Addis Ababa Science &

Technology University

College of Electrical & Mechanical

Engineering

Department of Electrical & Computer Engineering

Introduction to Control Systems

Biruk T.
- The Main Objective of the Course
The Student to understand about
➢ The Basic Concept of Control Systems,
➢ Mathematical modeling of physical System,
➢ Characteristics of Feedback Control System,
➢ Time Domain Response Analysis of Control System,
➢ Stability Analysis of Linear Systems,
➢ Control System Design
➢ The application of MATLAB and Simulink in Control
system analysis

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 History of Control System
• Liquid-Level Control (by Ktesibios) around 300 B.C , the idea of liquid-level
control was applied to an oil lamp.
• Steam Pressure and Temperature Controls: Regulation of steam pressure began
around 1681 with Denis Papin’s invention of the safety valve.
• Speed Control: In 1745, speed control was applied to a windmill by Edmund Lee
• In 18th century, James Watt invented the flyball speed governor to control the
speed of steam engines.
• Stability Criterion: In 1868, James Clerk Maxwell published the stability
criterion for a third-order system based on the coefficients of the differential
equation.
o1892 Lyapunov stability condition
o1895 Hurwitz stability condition
o1932 Nyquist stability criteria
o1945 Bode plot method
o1947 Nichols
o1948 Root locus method

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o1949 Wiener optimal control research
o1955 Kalman filter and controllability observability analysis
o1956 Artificial Intelligence

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Cont..;
o1957 Bellman optimal and adaptive control
o1962 Pontryagin optimal control
o1965 Fuzzy set
o1972 Vidyasagar multi-variable optimal control and
Robust control
o1981 Doyle Robust control theory
o1990 Neuro-Fuzzy

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 Three eras of control
• Classical control : 1950 before
o Transfer function based methods
o Time-domain design & analysis
o Frequency-domain design & analysis

• Modern control : 1950~1960

o State-space-based methods
o Optimal control
o Adaptive control

• Post modern control : 1980 after

o H∞ control
o Robust control (uncertain system)

➢ For whom this course is?

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Study of Control System is essential for students of:
Electrical, Mechanical, Aerospace, Biomedical, Chemical Engineering..Etc.

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Applications of Control Systems
• Control systems are found in a broad range of
applications with in these disciplines:
oAircraft
oSpace craft
oRobots
oProcess control systems
oIn traffic lights, Internet
oIn your tablets and phones, computer …Etc
• Control systems are also exist in nature: with in
our bodies are numerous control systems:
o Pancreases which regulates our blood sugar.
o In time of fight or flight our adrenal increases which

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regulates our heart rate causing more oxygen to be
delivered to our cells.
o Hands grasping objects and place it precisely at a
predetermined location. 6
Required backgrounds for the course
oDifferential equations
oIntegration and differentiation
oLaplace transforms
oLinear algebra
oSignals & systems
oBasics of electrical circuits and
electromechanical equipment i.e. motor/
generator, etc.
oMATLAB will be required for homework
assignments and course projects

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Chapter 1:
Introduction
Contents
i. Definition of control system

ii. Control system Configuration

a) Open loop
b) closed loop control systems

iii. Example of closed loop system & block diagram

representation

iv. Review on signals and systems

a) Linear time invariant (LTI) system

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b) Linear time invariant (LTI) system representation
c) Impulse response

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 1.1 Definition of control system
• The word control is usually taken to means : Regulate,
direct, command.
• Control is a sequence of decisions aimed at the
attainment of specified objectives in an environment of
uncertainty and presence of disturbances.
• A control system consists of sub-systems and processes or plants assembled
for the purpose of obtaining a desired output with the desired performance,
given a specified input.
• Is an interconnection of components forming a system configuration which
will provide a desired system response.

• Is an arrangement of physical components connected or related in

such a manner as to command, direct, or regulate itself or another

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system.

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 Cont.
• However, all systems have certain things in common.
• They all for example, requires inputs and outputs to
be specified.

NB: A system may

have any number
of inputs and

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outputs

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 Cont.…
• Basic terminologies from Engineering point of view:
o System – An interconnection of elements and devices for a
desired purpose.
o Process – The device, plant, or system under control/without
control. The input and output relationship represents the
cause-and-effect relationship.
o Control System – An interconnection of components forming
a system configuration that will provide a desired response
with the desired specification.
o Control Engineering – a field of Engineering which deals
about control system and related areas.

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1.1 Definition of control system
• In Control Engineering, the way in which the
system outputs responds in changes to the system
inputs (i.e. the system response) is very
important.
• The control system design engineer will attempt to
evaluate the system response by determining a
mathematical model for the system.
• Fundamental to any control system is the ability
to measure the output of the system and to take
correction if its value deviates from some
desired value.

