Introduction

to Control
System
TOPIC 1
EE 146 - Control System and Analysis
WMSU Reference:
Nise, Norman S. (2015). Control Systems Engineering
(7th Edition). USA: John Wiley and Sons, Inc.

Dorf, Richard C and Bishop, Robert H. (2011). Modern

Control Systems (12th Edition). USA: Prentice Hall
1
Topics
• Definition and Advantages of Control
System
• History of Control System
• System Configurations
• Analysis and Design Objectives
• Design Process

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Desired Student Learning Outcomes/Competencies

At the end of each topic, the students can:

• Define a control system and describe some
applications
• Describe historical developments leading to modern
day control theory
• Describe the basic features and configurations of
control systems
• Describe control systems analysis and design
objectives
• Describe a control system’s design process

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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.

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• The interaction is defined in terms of variables.
i. System input
ii. System output
iii. Environmental disturbances

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Control System
• Control is the process of causing a system variable to conform
to some desired value.
• Manual control Automatic control (involving machines
only).
• A control system is an interconnection of components forming
a system configuration that will provide a desired system
response.
Input Control Output
Signal Signal
System

Energy
Source

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Open-Loop Control Systems
utilize a controller or control
actuator to obtain the desired
response.

Closed-Loop Control Systems

utilizes feedback to compare the
actual output to the desired
output response.

Multivariable Control System

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Control System Classification

Missile Launcher System

Open-Loop Control System

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Control System Classification

Missile Launcher System

Closed-Loop Feedback Control System

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 Manual Vs Automatic Control

• Control is a process of causing a system variable such as

temperature or position to conform to some desired value or
trajectory, called reference value or trajectory.
• For example, driving a car implies controlling the vehicle to follow
the desired path to arrive safely at a planned destination.
i. If you are driving the car yourself, you are performing manual control of
the car.

ii. If you use design a machine, or use a computer to do it, then you have built
an automatic control system. 10
Control System Classification

Desired
Output Controller Process Output
Response Variables

Measurement

Multi Input Multi Output (MIMO) System

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Purpose of Control Systems
i.Power Amplification (Gain)
– Positioning of a large radar
antenna by low-power rotation
of a knob
ii.Remote Control
– Robotic arm used to pick up
radioactive materials
iii.Convenience of Input Form
– Changing room temperature
by thermostat position
iv.Compensation for Disturbances
– Controlling antenna position in
the presence of large wind
disturbance torque

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Historical Developments

i.Ancient Greece (1 to 300

BC)
– Water float regulation,
water clock, automatic oil
lamp
ii.Cornellis Drebbel (17th
century)
– Temperature control
iii.James Watt (18th century)
– Flyball governor
iv.Late 19th to mid 20th century
– Modern control theory

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Watt’s Flyball Governor

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Human System

The Vetruvian Man

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Human System

i.Pancreas
É Regulates blood glucose
level
ii.Adrenaline
É Automatically generated to
increase the heart rate and
oxygen in times of flight
iii.Eye
É Follow moving object
iv.Hand
É Pick up an object and place it
at a predetermined location
v.Temperature
É Regulated temperature of
36°C to 37°C

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History
18th Century James Watt’s centrifugal governor for the speed control of a steam
engine.
1920s Minorsky worked on automatic controllers for steering ships.
1930s Nyquist developed a method for analyzing the stability of controlled systems
1940s Frequency response methods made it possible to design linear closed-loop
control systems
1950s Root-locus method due to Evans was fully developed
1960s State space methods, optimal control, adaptive control and
1980s Learning controls are begun to investigated and developed.
Present and on-going research fields. Recent application of modern control theory
includes such non-engineering systems such as biological, biomedical, economic and
socio-economic systems
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Control System Components

i.System, plant or process

– To be controlled
ii.Actuators
– Converts the control
signal to a power signal
iii.Sensors
– Provides measurement of
the system output
iv.Reference input
– Represents the desired
output

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General Control System

Disturbance

Controlled Manipulated
Set-point or Error Signal Variable
Reference
input Actual
+ Output
+ +
+ Controller Actuator + Process
-

Sensor
Feedback Signal

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Control System Design Process

If the performance does not

meet specifications, then
iterate the configuration and
actuator

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21
Examples of Modern Control Systems

(a) Automobile steering

control system.
(b) The driver uses the
difference between the
actual and the desired
direction of travel
to generate a controlled
adjustment of the
steering wheel.
(c) Typical direction-of-
travel response.

