J

J J

W

K J
K J
K J
K J
K J J
K J J
K J J
K J J
K J J
K J
K J J
K J J
K J
EF K J J
K J J
K J
K J
K J

--

J J

W
W
K
K
K



K
EF
K
K

--

J J

Introduction J K J
EControl-SystemF
K
K K
J J JF
KE
K
K

W








KKK

K
W


KKKK


Transportation F
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J J

KEEnvironmentFEUrban PlanningFESystems
EComputersF
KERobotF

W(Common Control System's Components) K J

KWEInputF
KWEOutputF
EInputFWEErrorF
KKEOutputF
WEReferenceF
K

:(Illustrative Examples of Control Systems) K J
W

WE-F
E-F


K
K

EFK

--

J J

E1J1F


K
K K

WE2-1F

KE2-1F
K



FK
KE

K

--

J J

E2J1F


WE3-1F
EFEa3-1F
EF
K
K
EF

--

J J

Pneumatic valve Controller

Inflow

Outflow
(a)

Desired level Pneumatic Actual level
Controller Water tank
valve

Float

(b)

E3J1F


Eb3-1F

K

--

J J

WEFE4-1F

EF

Ea4-1F

EFEF

K Eb4-1FK

--

J J

Brain







(a)

E8J1F

Input Hand Output
Brain Hand
Muscle
EF

Eye

(b)

E4J1F

WE5-1F
ENumerical ControlFE5-1F
KENumbersF
KEF
KEReaderF

K

--

J J

EF
K

Frequency-modulated pulse
Tachometer


Reader Controller D-A Amp Motor
conv Cutter


P

Pulse D-A Feedback
conv


Tape
E5J1F

EAnalog to Digital ConverterF

EDigital to Analog ConverterF
K
K
WE6-1F

K

- -

J J

WE7-1F
K
E6-1F
Eblast furnaceF
F
KE

12
Top gas
Iron ore 3
4 Blast
Coke furnace
Limestone
Hot air Slag
Steam Pig iron
Oxygen
Oil

Command Computer
Command
Reference input

E6J1F


F
KE
K


K
- -

J J

K


K
K

K


KK

WE8-1F

E7-1F

PulsesK
J U a
EFK

K

Ua

E7J1F

- -

J J

WEFlow GraphFEBlock DiagramF K J

W

KK
K
Block Diagram K J J
elements



KBlock diagramK
blocks
signaloutputsignalinput

Ktransfer function

E8-1FK

X (s) G (s) Y(s)

E8J1F

- -

J J

W

Y(s) = G(s)X(s)
Y(s)
G(s) =
X(s)


K
K

K
K

K

Summing Element J

KE9-1FEF

- -

J J

X2(s) X1(s)

+ +

X3(s) - Y(s)
+

Xn(s)

E9J1F


W
Y(s) = X1 (s) + X 2 (s) X 3 (s) + ................ + X n (s)

Error Detector J

elementcomparing Ksignalfeedback

KE10-1F

- -

J J

R(s) + E(s)
-

C(s)

E10J1F


W

E(s) = R(s) C(s) (1 - 1)

Branch point J
C(s)
KE11-1F
K

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J J

C(s) C(s)

C(s)

E11J1F

Construction of Block Diagram K J J
K
W

K J
J
K
K J
J
K
J
K

Block Diagram Transformation K J J
Theorems

E1-3FK

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J J

H,X,Y,ZPK
KS

Equivalent Block
Transformation Equation Block Diagram
Diagram

Combining Blocks P2
1 Y = (P1P2)X X P1 Y X P1 P2 Y
in Cascade

Combining Blocks
In parallel; or + X Y
2 Y = P1 X P2 X X Y
Eliminating a P1 P1 P2
Forward Loop

