* Image credit: http://delgobbo2015f.web.unc.

edu/2015/09/16/sensory-feedback-in-prosthetics/ *

Control 1 : MCTE 3312

Lecture #1: Introduction to Control Systems

Noor Hazrin Hany Mohamad Hanif

noorhazrin@iium.edu.my
2
 What will we study
• Transfer function
Plant • Block diagram
Modeling • Signal Flow Graph
Week 1 – Week 4
• State-space representation

• Poles, Zeros, Controllability,

System Observability
• Transient Response Week 5 – Week 8
Analysis • Steady-state error
• Stability

• P, PI, PID Controller

Controller • Root Locus Week 9 – Week 14
Design • Frequency Response
• Controller Circuit Implementation
 Lecture 1 - Content
Aspects on control systems
– Why control systems knowledge is important
– What do controlled and uncontrolled mean?
– What is control?
– How to control systems?
– Examples of control systems
 Mechatronics Systems
Control
Low power
Algorithm
Computer
A/D D/A
System

SC PA

Physical
Sensor Actuator
System
High power
 What do these two have in
common?

Tornado Boeing 777

• Highly nonlinear, complicated dynamics!

• Both are capable of transporting goods and people over long distances
BUT
• One is controlled, and the other is not.
• Control is “the hidden technology that you meet every day”
• It heavily relies on the notion of “feedback”
Controlled vs. Uncontrolled
Controlled vs. Uncontrolled
 What is Control?

Control is a term that describes the process of forcing a

system to behave in a desired way in order to achieve
certain objective(s)/goal(s).

Control is the process of making a system variable adhere

to a particular value, called the reference value.
 What is Control System?
Control system is a group of components which
maintains desired results (goals) by manipulating the
value(s) of other variable(s) in the system.

Goals (Desired results)

 Stability: system maintains the desired operating point
 Performance: system responds rapidly to changes
 Robustness: system tolerates perturbations in dynamics
 How to Control?

Compute Actuate
Control “Law” Gas Pedal/
Brake

Sense
Vehicle Speed

Control = Sensing + Computation + Actuation

In Feedback “Loop”
 Feedback Control System
In general Disturbance

Main Components:
• Plant: Process + Actuator
• Controller
• Sensor
• Disturbance
Room Temperature Control
 Control Systems in Nature
 Pancreas:
– regulates blood sugar.
 Adrenalin
– is automatically generated to increase heart-rate and
oxygen intake in times of flight.
 Eyes
– ability to follow a moving object.
 Hand:
– ability to pick up an object and place it at a
predetermined location
 Flyball Governor Balls fly out
as speed
 Regulates speed of a steam engine increases,
 Reduces effects of variations in load
(disturbance rejection)
 Major advance of industrial revolution Valve closes,
slowing engine
Steam Flyball
engine governor

Boulton-Watt steam engine http://www.heeg.de/~roland/SteamEngine.html

 Control in Transportation

 Automotive: Engine regulation, active suspension,

anti-lock braking system (ABS).
 Steering of missiles, planes, aircrafts and ships at
sea.
 Control in Home

 CD Players, the position of the laser spot in relation

to the microscopic pits in a CD is controlled.
 Video Recorder, the tracking of the record and play
back head is controlled by controlling the velocity of
the tape.
 Air conditioning system uses thermostat to control
the temperature in the room.
 Open-loop vs. Closed-loop
 An open-loop control system utilizes an actuating device to
control the process directly without using feedback.

Missile launcher system

 Open-loop vs. Closed-loop
 A closed-loop control system uses a measurement of the
output and feedback of the output signal to compare it with
the desired output (reference or command).
 Control is “the hidden
technology that you meet every
day”

What are the required

knowledge to develop control
system?
 Required Knowledge
 Plant Modeling
– Characteristics of the system to be controlled
– Input/output representations for subsystems +
interconnection rules
 Analysis
– Performance of input/output systems (actual output,
disturbance rejection, robustness)
– Stability of feedback systems, including robustness
“margins”
 Controller Design
– Controller types
– Constructive tools for controller design
 What will we study
• Transfer function
Plant • Block diagram
Modeling • Signal Flow Graph
Week 1 – Week 4
• State-space representation

• Poles, Zeros, Controllability,

System Observability
• Transient Response Week 5 – Week 8
Analysis • Steady-state error
• Stability

• P, PI, PID Controller

Controller • Root Locus Week 9 – Week 14
Design • Frequency Response
• Controller Circuit Implementation