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Course Assessment
Linear Control System • Lecture 3 hours per week
ECE 172 Number of units 3

• Final Examination 30%

• Second Exam 25%
Lecturer: Stephen Haim
• First Exam 20%
Class Website: schoology.com • Mini Project 15%
Access Code • Assignment/Quiz 10 %
9CNH4-FC3GB

Course Aims Topics

The aims of the course are to: • Introduction to Control Systems
(i) develop an understanding of the principles and uses of • Modeling in Frequency Domain
feedback control systems through existing example systems.
• Modeling in the Time Domain
(ii) provide an understanding of the following key concepts: • Time Response
Control systems design methodology • Reduction of Multiple Subsystems
– Analytical and numerical techniques in designing and analyzing
control system models • Stability
– Linear control systems analysis used in control engineering, • Steady-State Errors
signal processing and communication
– Application of system analysis and problem solving skills to • Root Locus
other branches of engineering. • Frequency Response

Text Book References What is a Control System ?

• Dorf, Richard C., Bishop, Robert H., “Modern
Control Systems”, Pearson, Twelfth Edition, 2011
• A device or a set of devices
• Nise , Norman S. , “Control Systems Engineering”,
John Wiley and Sons , 6th Edition, 2011. • Manages, commands, directs or
• Kuo B.C., "Automatic Control Systems", Prentice regulates the behavior of other
Hall, 9th Edition, 2010 devices or systems.
• Ogata, K, "Modern Control Engineering"Prentice
Hall, 5th Edition, 2010

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What is a Control System ? (contd….) Performance

Process (Plant) to be controlled

Definitions 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
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.

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Definitions Types of Control System

Manipulated Variable

Input • Natural Control System

or Output
Set point Controller Process Or – Universe
or Controlled Variable
reference – Human Body

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.

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Types of Control System Types of Control System

• Manmade Control System • Manual Control Systems
– Aeroplanes – Room Temperature
regulation Via Electric Fan
– Chemical Process
– Water Level Control

• Automatic Control System

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

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Primary Reasons We Build Classification of Control Systems

Control Systems Control systems are often classified as
• Open-loop Control System
1. Power amplification
• Closed-Loop Control Systems
2. Remote Control
3. Convenience of input Also called Feedback or
form Automatic Control System
4. Compensation for
disturbances

Types of Control System 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.
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.

Input Output • The performance of open loop system is severely affected by the
Controller Process presence of disturbances, or variation in operating/
environmental conditions.

Examples:- Washing Machine, Toaster, Electric Fan, microwave oven,

e.t.c 17 18

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Open Loop Control System Open-Loop Speed Control of Rotating Disk

• Advantages
– Simple and economic
– No Stability
• Disadvantages
– Inaccurate
– Unrealizable
– Affected by system parameter variation and
external noise

For example, ceiling or table fan control

Types of Control System

What is Feedback? Closed-Loop Control Systems

Feedback is a process whereby some Closed-Loop Control Systems utilizes feedback to compare the actual
proportion of the output signal of a output to the desired output response.
system is passed (fed back) to the input.
Input
This is often used to control the dynamic Comparator Controller Process
Output

behavior of the System

Measurement

Examples:- Refrigerator, Electric Iron, Air conditioner

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Types of Control System

Closed-Loop Control System Multivariable Control System

Outputs
• Advantages Temp
Humidity Comparator Controller Process
Pressure
– Accurate and reliable
– Reduced effect of parameter variation Measurements
– Reduced the effect of non-linearity
• Disadvantages
– The system is complex and costly
– Reduced the gain with negative feedback

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Types of Control System Example of Closed-Loop Control

Feedback Control System System
• A system that maintains a prescribed relationship between the output
and some reference input by comparing them and using the difference
Controller:
(i.e. error) as a means of control is called a feedback control system. Driver
Actuator:
Input +
-
error
Controller Process Output Steering
Mechanism
Feedback
 The driver uses the difference
between the actual and the desired
• Feedback can be positive or negative.
direction to generate a controlled
adjustment of the steering wheel
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Closed-Loop Speed Control of Rotating Disk 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)

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Types of Control System

Linear Vs Nonlinear Control System
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.
• When the input and output has nonlinear relationship the system is said
to be nonlinear.
u(t) Process y(t)

Adhesion Characteristics of Road

y(t )  2u(t )  1 y(t )  3u(t )  5
0.4
y=3*u(t)+5
y=-2*u(t)+1
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Adhesion Coefficient

5
0.3
30
0
25 0.2
-5
y(t)
y(t)

20
-10 0.1
15

-15
10 0
0 0.02 0.04 0.06 0.08
-20 Creep
0 2 4 6 8 10 5
0 2 4 6 8 10
u(t) u(t) 29 30