X P1 + Y
Removing a block P2
3 From a Forward Y = P1 X P2 X P2 P2
Path

X P1 Y
Eliminating a + Y
4 Y = P1(X P2Y) X
Feedback loop P1 1 P1 P2

X 1 + Y
Removing a Block P2 P1P2
5 From a Feedback Y = P1(X P2Y) P2
Loop

E J F

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J J

Equivalent Block
Transformation Equation Block Diagram
Diagram

W Z W Z

Rearranging
6a Z=WXY X Y
Summing Points
Y X

W Z
W Z
Rearranging
Z=WXY
6b Summing Points X X

Y Y

Moving a Summing X Z
Z = PX Y X Z P
7 Point Ahead of a P

Block Y 1 Y
P

Moving a Summing Z X Z
X P
8 Point Beyond of a Z = P(X Y) P

Block Y Y
P

Moving a Takeoff
X Y
Point Ahead of a X Y P
9 Y = PX P
Block
Y Y
P

Moving a Takeoff Y X Y
X P
Point Beyond a Y = PX P
10
Block X
1
P

X Z
Moving a Takeoff X Z

Point Ahead of a Z
11 Z=XY Y
Summing point
Z
Y

X Z
X Z
Moving a Takeoff X
Y
12 Point Beyond a Z=XY
Summing point Y X

- -

J J

Signal Flow Graph K J J

K


K

Fundamental of Signal Flow Graph J


K


KE12-1FK

Input nodes
X4 (Source)
Mixed nodes
d

Input nodes Output nodes
(Source) a X2 b X3 1 (Sink)

X1 X3

E12J1F



K K
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J J

Masons rule

K
Basics of Signal Flow Graph J

K
K
KE13-1F

- -

J J

a
(a)
X1 X2

a b ab
(b) =
X1 X2 X1 X3

a
a+b
(c) X1 X2 =
X1 X2

a ac
X1 c X1
(d) = X4
X4
b bc
X2 X2

ab
1-bc
a X2 b X3 ab X3
(e) = =
X1 X1 X1 X3
c bc

E13J1F


WE13-1F
X 2 = aX1 Ea-F X 2 J
J
KEb-F
J
Ec-F
Ed-F J
WEe-F J

- -

J J

x 3 = bx 2 , x 2 = ax 1 + cx 3
x 3 = abx 1 + bcx 3 :
x 3 = [ ab /(1 bc ] x1 :

KE14-1F

R(s) C(s) G(s)

G(s)
R(s) R(s)

R(s) E(s) C(s) 1 G(s)

G(s)
R(s) E(s) C(s)

-H(s)

H(s)

N(s)
N(s)
1
R(s)
E(s) C(s) 1 G1(s) G2(s)
G1(s) G2(s) C(s)
R(s) E(s)

-H(s)

H(s)

KE14J1F


Mason's Rule For Signal Flow Graphs K J J
EF
K
W
1
P = Pk k
k
(2 - 1)

- -

J J

Pk = path gain of kth forward path

= determinant of graph

= JEFHEF
JEFHKKKKKK
1 La + Lb Lc Ld Le L f + ..........
a b ,c d ,e , f

W
La Z
a

Lb Lc Z
b ,c

Ld Le L f Z
d ,e , f

k k =

WE9-1F
K
K C ( s)
R( s)

H2

R(s) C(s)
G1 G2 G3

H1




- -

J J

-H2


R(s) 1 1 G1 G2 G3 1 C(s)

C(s)

H1

-1




W
P1 = G 1G 2 G 3
W
L1 = G 1G 2 H 1
L 2 = G 2 G 3 H 2
L 3 = G 1G 2 G 3
W

= 1 (L1 + L 2 + L 3 )

= 1 - G 1G 2 H 1 + G 2 G 3 H 2 + G 1G 2 G 3

1 P1
W
1 =1
W C ( s)
R( s)

- -

J J

C (s) P
=P= 1 1
R( s)
G 1G 2 G 3
=
1 - G 1G 2 H 1 + G 2 G 3 H 2 + G 1G 2 G 3


WE10-1F
K
G7
G6


G1 G2 G3 G4 G5
R(s) C(s)

