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INTRODUCTION
TO CONTROL
SYSTEMS
BY: ENGR. SARAH JANE E. DELGADO
COURSE INSTRUCTOR
LEARNING OBJECTIVES 2
CONTROL
• To direct the actions or function of (something) : to
cause (something) to act or function in a certain
way.
• A word usually taken to mean regulate, direct or
command.
SYSTEM
• A group of parts combined to form a whole that
works or moves as a unit
• A group of body organs or structures that together
perform one or more vital functions
CONTROL SYSTEM DEFINITION 4
CONTROL SYSTEM
• A control system consists of subsystems
and processes (or plants) assembled
for the purpose of obtaining a desired
output with desired performance,
given a specified input.
• An arrangement of physical
components connected or related in
such a manner as to command, direct
or regulate itself or another system.
• In its simplest form, a control system
provides an output or response for a
given input or stimulus.
CONTROL SYSTEM DEFINITION 5
CONTROL SYSTEM
CONTROL SYSTEMS
We build control systems for four primary
reasons:
Power Amplification
Remote Control
Convenience of input form
Compensation for disturbances
POWER AMPLIFICATION 9
FORM
Control systems can also be used to
provide convenience by changing the
form of the input. For example, a
temperature control system, the input is
position on a thermostat. The output is
heat. Thus, a convenient position input
yields a desired thermal output.
COMPENSATION FOR 12
DISTURBANCES
Typically, we control such variables as
temperature in thermal systems, position
and velocity in mechanical systems, and
voltage, current, or frequency in
electrical systems. The system must be
able to yield the correct output eve with
a disturbance.
HISTORY OF CONTROL 13
SYSTEMS
a) Liquid-Level Control
b) Steam Pressure and Temperature Control
c) Speed Control
d) Stability, Stabilization and Steering
e) Twentieth-Century Developments
f) Contemporary Applications
a. LIQUID-LEVEL CONTROL 14
TEMPERATURE CONTROL
Regulation of steam pressure began
around 1681 with Denis Papin’s invention
of safety valve.
In 17th Century, Cornelis Drebbel in
Holland invented a purely mechanical
temperature control system for hatching
eggs.
c. SPEED CONTROL 16
AND STEERING
In 1868, James Clerk Maxwell published the stability
criterion for a third-order system based on the
coefficients of the differential equations.
In 1874, Edward John Routh, using a suggestion from
William Kingdon Clifford that was ignored earlier by
Maxwell, was able to extend the stability criterion to
fifth-order systems.
In 1877, the topic for the Adam’s Prize was “The
Criterion of Dynamical Stability.” Routh submitted a
paper entitled A Treatise on the Stability of a Given
State of Motion and won the prize. (Routh-Hurwitz
criterion for stability)
d. STABILITY, STABILIZATION 18
AND STEERING
Alexander Michailovich Lyapunov, extended the
work of Routh to nonlinear systems in his 1982
doctoral thesis, entitled The General Problem of
Stability of Motion.
In 1874, Henry Bessemer, using a gyro to sense a
ship’s motion and applying power generated by the
ship’s hydraulic system, moved the ship’s saloon to
keep it stable.
Other efforts were made to stabilize platforms for
guns as well as to stabilize entire ships, using
pendulum to sense the motion.
e. 20
CENTURY
TH 19
DEVELOPMENTS
In early 1900s automatic steering of ships was
achieved.
In 1922, the Sperry Gyroscope Company installed
an automatic steering system that used the
elements of compensation and adaptive control
to improve performance.
Nicholas Minorsky, a Russian born in 1885,
developed the theory applied to the automatic
steering of ships that led to what we call today
proportional-plus-integral-plus derivative (PID), or
three-mode controllers.
e. 20
CENTURY
TH 20
DEVELOPMENTS
In the late 1920’s and early 1930’s, H.W. Bode and
H. Nyquist at Bell Telephone Laboratories
developed the analysis of feedback amplifiers.
In 1948, Walter R. Evans , developed a graphical
technique to plot the roots of a characteristic
equation of a feedback system whose
parameters changed over a particular range of
values.
This technique, now known as the root locus,
takes its place with the work of Bode and Nyquist
in forming the foundation of linear control systems
analysis and design theory.
f. CONTEMPORARY 21
APPLICATIONS
Control systems applications today is in the
guidance, navigation, and control of missiles and
spacecraft, as well as planes and ships at sea.
Process control industry, regulating liquid-levels in
tanks, chemical concentration in vats, as well as
the thickness of the fabricated material.
Modern developments have seen widespread
use of digital computer as part of control systems.
The space shuttle contains numerous control
systems operated by an on-board computer on a
time-shared basis.
Control systems are also used at home, e.g. home
heating system, home entertainment system
SYSTEM CONFIGURATIONS 22
Open-Loop Systems
Open-Loop Systems
Functional Block Diagram
Physical Arrangement
Input Output
Controller Motor Powering
Device
SYSTEM CONFIGURATIONS: 24
Open-Loop Systems
INPUT – sometimes called the reference. It is the stimulus,
excitation, or command applied to a control system,
typically from an external source, usually in order to
produce a specified response from the control system.
INPUT TRANSDUCERS – a subsystem which converts the
form of the input to that used by the controller.
CONTROLLER – drives the process or a plant.