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1.1 Definition of control system
Plants: the physical object you’re try control, impact, influence In
Control Objective: what is it that we want to achieve?
Input: the signals you’re using to control aplant
Output: your measurements, data, what you’re sensing or seeing
Process: what’s happening inside the plant due to your inputs
Model: mathematical depiction of the physics of the system
Disturbances: things that are harming the plant or theprocesses

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 1.1 Definition of control system
• For instance, in the case of the ship system shown
below:
o The rudder (underwater valve used to steer a vessel) and
engines are the control inputs whose values can be adjusted to
control certain outputs such as heading and forward velocity.
o The wind, waves and current are disturbance inputs and
will induce errors in the outputs
o In addition, the disturbance will introduce increased ship motion
(roll, pitch and heave) which again is not desirable.
o Example traffic control

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Block diagram representation of a traffic control system
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 Traffic Control

Plant: the transportation network—movement of cars, roads

connectivity, highways, physics of the network
Processes: the movement of cars, switching of traffic lights
Control Objective: minimizing traffic

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Input: change traffic light signals
Output: cars’ movement
Disturbances: accidents, snow, bad drivers, Snapchatters 15 /28
1.1 Definition of control system

• Knowledge of the system inputs together with the

mathematical model, will allow the system
outputs to be calculated.
NB:
o Some inputs, the engineer will have direct control
over, and can be used to control the plant outputs. These
are known as control inputs.
o There are other inputs over which the engineer has no
control, and these will tend to defect the plant outputs
from their desired values. These are called disturbance
inputs (noises).

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Ship as a dynamic system 16
Other Example
•Human body: temperature control—thermoregulation (a
fascinating control system)
•Thermostat control: Turning heater/cooler on or off to
maintain a desired room temperature
•Cruise control: maintaining constant speed given
disturbances
•Robot control: changing voltage applied on the motors so
that the robot hand moves in a certain way

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1.2 Control System Configuration
(1) Black Box Strategy:
Learn by training
No idea what processes are happening inside your system
Disadvantage: cannot analyze

Advantage: no need for a physicalunderstanding

(2) Model-Based Strategy:

Build a mathematical model through equations
Equations relate system inputs to outputs

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Advantages? Disadvantages?

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Two Classes of Model-Based Strategies
(1) Open-Loop Control Strategy:
Controller determines the plant input without looking at output
Advantage: only used if one has accurate modeling of the
system Examples: washing machines, light switches, gas ovens

(2) Closed-Loop, Feedback Control Strategy:

Controller uses plant output to help determine the plant input
Advantages: robust to external and internal disturbances
Examples: air conditioners, refrigerators, automatic ricecookers

.
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Open-loop and closed-loop systems

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1.2 Control System Configuration
• Characteristics of open loop system
o Sensitive for disturbances and cannot
compensate for these disturbances added to the
system.
o Simple for design.

• Examples of open loop system

o (Open loop ) furnace, Air conditioners, etc…

Closed Loop (Feedback) Control System

System with feedback or Sensing device of the
output for input correction purpose.
EXAMPLE: rotating disk & conveyer speed control

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system

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1.2 Control System Configuration

• Characteristics of closed loop (feedback)

control systems
o Can compensate for disturbances
o Have greater accuracy than open loop systems
o Less sensitive to noise, disturbances and changes
to the environment.
o Transient response and steady state error can
be controlled more conveniently and with greater
flexibility.
o More complex and expensive than open loop

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systems.

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1.2 Control System Configuration

• In summary:
o System that perform the previously described
measurement and correction are called Closed
loop (feedback) control systems.

o Systems that don't have this property of

measurement and correction are called Open
loop control systems.

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1.2 Control System Configuration
Example: Antenna Azimuth position control
System & block diagram representation

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1.2 Control System Configuration
• Schematic diagram antenna azimuth
position control

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1.2 Control System Configuration
• Block diagram representation

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➢The objectives of any control-system designer include:
• “Reject” disturbance (plant response to disturbance input minimized).
• Acceptable steady state errors (response after a “long” time).
• Acceptable transient response (short-term dynamics).
• Minimize sensitivity to plant parameter changes (“robustness”).
➢Solutions are reached via the methodology:
• Choosing output sensors.
• Choosing actuators.
• Developing plant, actuator, sensor equations (models).
• Designing compensator based on the models and design criteria.

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• Evaluating design analytically, with simulation and prototype.
• Iteration!! (In part because actual system will be different from model.)
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 1.2 Control System Configuration
Exercise:
A temperature control system operates by using the
difference between the thermostat setting and the
actual temperature for opening a fuel valve to the
amount proportional to this difference.
Draw a functional closed loop block diagram
which indicates the input and output transducers,
the controller, system signals and the plant. Also
identify the input and output signals of all
systems.

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 Open Loop and Closed Loop Systems
• They are more accurate.
• The effect of external
disturbance signals can be
made very small.
• The variations in parameters
of the system do not affect
the output of the system i.e.
the output may be made less
sensitive to variation is
parameters. Hence forward
path components can be of
less precision. This reduces
the cost of the system.
Advantages of
Closed Loop
• They are more complex and
expensive
• They require higher
forward path gains.
• The systems are prone to
instability. Oscillations in
the output many occur.
• Cost of maintenance is
high.
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Disadvantages
of Closed Loop
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 Open Loop and Closed Loop Systems

• Simple construction and • Disturbances and changes

ease of maintenance. in calibration cause errors,
• Less expensive than a and the output may be
corresponding closed- different from what is
loop system. desired.
• There is no stability • To maintain the required
problem. quality in the output,
• Convenient when recalibration is necessary
output is hard to from time to time.
measure or measuring • They are less accurate.
the output precisely is • If external disturbances are
economically not present, output differs
feasible. significantly from the
desired value.