-H1

-H2





W
W

P1 = G 1G 2 G 3 G 4 G 5
P2 = G 1G 6 G 4 G 5
P3 = G 1G 2 G 7

- -

J J

W

L 1 = G 4 H 1
L 2 = G 2 G 7 H 2

L 3 = G 6 G 4 G 5 H 2
L 4 = G 2 G 3 G 4 G 5 H 2

W L 2 L1

= 1 (L1 + L 2 + L 3 + L 4 ) + L1 L 2
W P1 1

Classification of Control Systems K J
open loop
Kclosed loop control system

Open Loop Control Systems K J J

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J J

Actuating signal

System
components
Input signal Output signal
(command) (controlled variable)

E15J1F



KE15-1F

K

Closed-loop Control K J J
K

K

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J J

Actuating signal
Controller

forward-path
E
k
+ System
Input signal Output signal
(command)
-

M
components
(controlled variable)

feedback-path
System
components

E16-1)

block diagramE16-1F
controller K
E
plant
EFK
K

K

operational amplifier
K
M
KplantEF
K

- -

J J

K J

J

K
J
K
K

K
K

K J
Block Diagram of a Closed-loop Control System
E17-1F
F C(s)
E
W

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J J

Summing point Branch point

R(s) E(s) C(s)

+ G(s)
- Output

C(s)

E17J1F



K
E F
H(s)
C(s) KE18-1F
W B(s)

B(s) = H(s)C(s) (3 - 1)

- -

J J

R(s) E(s) C(s)

+ G(s)
-
B(s)

H(s)

E18J1F


WE18-1F
Direct or forward transfer function J

C(s)
G(s) = (4 - 1)
E(s)

feedback transfer function J

B(s)
H(s) = (5 - 1)
C(s)
open-loop transfer function J

G(s)H(s) = B(s) (6 - 1)
E(s)

closed-loop transfer function J
E5-1F H(s) = 1 E18-1F

- -

J J

WE6-1F
C(s) = G(s)E(s)

E(s) = R(s) B(s) (7 - 1)

WE7-1FE2-1F

E(s) = R(s) H(s)C(s)
W
C(s) = G(s)E(s)
C(s) = G(s)[R(s) - H(s)C(s)
C(s) = G(s)R(s) - G(s)H(s)C(s)
C(s) + G(s)H(s)C(s) = G(s)R(s)
[1 + G(s)H(s)]C(s) = G(s)R(s)

W

C(s) = G(s)
(8 - 1)
R(s) 1 + G(s)H(s)

W

G(s)
C ( s) = R(s) (9 - 1)
1 + G(s)H(s)

K J
Closed-loop Control System Subjected to a disturbance
D(s)
R(s)E19-1F
WD(s)

- -

J J

ZR(s) J
KR(s)
D(s)
R(s)=0 J
KD(s)

Disturbance
N(s)

R(s) + C(s)
+ G1(s) + G2(s)
-

H(s)

19 1

C D (s ) KR(s) C R (s)
E11-1FE10-1F K D(sF
W
C n (s) G2 (s)
= (10 - 1)
N ( s ) 1 + G1 ( s ) G 2 ( s ) H ( s )

C R (s) G1 ( s )G 2 ( s )
= (11 - 1)
R( s) 1 + G1 ( s )G 2 ( s ) H ( s)

- -

J J

R(s)
W D(s)

C (s) = C R (s) + C N (s)
G 2 (s)
= [G1 ( s ) R ( s ) + N ( s )] (12 - 1)
1 + G1 ( s )G 2 ( s ) H ( s )




Reduction of Complicated Block K J
Diagrams

K
K E3-1F

E18-1F
KE3-1F

- -

J J

:E11-1F
K
G3

C

R
G1 G4 G2


H1

H2




W

G1 G4 = G1G4 W



G3


= G2+G3 W
G2





- -

J J

G1G 4
G1G4 = W
1 G1G 4 H 1


H1



W


W

R C R G1G 4 (G 2 + G3 ) C
G1G 4 =
G2+G3
1 G1G 4 H 1 1 G1G 4 H 1

H2 H2



W

- -

J J

WE12-1F

CR


K
R C
G1 G2 G3


R








:

