Fakulti Kejuruteraan Mekanikal

Universiti Teknologi MARA

KJM597
Control Systems
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Introduction into
Control Systems

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 Fakulti Kejuruteraan Mekanikal
Last few centuries Universiti Teknologi MARA

1769: James Watt’s steam

engine and governor
development.

The Watt steam engine is

often used to mark the
beginning of the Industrial
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Revolution in Great Britain.

During the Industrial

Revolution, Great Britain
strides were made in the
development of
mechanisation, a technology
preceding automation.

Aim:
to keep the steam engine
at constant speed
1769 - James Watt’s flyball governor
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 Fakulti Kejuruteraan Mekanikal
Last few centuries Universiti Teknologi MARA

Closes down
the steam valve
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Engine speeds up

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 Fakulti Kejuruteraan Mekanikal
Last few centuries Universiti Teknologi MARA

Opens up
the steam valve
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Engine slows down

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 Fakulti Kejuruteraan Mekanikal
Last few years Universiti Teknologi MARA

1997 - First ever autonomous RailCabs

rover vehicle “Sojourner” (NBP, LÜCKEL/TRÄCHTLER)
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Triplanar
(MLaP, LÜCKEL/TRÄCHTLER)

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Terms and Definitions
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA
System
A system is a combination of components
that act together to perform a certain
objective. A system is not limited to
physical ones.
Fakulti Kejuruteraan Mekanikal
Universiti Teknologi MARA
Plant
A plant is a piece of equipment, perhaps
just a set of machine parts functioning
together, the purpose of which to perform a
particular operation. Any physical object to
be controlled (such as heating furnace, a
chemical reactor etc) is called a plant.
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 Fakulti Kejuruteraan Mekanikal
Terms and Definitions Universiti Teknologi MARA
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Controlled variable Disturbances

Quantity or condition that is measured and A disturbance is a signal which tends to
controlled. adversely affect the value of the output of
the system. There are internal and external
Manipulated variable disturbances.
Quantity or condition that is varied by the
controller so as to affect the value of the
controlled variable.

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 Fakulti Kejuruteraan Mekanikal
Terms and Definitions Universiti Teknologi MARA

Feedback control
Feedback control is an operation which in
the presence of disturbances, tends to
reduce the difference between the output
of a system and the reference input and
which does so on the basis of the
difference.
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Process
A process can be defined as a natural,
progressively continuing operation or
development marked by a series of gradual
changes that succeed one another in a
relatively fixed way and lead towards a
particular result or end.

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Open Loop Control System Universiti Teknologi MARA

Open-loop control systems are control systems in which the

output has no effect upon the control action, i.e. the output is
neither measured nor fed back for comparison with the input.
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

E.g. washing machine

• Soaking, washing, and rinsing in the
washing machine are operated on a
time basis.
• The machine does not measure the
output signal, namely, the
cleanliness of the clothes.

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 Fakulti Kejuruteraan Mekanikal
Closed-Loop Control System Universiti Teknologi MARA

A system that maintains a prescribed relationship between the output and the
reference input is called a closed-loop system or a feedback control system.
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

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 Fakulti Kejuruteraan Mekanikal
Closed-Loop Control System Universiti Teknologi MARA
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

The system uses a measurement of the output and feedback

of the signal to compare it with the desired output.

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 Fakulti Kejuruteraan Mekanikal
Closed-Loop Control System Universiti Teknologi MARA

By comparing the input signal and the feedback signal,

the controller reduces the difference between the two signals
and brings the output of the system to a desired value.
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

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 Advantages and Disadvantages of Fakulti Kejuruteraan Mekanikal
Open-Loop Control Systems Universiti Teknologi MARA

Advantages Disadvantages
1. Simple construction and ease of 1. The system response very
maintenance. sensitive to external disturbance
and internal variations in system
2. Less expensive than a parameters.
corresponding closed-loop
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

control system 2. Recalibration is necessary from

time to time in order to maintain
3. There is no stability problem the required quality in the output

4. Convenient when output is hard

to measure or measuring the
output precisely is economically
not feasible.

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 Advantages and Disadvantages of Fakulti Kejuruteraan Mekanikal
Closed-Loop Control Systems Universiti Teknologi MARA

Advantages Disadvantages
1. Makes the system response 1. Risk instability
relatively insensitive to external
disturbance and internal 2. Complexity in analysis and
variations in system implementation and expensive
parameters.
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

2. Possible to use relatively

inaccurate and inexpensive
components to obtain the
accurate control of a given
plant.

3. Better control of transient &

steady-state response

4. Increased accuracy - Increased

ability to reproduce output with
varied input.

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 Fakulti Kejuruteraan Mekanikal
Recall the earlier example Universiti Teknologi MARA

In this speed control system,

plant (controlled system) = the engine

controlled variable = the speed of the

© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

engine

error signal = the difference between

the desired speed and
the actual speed

control signal = the amount of fuel to

be applied to the plant

disturbance = an unexpected change in

the load
1769 - James Watt’s flyball governer

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Mathematical Modeling of Dynamic Systems Universiti Teknologi MARA

Dynamic systems (mechanical, electrical, thermal, etc) can be

characterized by differential equations.
The response of a dynamic system to an input may be obtained if
these differential equations are solved.
The equations can be obtained by utilizing physical laws governing a
particular system, e.g. Newton’s law of motion for mechanical
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

systems.

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 Fakulti Kejuruteraan Mekanikal
Mathematical Modeling of Dynamic Systems Universiti Teknologi MARA

The first step in the analysis of a dynamic system is to derive its

mathematical model.
Deriving a reasonable mathematical model is the most important part
of the entire analysis.
Once the mathematical model of a system is obtained, various
analytical and computer tools can be used for analysis and synthesis
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

purposes.
In general, in solving a new problem, we find it desirable first to build a
simplified model so that we can get a general feeling for the solution.
A more complete mathematical model may then be built and used for a
more complete analysis.

A nth-order differential equation describing the input-output relation of a linear time-

invariant system.

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Linear Systems Universiti Teknologi MARA

• Linear systems are ones in which the equations of the

model are linear.

• A differential equations is linear if the coefficients are

constants or functions of the independent variable.
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

• The most important property of linear systems is that the

principle of superposition is applicable.

• The principle of superposition states that the response

produced by the simultaneous application of two different
forcing forces is the sum of the two individual responses.

• In another word, the total effect on any output due to all

the inputs acting simultaneously is obtained by adding up
the outputs due to each input acting alone.

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 Mathematical Modeling of Mechanical Systems Fakulti Kejuruteraan Mekanikal
Mass, Spring and Damper system Universiti Teknologi MARA
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

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 Mathematical Modeling of Mechanical Systems Fakulti Kejuruteraan Mekanikal
Mass, Spring and Damper system Universiti Teknologi MARA
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

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 Mathematical Modeling of Electrical Systems Fakulti Kejuruteraan Mekanikal
Capacitors, Resistors and Inductors Universiti Teknologi MARA
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

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 Mathematical Modeling of Mechanical Systems Fakulti Kejuruteraan Mekanikal
Mass, Spring and Damper system Universiti Teknologi MARA
© Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

Using Newton’s law:

Taking Laplace transform, assuming zero initial conditions

Transfer function :

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 © Dr.-Ing. C.Y. Low, Faculty of Mechanical Engineering, Universiti Teknologi MARA

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