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Examples of Modern Control Systems

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Examples of Modern Control Systems

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Examples of Modern Control Systems

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Examples of Modern Control Systems

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Examples of Modern Control Systems

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Examples of Modern Control Systems

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Examples of Modern Control Systems

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Examples of Modern Control Systems

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The Future of Control Systems

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The Future of Control Systems

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Design Example

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Design Example

ELECTRIC SHIP CONCEPT

Vision
Electrically
Reconfigurable
All
Integrated Ship
Electric
Power Ship
System ⬥Technology
Insertion Increasing Affordability and Military Capability
⬥Reduced manning
⬥Electric Drive ⬥Warfighting
⬥Automation
⬥Reduce # of Prime Capabilities
Movers ⬥Eliminate auxiliary
systems (steam,
⬥Fuel savings Main Power
hydraulics, compressed
⬥Reduced maintenance air) Distribution
Propulsion Motor Prime
Generator
Motor Drive Mover

Power Ship
Conversion Service
Module Power

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Design Example
CVN(X) FUTURE AIRCRAFT CARRIER


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Design Example

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Design Example

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Design Example

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Design Example

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Design Example

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Design Example

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Sequential Design Example

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Sequential Design Example

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Illustrations
Illustrations
CONTROL SYSTEM
APPLICATION
EXAMPLES

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53
PROBLEM: Describe the block diagram of a person playing a video game. Suppose
that the input device is a joystick and the game is being played on a desktop
computer.

54
Consider the inverted pendulum shown in
Figure El. 13. Sketch the block diagram of
a feedback control.

55
56
Unmanned aerial vehicles (UAVs) are being
developed to operate in the air autonomously
for long periods of time By autonomous, we
mean that there is no interaction with human
ground controllers. Sketch a block diagram of
an autonomous UAV that is tasked for crop
monitoring using aerial photography.The UAV
must photograph and transmit the entire land
area by flying a pre-specified trajectory as
accurately as possible.

57
58
Future advanced commercial aircraft will be Enabled.
This will allow the aircraft to take advantage
of continuing improvements in computer power and
network growth. Aircraft can continuously communicate
their location, speed, and critical health parameters
to ground controllers, and gather and transmit
local meteorological data. Sketch a block diagram
showing how the meteorological data from multiple
aircraft can be transmitted to the ground, combined
using ground-based powerful networked computers
to create an accurate weather situational awareness,
and then transmitted back to the aircraft for optimal
routing.

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60
Describe the block diagram of the speed control system of a motorcycle with a
human driver.

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Problem: Modern automated highways are
being implemented around the world.
Consider two highway lanes merging
into a single lane. Describe a
feedback control System carried on
the automobile trailing the lead
automobile that ensures that the
vehicles merge with a prescribed gap
between the two vehicles.

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SOLUTION :

63
Chapter 1
i. Nise N.S. (2004). Control System Engineering (4th Ed),
John Wiley & Sons.
ii. Dorf R.C., Bishop R.H. (2001). Modern Control Systems
(9th Ed), Prentice Hall.

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Course Outline

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NEXT MEETING

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Ò In an open loop control system, the input
to the plant does not in any way depend
on the current and past values of the
output of the plant.
Ò Relatively simple and consequently low
cost with generally good reliability.
An open-loop control system is one in which the control action is
independent of the output.
▪ Motor
▪ low pass filter
▪ Inertia supported between two bearings
▪ Heater /boiler
▪ Cooking Oven
▪ Water valve system in a pool or sink
▪ The biggest problem with the open loop control
systems is that they rely totally in calibration, and
ca not effectively deal with exogenous
disturbances.
▪ They can not effectively deal with changes in the
process.
▪ Can not deal with uncertainty.
▪ Can not stabilize an unstable system.
▪ Often in accurate since there is no correction for
error.
▪ Closed loop control system make the control system robust to
uncertainty and disturbances.

▪ It senses the output of the system and adjust the control input
using feedback rules, which are based on how the system output
deviates from the system behaves.

▪ The feedback helps compensate for the differences, if the system

behaves slightly differently than the model.

▪ Relatively accurate in matching the actual to the required

values.

▪ More complex, and more expensive, grater chance of breakdown

due to number of components.
Feedback is that 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 formed as some
function of the output and input
Ò Comparison element
Ò Control element
Ò Correction Element
Ò Process element
Ò Measurement element

A closed-loop control system is one in which the control
action is somehow dependent on the output.
Ò Guided missiles
Ò automatic gain control in radio receivers
Ò satellite tracking antenna
Ò Etc.
Missile Launcher System