C
G1G2 G3

()

- -

J J

R G1G 2 C
G3
1 G1G 2 H

()




R G1G 2 G3 C
1 G1G 2 H ( )



()
G1G 2 G3
1 G1G 2 H + G1G 2 G3



WEFEF

G 1G 2 G 3

C(s) = 1 G 1G 2 H
R(s) GG G
1+ 1 2 3
1 G 1G 2 H

WE1 G 1G 2 H F

G1G2 G3
C (s) =
R( s) 1 + G1G2 H + G1G2 G3

- -

J J

WE13-1F
KK


WE14-1F
K

Qi(s)
1 4
3 Qo(s)
1 1 1 1
C1 s R1 C2 s 5
R2
2
6




W
R2

Qi(s)
Qo(s)
1 1 1 1
C1 s R1 C2 s R2






R 2 C1 s
Qi(s)

Qo(s)
1 1 1 1
C1 s R1 C2 s R2
- -
2

J J

Qi(s)
Qo(s)
1 1
R1C1 s + 1 R2 C 2 s 1

R 2 C1 s



Qi(s) Qo(s)
1
R1C1 R2 C 2 s + ( R1C1 + R 2C 2 + R 2C1) s + 1



WE15-1F
K

D(s)
i o
G1 G2


(a)
:

i o`
G1G2

(b)

- -

J J

D(s)

o``
G2

G1

(c)


WE16-1F
K C
R

H2
R C
(a) G1 G2 G3



H1

- -

J J

:
H2
G1
R C
(b) G1 G2 G3


H1

H2
G1


R G1G 2 C
(c) G3
1 G1G 2 H 1

R G1G 2 G3 C
(d)
1 G1G 2 H 1 + G 2 G3 H 2

R G1G 2 G3 C
(e)
1 G1G 2 H 1 + G 2 G3 H 2 + G1G 2 G3

- -

J J

J
J
J
J
J
K J

(a) R(s) 10 C(s)

K0 1
s +1

K1
( s + 2)

K2
s+3

(b) R(s) G1(s) G2(s) C(s)

H1

H2

- -

J J

H2

(c) R(s) G1 G2 G3 C(s)

a

H1

J
K
H3
R(s) C(s
G1 G2 G3 G4

H1

H2

G5

K C ( s) J
R( s)

H5 H4
R C
G1 G2 G3 G4

H3

H2

H1

- -

J J

K C(s) J
R2(s R3(s

R1(s G1 G3 G4 C(s

G2 H2

H
1

R4(s)

K J

H2

R d G1 c G2 G3 C

H1
a

G4

J
W

- -

J J

Y(s) ,
Y(s)
,
E(s)
,
E(s)
R(s) N =0
N(s) R =0 R(s) N =0
N(s) R =0

N(s)
G1(s)

E(s)
R(s) G2(s) G3(s) Y(s)

H1(s)

K J
W
Y5 , YG
4
,4
Y2
,
Y5
Y1 Y1 Y1 Y2

1 G1 G2 G3 1
Y4 Y5
Y1 Y2 Y3
-H1 -H2 Y5

(a)

-H4
G4

1 G1 G2 G3 1
(b)
Y1 Y2 Y3 Y4
-H1 Y5 Y5
-H2
-H3

- -

J J

G4

1 G1 G2 G3 1
(c)
Y1 Y3 Y4 Y5
Y2 -H1 Y5
-H3
-H2
G4

1 G1 G2 G3 1
(d)
Y1 Y3 -H Y4 Y5
Y2 -H1 2 Y5

-H3

-H3


G4
G5
1 G1 G2 G3 1
(e)
Y1 Y2 Y3 -H Y4 -H2 Y5
1 Y5

-H3

- -