Lecturer: Phan Anh Tuan

University of Science and Technology of Hanoi

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 References
• Books:
1. Nise, Norman S. 2004. Control systems engineering. [Hoboken,
NJ]: Wiley.
2. Smith, Carlos A., and Armando B. Corripio. 1997. Principles and
practice of automatic process control. Hoboken, NJ: Wiley.
3. Ogata, Katsuhiko. 1997. Modern control engineering. Upper
Saddle River, N.J.: Prentice Hall.
4. Gürocak, Hakan. 2016. Industrial Motion Control: Motor Selection,
Drives, Controller Tuning, Applications. New York: Wiley.
http://rbdigital.oneclickdigital.com.

• Tools: MATLAB/Simulink

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 Evaluation

Attendance/Attitude 5%

Tasks (10) 50%

Assessment/
Evaluation
Exercise 15%

Final exam 30%

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Module 1: Introduction

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 What is a system?
• A collection of physical or biological components which together perform an
intended objective
• A system gives an output (also called response) for an input (also called
excitation)

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 What is a Control System?
Desired Control Plant or
Controller Output Output
Reference System
To be
Control system
controlled

• A control system is composed of 2

systems: controller and controlled
system/plant
• The controller regulates the input
to the controlled system so that
the output of the controlled system
reaches a desired value.

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 Control system

Closed
Open-loop
loop/Feedback
system
control system

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What is open-loop (feedforward) control
system?

Open-loop control is unreliable when

there are:
▪ Variations in the system
▪ Unexpected environmental changes

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 What is open-loop control system?

Desired Control Plant or

Controller Output Output
Reference System
To be
Control system
controlled

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 Closed-loop (feedback) control system
• Feedback senses the plant output and gives a signal which can be
compared to the reference.
• Controller action changes based on the feedback.

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 Feedback control system
• Feedback senses the plant output and gives a signal which can be
compared to the reference.
• Controller action changes based on the feedback.
• Feedback enables the control system in extracting the desired
performance from the plant even in presence of disturbance.

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Feedback control system

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 Feedforward vs feedback control

Feedforward Feedback
• Simpler • More complex
• Sensitive to disturbance • Less sensitive to disturbance
• Require exact knowledge of • Don’t require exact knowledge
the system of the system

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BASIC COMPONENTS OF
CONTROL SYSTEMS

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Open-loop control system

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 Open-loop control system

Desired Controlled system/

reference Controller Actuator Plant

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Feedback control systems

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Feedback control systems

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Feedback control systems

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Feedback control systems

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Feedback control systems

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Feedback control systems

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 Feedback control systems

Manipulated
variables Controlled variables

Reference
Set point

Measured variables

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 Feedback control systems
Input
variables
Manipulated
variables Controlled variables

Reference
Set point

Measured variables

Block diagram

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 Feedback control systems

𝑟 𝑒 Controlled 𝑦
Controller Actuator System/
Plant

Sensor

𝑒 =𝑟−𝑦

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 Simplified feedback control system
• In most cases the actuator and measuring element are ascribed to the
controlled system

𝑟 + 𝑒 Controlled 𝑦
Controller System/
Plant
−

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Another example: Home Heating Control

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Another example: Home Heating Control
Block diagram

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OTHER FORMS OF FEEDBACK
CONTROL SYSTEMS

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 Multiloop Feedback Control System
Disturbance

Desired Controller Controller Control Plant or

+ + Output
Reference - 2 1 Input System
-
Control system
To be
controlled
Inner
Outer loop
Feedback
loop Sensor 1

Sensor 2

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 Multiloop Feedback Control System

• Examples: Motion control

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 Multivariable Control System

Desired
Output
Reference
Plant or
Comparison Controller
System

Sensor
Measured Feedback
variables

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 Example of Multivariable Control System
Boiler Generator

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 Task 1
- Study the principle of a solar tracking system
- Draw the block diagram of that system
- Explain whether the system is open-loop (feedforward) control or feedback
control?

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 Exercise

• Chapter 1: (Ref 1) 3, 11

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