ECE 3151 - Spring 2010

Introduction to Control Systems

Prof. Marian S. Stachowicz
Laboratory for Intelligent Systems
ECE Department, University of Minnesota
Duluth

January 19 - 21, 2010

Outline
1.1 Introduction
1.2 References for Reading
1.3 History of Automatic Control
1.4 Terms and Concepts
1.5 The Control System Design Process
1.6 Applications
1.7 Three Examples of the Use of Feedback
Control Systems

Introduction

Control
The word control is usually taken to
mean :
- regulate,
- direct,
- command.

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Control and politicians

Control is a sequence of decisions aimed
at the attainment of specified objectives
in an environment of uncertainty and
presence of disturbances.

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Control system
A control system is an arrangement of
physical components connected or
related in such a manner as to
command, direct, or regulate itself or
another system.

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Control Systems

Input
The input is the stimulus, excitation or
command applied to a control system.
Typically from external energy source,
usually in order to produce a specified
response from the control system.

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Output
The output is the actual response
obtained from a control system.
It may or may not be equal to specified
response implied by the input.

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References for reading

1.

R.C. Dorf and R.H. Bishop, Modern Control Systems,

10th Edition, Prentice Hall, 2008,
Chapter 1.1 - 1.10

2.

J.J. DiStefano, A. R. Stubberud, I. J. Williams,

Feeedback and Control Systems, Schaum's Outline
Series, McGraw-Hill, Inc., 1990
Chapters 1, 2

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History of Automatic Control

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Prior to World War II

A main impetus for the use of feedback in
the United States was the development of
the telephone system and electronic
feedback amplifiers by Bode, Nyquist,
and Black at Bell Telephone Laboratories.

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Prior to World War II

The Russian theory tended to utilize a
time-domain formulation using differential
equations.

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World War II
Design and construct:
automatic airplane pilots,
gun-positioning systems,
radar antenna control systems.

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Sputnik and space age

The time-domain methods developed
by Liapunov, Minorsky, and others
have met with great interest in the
last two decades.

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Resent time
Recent theories of optimal control
developed by L.S. Pontryagin in the
former Soviet Union and R. Bellman
in the United States, and studies of
robust systems, have contributed to
the interest in time-domain methods.

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Terms and Concepts

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Control system
A control system is an interconnection of
components forming a system configuration
that will provide a desired system response.

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Two Types of Control Systems

Closed Loop

Open Loop
No feedback
Difficult to control
output with accuracy

Must have feedback

Must have sensor on
output
Almost always negative
feedback

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Open-loop control
An open-loop control system utilizes an
actuating device to control the process
directly without using feedback.
A common example of an open-loop
control system is an electric toaster in the
kitchen.

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Control Systems

Closed-loop control

A closed-loop control system uses a

measurement of the output and feedback
of this signal to compare it with the
desired output.

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Control Systems

A person steering an automobile by looking at

the autos location on the road and making the
appropriate adjustments.

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Control Systems

Manual control system

Goal: Regulate the level of fluid by adjusting the output valve.

The input is a reference level of fluid and is memorized by
operator.
The power amplifier is the operator.
The sensor is visual.
Operator compares the actual level with the desired level and
opens or closes the valve ( actuator).
Intelligent Control

26

The level of fluid in a tank control.

Intelligent Control

27

Multivariable control system

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Control Systems

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Control system of the national income.

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A robot is a computer-controlled
machine.

Industrial robotics is a particular

field of automation in which the
robot is designed to substitute
for human labor.

The Honda P3 humanoid robot.

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 Automation - The control of a process by

automatic means.
Closed-loop feedback control system A system that uses a measurement of the
output and compares it with the desired
output.

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Design-The process of conceiving or inventing

the forms, parts, and details of a system to
achieve a specified purpose.
Feedback signal - A measure of the output of
the system used for feedback to control the
system.
Multivariable control system - A system with
more than one input variable or more than
one output variable.
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Negative feedback -The output signal is fed back

so that it subtracts from the input signal.
Open-loop control system - A system that utilizes
a device to control the process without using
feedback.
Optimization -The adjustment of the parameters
to achieve the most favorable or advantageous
design.
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Positive feedback -The output signal is fed

back so that it adds to the input signal.
Process -The device, plant, or system under
control.
Productivity -The ratio of physical output to
physical input of an industrial process.
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Robot - Programmable computers integrated with

a manipulator.
Synthesis - The combining of separate elements
or devices to form a coherent whole.
System - An interconnection of elements and
devices for a desired purpose.
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The Control System Design Process

Engineering design
Design is the process of conceiving or
inventing the forms, parts, and details of
a system to achieve a specified purpose.