Open-Loop Control System

 Missile Launcher System

Closed-Loop Feedback Control System

 Desired
Output Controller Process Output
Response Variables

Measurement

Multi Input Multi Output (MIMO) System

i.Power Amplification (Gain)
É Positioning of a large radar antenna by low-power rotation of a
knob
ii.Remote Control
É Robotic arm used to pick up radioactive materials
iii.Convenience of Input Form
É Changing room temperature by thermostat position
iv.Compensation for Disturbances
É Controlling antenna position in the presence of large wind
disturbance torque
i.Ancient Greece (1 to 300 BC)
É Water float regulation, water clock, automatic oil lamp
ii.Cornellis Drebbel (17th century)
É Temperature control
iii.James Watt (18th century)
É Flyball governor
iv.Late 19th to mid 20th century
É Modern control theory
The Vetruvian Man
i.Pancreas
É Regulates blood glucose level
ii.Adrenaline
É Automatically generated to increase the heart rate and oxygen in
times of flight
iii.Eye
É Follow moving object
iv.Hand
É Pick up an object and place it at a predetermined location

v.Temperature
É Regulated temperature of 36°C to 37°C
Ò Figure shows a schematic diagram of temperature control of an electric furnace.
The temperature in the electric furnace is measured by a thermometer, which is
analog device. The analog temperature is converted to a digital temperature by
an A/D converter. The digital temperature is fed to a controller through an
interface. This digital temperature is compared with the programmed input
temperature, and if there is any error , the controller sends out a signal to the
heater, through an interface, amplifier and relay to bring the furnace temperature
to a desired value.
Car and Driver

Ò Objective: To control direction and speed of car

Ò Outputs: Actual direction and speed of car
Ò Control inputs: Road markings and speed signs
Ò Disturbances: Road surface and grade, wind, obstacles
Ò Possible subsystems: The car alone, power steering system, breaking
system
Ò Functional block diagram:
Desired Actual
course of course of
travel + Error Steering travel
Driver Automobile
- Mechanism

Measurement, visual and tactile

Ò Time response:
Ò Consider using a radar to measure distance and velocity to
autonomously maintain distance between vehicles.

Ò Automotive: Engine regulation, active suspension, anti-lock breaking

system (ABS)
Ò Steering of missiles, planes, aircraft and ships at sear.
Ò Control used to regulate level, pressure and pressure of refinery
vessel.

Coordinated
control system
for a boiler-
generator.

Ò For steel rolling mills, the position of rolls is controlled by the

thickness of the steel coming off the finishing line.
Ò Consider a three-axis control system for inspecting individual
semiconducting wafers with a highly sensitive camera
i.CD Players
É The position of the laser spot in relation to the microscopic pits in
a CD is controlled.

ii.Air-Conditioning System
É Uses thermostat and controls room temperature.
i.System, plant or process
É To be controlled
ii.Actuators
É Converts the control signal to a power signal
iii.Sensors
É Provides measurement of the system output
iv.Reference input
É Represents the desired output
 Disturbance

Controlled Manipulated
Set-point or Error Signal Variable
Reference
input Actual
+ Output
+ +
+ Controller Actuator + Process
-

Sensor
Feedback Signal
If the performance does
not meet specifications,
then iterate the
configuration and
actuator
Ò Application: CD player, computer disk drive
Ò Requirement: Constant speed of rotation
Ò Open loop control system:

Ò Block diagram representation:

Ò Closed-loop control system:

Ò Block diagram representation:

Ò Goal of the system: Position the reader head in order to read
data stored on a track.
Ò Variables to control: Position of the reader head
Ò Specification:
i. Speed of disk: 1800 rpm to 7200 rpm
ii. Distance head-disk: Less than 100nm
iii. Position accuracy: 1 µm
iv. Move the head from track ‘a’ to track ‘b’ within 50ms

Ò System Configuration:
Control System
Application
Examples
PROBLEM: Describe the block diagram of a person playing a video game.
Suppose that the input device is a joystick and the game is being played on
a desktop computer.
Consider the inverted pendulum shown in Figure
El. 13. Sketch the block diagram of a feedback
control.
Unmanned aerial vehicles (UAVs) are being
developed to operate in the air autonomously
for long periods of time By autonomous, we
mean that there is no interaction with human
ground controllers. Sketch a block diagram of
an autonomous UAV that is tasked for crop
monitoring using aerial photography.The UAV
must photograph and transmit the entire land
area by flying a pre-specified trajectory as
accurately as possible.
Future advanced commercial aircraft will be Enabled.
This will allow the aircraft to take advantage
of continuing improvements in computer power and
network growth. Aircraft can continuously communicate
their location, speed, and critical health parameters
to ground controllers, and gather and transmit
local meteorological data. Sketch a block diagram
showing how the meteorological data from multiple
aircraft can be transmitted to the ground, combined
using ground-based powerful networked computers
to create an accurate weather situational awareness,
and then transmitted back to the aircraft for optimal
routing.
Describe the block diagram of the speed control system of a
motorcycle with a human driver.
Problem: Modern automated highways are
being implemented around the world.
Consider two highway lanes merging
into a single lane. Describe a
feedback control System carried on
the automobile trailing the lead
automobile that ensures that the
vehicles merge with a prescribed gap
between the two vehicles.
SOLUTION :
Ò Chapter 1
i. Nise N.S. (2004). Control System Engineering (4th Ed), John
Wiley & Sons.
ii. Dorf R.C., Bishop R.H. (2001). Modern Control Systems (9th Ed),
Prentice Hall.