PLANTS - It may be a piece of equipment, perhaps just a
set of machine functioning together, the purpose of
which is to perform a particular operation. It is a system
to be controlled.
SYSTEM CONFIGURATIONS: 25
Open-Loop Systems
DISTURBANCES - A signal that tends to
adversely affect the value of the output of a
system.
SUMMING JUNCTIONS – yield the algebraic
sum of their input signals using associated
signs.
OUTPUT – sometimes called as the controlled
variable. It is the actual response obtained
from the control system. It may or may not
be equal to the specified response implied
by the input.
SYSTEM CONFIGURATIONS: 26
Open-Loop Systems
The distinguishing characteristic of an
open-loop system is that it cannot
compensate for any disturbances that
add to the controller’s driving signal.
They do not correct for disturbances
and are simply commanded by the
input.
The control action is independent of
the output.
SYSTEM CONFIGURATIONS: 27
Open-Loop Systems
2 Outstanding Features
1. Their ability to perform accurately is
determined by their calibration. To
calibrate means to establish or
reestablish the input-output relation to
obtain a desired system accuracy.
2. They are not usually troubled with
problems of instability.
SYSTEM CONFIGURATIONS: 28
Open-Loop Systems
EXAMPLE OF OPEN-LOOP CONTROL SYSTEM
Most automatic toasters are open-loop systems
because they are controlled by a timer. The time
required to make “good toast” must be estimated
by the user, who is not part of the system. Control
over the quality of toast (the output) is removed
once the time, which is both the input and the
control action, has been set. The time is typically set
by means of a calibrated dial or switch.
SYSTEM CONFIGURATIONS: 29
Closed-Loop (Feedback Control) Systems
Feedback Element
Physical Arrangement
Input Output
Error Detector Controller Powering Device
FEEDBACK
It is the property of a closed loop system which
permits the output (or some other controlled
variable) to be compared with the input to the
system (or an input to some other internally
situated component or subsystem) so that the
appropriate control action may be performed as
some function of the output and input.
GENERAL CLASSIFICATION OF CONTROL SYSTEM
32
Characteristics of Feedback
1. Increased accuracy.
2. Tendency toward oscillation or instability.
3. Reduced sensitivity of the ratio of output to input to
variations in system parameters and other
characteristics.
4. Reduced effects of nonlinearities.
5. Reduced effects of external disturbances or noise.
6. Increased bandwidth. The bandwidth of the system is a
frequency response measure of how well the system
responds to (or filters) variations (or frequencies) in the
input signal.
SYSTEM CONFIGURATIONS: 33
Closed-Loop (Feedback Control) Systems
EXAMPLE OF CLOSED-LOOP CONTROL SYSTEM
An autopilot mechanism and the airplane it
controls is a closed-loop (feedback) control system.
Its purpose is to maintain a specified airplane
heading, despite atmospheric changes. It performs
this task by continuously measuring the actual
airplane heading, and automatically adjusting the
airplane control surfaces (rudder, ailerons, etc.) as
to bring the actual airplane heading into
correspondence with the specified heading. The
human pilot or operator who presets the autopilot is
not part of the control system.
SYSTEM CONFIGURATIONS: 34
Computer-controlled Systems
In this system the controller or the compensator is a
digital computer.
ADVANTAGES
Many loops can be controlled or compensated by
the same computer through time sharing.
Any adjustments made to yield a desired response
can be made by changes in software rather that
hardware.
Computer can also perform supervisory function.
EXAMPLES OF CONTROL SYSTEMS 35
Pulleys
Cords
Stopper
Container
Water
Stopcock
Ball Float
EXAMPLES OF CONTROL SYSTEMS
40
OPERATION
Lamp
Window
Receptacles
EXAMPLES OF CONTROL SYSTEMS 43
OPERATION
CHALLENGER
SEATWORK 1
How are the following open-loop systems calibrated:
ANALYSIS
- is the process by which a system’s performance
is determined. For example, we evaluate its transient
response and steady-state error to determine if they
meet the desired specifications.
- It is the investigation of the properties of an
existing system.
ANALYSIS AND DESIGN 49
OBJECTIVES
DESIGN
- The process by which a system’s performance is
created or changed. For example, if a system’s
transient response and steady-state error are
analyzed and found not to meet the specifications,
then we change the parameters or add additional
components to meet the specifications.
- It is the choice and arrangement of system
components to perform a specific task.
ANALYSIS AND DESIGN 50
OBJECTIVES
Design by Analysis
It is accomplished by modifying the
characteristics of an existing or standard
system configuration.
Design by Synthesis
It is by defining the form of the system
directly from its specifications.
ANALYSIS AND DESIGN 51
OBJECTIVES
A control system is dynamic: it responds to an input by
undergoing a transient response before reaching a
steady-state-response that generally resembles the input.
Step 1:
Determine a Step 3:
Step 2:
physical system Transform the
Draw a functional
and specifications physical system
block diagram.
from the into a schematic.
requirements.
Step 4:
Step 6: Step 5:
Use the schematic
Analyze, and test If multiple blocks,
to obtain a block
to see that reduce the block
diagram to a single
diagram, signal-
requirements and
block or closed- flow diagram, or
specifications are
loop system. state-space
met.
representation.
THE DESIGN PROCESS 60