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Engineering design

Trade-off
The result of making a judgment
about how to compromise between
conflicting criteria.

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Control system engineers are concerned

with understanding and controlling
segments of their environment, often
called systems, to provide useful
economic products.

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Goals
Twin goals of understanding and
controlling are complementary because
effective systems control requires that
the systems be understood and modeled.

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Control engineering
Control engineering is based on the
foundations of feedback theory and
linear system analysis, and it
integrates the concepts of network
theory and communication theory.

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Given a process, how to design a

feedback control system?
Three steps:
Modeling. Obtain mathematical description of the systems.
Analysis. Analyze the properties of the system.
Design. Given a plant, design a controller based on
performance specifications.
The course spans each of these steps in that sequence.
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The basis for analysis of a system is

the foundation provided by linear
system theory, which assumes a
cause-effect relationship for the
components of a system.

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Control Systems

Design examples

Rotating disk speed control

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Step 1. Control goal

Design a system that will held a rotating

disk at a constant speed. Ensure that
the actual speed of rotation is within a
specified percentage of desired speed.

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Step 2. Variable to be controlled

Speed of rotation disc

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Step 3. Control design specification

Design a system that will ensure that

the actual speed of rotation is within a
specified percentage of desired speed.

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Step 4 Preliminary system configuration

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Step 4 Preliminary system configuration

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With precision components, we could expect

to reduce the error of the feedback system to
one-hundredth of error of the open-loop system.

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Insulin delivery system

The blood glucose and insulin concentrations for a healthy person.

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Step 1. Control goal

Design a system to regulate the blood

sugar concentration of a diabetic by
controlled dispensing of insulin.

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Step 2. Variable to be controlled

Blood glucose concentration

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Step 3. Control design specification

Provide a blood glucose level for the

diabetic that closely approximates
the glucose level of a healthy person.

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Step 4 Preliminary system configurations

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A drug-delivery system implanted in the body

uses an open-loop system, since miniaturized
glucose sensors are not yet available.

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Disk drive read system

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Step 1. Control goal

Design a system that will held the position

the reader head to read the data stored on
a track on the disk.

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Step 2. Variable to be controlled

Position of the reader head

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Step 3. Control design specification

Design a system that will ensure that

the head :
- flies above the disk at a distance of
less than 100 nm,
- with the position accuracy is 1 m,
- with speed from track to track 50 ms
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Step 4 Preliminary system configuration

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E 1: Controlling the position of a missile

launcher from a remote location
The input is the desired angular position of
the missile launcher,
The control system consists:
of potentiometer,
power amplifier,
motor,
gearing between the motor and the missile
launcher,
missile launcher.
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A position open loop control

The input is the desired angular position of the missile launcher,

and the control system consists of potentiometer, power
amplifier, motor, gearing between the motor and missile
launcher, and missile launcher.
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A position closed loop control

Should an error exists, it is amplified and applied

to a motor drive which adjusts the output-shaft
position until it agrees with the input-shaft
position, and the error is zero.
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P1.2 Manual control system

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Fluid-flow control
P1.2
In the past, control systems used a
human operator as part of a closed-loop
control system. Sketch the block diagram of
the valve control system shown in Fig. P1.2

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P1.3 Chemical composition control

Complete the control feedback loop,
and sketch a block diagram describing
the operation of the control loop.

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Control Systems

P1.8 Student-teacher learning process

Construct a feedback model of the learning
process and identify each block of the system.

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Inverted pendulum control

E1.11 Sketch the block diagram of a
feedback control system. Identify the
process, sensor, actuator, and controller.
The objective is keep the pendulum in
the upright position ( = 0), in the
presence of disturbances.

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Control Systems

Applications
Control engineering is not limited to any
engineering discipline but is equally applicable to:
aeronautical,
chemical,
mechanical,
computer science and engineering ,
civil engineering,
electrical engineering.
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Mechatronic systems

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Questions ?

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The design of control systems is a specific

example of engineering design.
The goal of control engineering design is to
obtain the configuration, specifications, and
identification of the key parameters of a
proposed system to meet an actual need.

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The design process consists of seven main

building blocks, which are arrange into three
groups:
1.Establishment of goals and variables to be
controlled, and definition of specifications
against which to measure performance
2.System definition and modeling
3.Control system design and integrated system
simulation and analysis
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Control Systems

Design 1

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Design 2

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Design 3

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Open-loop and closed-loop systems