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Advantages of Disadvantages
Open Loop of Open Loop
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1.3 Review on Signals & Systems
Linear time invariant (LTI) systems
oA system is said to be linear in terms of the
system input x(t) and the system output y(t)
if it satisfies the following two properties of
superposition & homogeneity.

Input signals Output signals

X(t) Y(t)
LTI system

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1.3 Review on Signals & Systems
• Superposition

x1 (t ) y1 (t ) x2 (t ) y2 (t )

x1 (t ) + x2 (t ) y1 (t ) + y2 (t )

• Homogeneity

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x1 (t ) y1 (t ) ax1 (t ) ay1 (t )

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1.3 Review on Signals & Systems
• Example
x(t ) y (t )
y (t ) = x(t ) x(t − 1)
let x(t ) = x1 (t )
y1 (t ) = x1 (t ) x1 (t − 1)
let x(t ) = ax1 (t )
y (t ) = ax1 (t )ax1 (t − 1) = a 2 x1 (t ) x1 (t − 1) = a 2 y1 (t )

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y (t )  ay1 (t ) Non linear system

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1.3 Review on Signals & Systems
oA system is said to be time invariant if
a time delay or time advance of the
input signal leads to an identical time
shift in the output signal.
x(t ) y (t )

Time invariant
system
x(t − t0 ) y (t − t0 )

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t0 t0

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 1.3 Review on Signals & Systems
• Example
x (t ) x(t ) y (t )
y (t ) =
R (t )

x1 (t )
y1 (t ) =
R(t )
x2 (t ) = x1 (t − t0 )
x2 (t ) x1 (t − t0 )
 y2 (t ) = =
R(t ) R(t )

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x (t − t0 )
but y1 (t ) = 1
R(t − t0 )
y1 (t − t0 )  y2 (t ), for t0  0 Time varying system
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 • EXAMPLE: Is the following system, described by the
differential equation
• y˙(t) + ty(t) = x(t), linear?

■ Input x 1 (t) and output is y 1 (t): y˙1(t ) + ty 1 (t) = x 1 (t).

■ Input x 2 (t) and output is y 2 (t): y˙2(t ) + ty 2 (t) = x 2 (t).
■ Input x 3 (t) = αx 1 (t) + βx 2 (t) and measure y 3 (t).
• y˙3(t) + ty 3 (t) = x 3 (t);
• but, x 3 (t) = αx 1 (t) + βx 2 (t), so
• y˙3(t) + ty 3 (t) = αx 1 (t) + βx 2 (t)
• = α (y˙1(t) + ty 1 (t)) + β (y˙2(t) + ty 2 (t))
𝑑
•
𝑑𝑡
(αy 1 (t) + βy 2 (t)) + t (αy 1 (t) + βy 2 (t))

By examining both sides of this equation, we realize that

y 3 (t) = αy 1 (t) + βy 2 (t). Therefore, the system is linear.

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1.3 Review on Signals & Systems

In general:
oA differential equation is linear if the
coefficients are constants or functions only the
independent variable.
oDynamic systems that are composed of linear
time invariant lumped parameter components
may be described by linear time invariant
(constant coefficient) differential equations.
oSystems that are represented by differential
equations whose coefficients are functions of
time are called linear time varying (LTV)
system.
Example: spacecraft control system(the mass of the
space craft changes due to fuel consumption)

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oA system is non-linear if principle of
superposition doesn’t apply.

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1.3 Review on Signals & Systems
Impulse response
Output signals from the system due to
Input signals and initial conditions.
• The point of view of Mathematic:
Homogenous solution yh (t ) ＋ Particular solution y p (t )
• The point of view of Engineer:
Natural response y n (t ) ＋ Forced response y f (t )
• The point of view of control engineer:

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Zero-input response y zi (t ) ＋ Zero-state response y zs (t )
Transient response Steady state response
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1.3 Review on Signals & Systems
• In control theory the impulse response
is the response of a system to a Dirac
delta input. This proves useful in the
analysis of dynamic systems:
• The Laplace transform of the delta
function is 1, so the impulse response is
equivalent to the inverse Laplace
transform of the system's transfer
function.

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 1.3 Review on Signals & Systems
• The impulse that is referred to in the term impulse
response is generally a short-duration time-
domain signal.
• For continuous-time systems, this is the Dirac
delta function δ(t), while for discrete-time systems,
the Kronecker delta function δ[n] is typically used.
oA system's impulse response (often annotated as
h(t) for continuous-time systems or h[n] for
discrete-time systems) is defined as the output
signal that results when an impulse is applied to
the system input.
oy(t)=∫x(τ)h(t−τ)dτ, where, h(t) is the system's

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impulse response

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Thank you!

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