not
feasible. (For example, in the washer system, it
would be quite expensive to provide a device to
measure the quality of the washer's output,
cleanliness of the clothes.)
15
 Types of Control System
Closed-Loop Control
Systems
Closed-Loop Control Systems utilizes feedback to
compare the actual output to the desired output
response.
Input Controll Output
Comparator Process
er

Measurement

Examples:- Refrigerator, Electric Iron, Air

conditioner
16
 Closed-Loop versus Open-Loop
Control Systems
 The open loop control system is easier to build because
system stability is not a major problem. On the other
hand, stability is a major problem in the closed-loop
control system.

 An advantage of the closed-loop control system is the

use of feedback makes the system response relatively
insensitive to external disturbances and internal
variations in system parameters. It is thus possible to use
relatively inaccurate and inexpensive components to
obtain the accurate control of a given plant(system),
whereas doing so is impossible in the open-loop case.

17
 Closed-Loop versus Open-Loop
Control Systems
 Closed-loop control systems have advantages only when
unpredictable disturbances and/or unpredictable variations
in system components are present.

 The number of components used in a closed-loop control

system is more than that for a corresponding open-loop
control system.

 Thus, the closed-loop control system is generally higher in

cost and power.

18
 Types of Control System
Multivariable Control System
Outputs
Temp Controll
Humidity Comparator Process
Pressure er

Measuremen
ts

19
 Types of Control System
Feedback Control System

• A system that maintains a prescribed relationship

between the output and some reference input by
comparing them and using the difference (i.e. error) as a
means of control is called a feedback control system.

Input + error Controll Output

Process
- er

Feedback

• Feedback can be positive or negative.

20
 Types of Control System
Servo System

• A Servo System (or servomechanism) is a feedback

control system in which the output is some mechanical
position, velocity or acceleration.

Antenna Positioning System Modular Servo System (MS150)

21
 Types of Control System
Linear Vs Nonlinear Control System

• A Control System in which output varies linearly with the

input is called a linear control system.

u(t) Process y(t)

y(t )   2u(t )  1 y(t ) 3u(t )  5

y=3*u(t)+5
y=-2*u(t)+1
35
5

30
0
25
-5

y(t)
20
y(t)

-10
15

-15
10

-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t) 22
u(t)
 Types of Control System
Linear Vs Nonlinear Control System

• When the input and output has nonlinear relationship the

system is said to be nonlinear.

Adhesion Characteristics of Road

0.4
Adhesion Coefficient

0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08
Creep
23
 Types of Control System
Time invariant vs Time variant

• When the characteristics of the system do not depend

upon time itself then the system is called time
invariant control system.

y(t )   2u(t )  1

• Time varying control system is a system in which

one or more parameters vary with time.

y(t )  2u(t )  3t

24
 Types of Control System
Continuous Data Vs Discrete Data System

• In continuous data control system all system variables are

function of a continuous time t.
x(t)

• A discrete time control system involves one or more

variables that are known only at discrete time intervals.
X[n]

25
n
 Types of Control System
Deterministic vs Stochastic Control System

• A control System is deterministic if the response to input

is predictable and repeatable.
x(t) y(t)

t t

• If not, the control system is a stochastic control system

z(t)

26 t
 Classification of Control Systems

LT
I
Control Systems

Co
nt
ro
lS
ys
Natural Man-made

te
m
s(
Li n
Automatic

ea
Manual

r ti m
e
in
Open-loop Closed-loop

va
ri a
nt
co
Non-linear linear

n
Non-linear

tro
linear

ls
ys
te
Time variant
Time invariant

m
Time variantTime invariant

s)
27
Examples of Control Systems
Water-level float regulator

28
Examples of Control Systems

29
Examples of Modern Control Systems

30