Control Engineering

Chapter 1
Introduction to Control
Systems

Yuang-Shung Lee
Dept. Electrical Engineering
Fu Jen Catholic University

Fall, 2021
 Section 1-
Control Engineering

• Textbook: F. Golnaraghi and B. C. Kuo, Automatic Control Systems, 10/e.

• Design Tools: Matlab
• Reference: J. Wilkie, M. Johnson, R. Katebi, Control Engineering

• Grading Policy:
• Quiz: 30% (x3~4)
• Midterm: 25% (x1)
• Final: 25% (x1)
• Matlab Quiz: 10% (x2)
• Others(課堂參與): 10% (xN)

期中考 25 期末考 25 隨堂考（小考） 30

書面報告（含 心得或作業撰寫
0 課堂參與 10 10
小組或個人） (Matlab Quiz)

1-1
 Class Content
• Chap. 1. Introduction to control systems
• Chap. 2. Modeling of dynamic systems
• Chap. 3. Solution of DE of dynamic systems
• Chap. 4. Block diagrams and signal-flow graphs
• Chap. 5. Stability of control systems
• Chap. 6. Importance components of feedback control systems
Midterm
• Chap. 7. Time-domain analysis of control systems
• Chap. 8. State-space analysis and controller design
• Chap. 9. Root-locus analysis
• Chap. 10. Frequency-domain analysis
• Chap. 11. Design of control systems (Tentatively)
Final
Why do we need Control ?
• Without control systems, we can do nothing!
• Everything needs control.
• Everywhere exists control.
• Everyday proceeds control.
• Everybody does control.

You are outstanding because you are

right here, that is, in this class!

1-3
 Section 1- 1, p. 1

1-1 Introduction
Main objectives of this chapter:
1. To define a control system
2. To explain why control systems are important
3. To introduce the basic components of a control systems
4. To give some examples of control-system applications
5. To explain why feedback is incorporated into most
control systems
6. To introduce types of control systems

1-4
Basic Components of a Control System

u y

• Objectives: inputs or actuating signals, u

• Results: outputs or controlled variables, y

1-5
 Section 1-

Photo of Industrial sewing machine.

A single-purpose, high-precision device.

1-6
 Section 1-
Ideal velocity profile of one start-stop cycle of an
industrial sewing machine.

No overshoot

No undershoot

As short as possible 1-7

Examples of Control-System Applications
Idle-speed control of an automobile
• Eliminate or minimize the speed droop when engine
loading is applied
• Maintain the engine idle speed at a desired value

1-8
Examples of Control-System Applications
• Sun-tracking control of solar collectors

Sun
sensor

1-9
Sun-Tracking Control System
• Water extraction using solar power

PV System with sun-

tracking system

1-10
Sun-Tracking Control System
• Important components
One-axis sun-tracing control system

1-11
Open-Loop Control Systems

Controlled plant

• Open-loop systems  Nonfeedback systems

• The idle-speed control system shown in Fig. 1-2 is called
an open-loop control systems.

1-12
Closed-Loop Control Systems
• A system with one or more feedback paths is called a
closed-loop system.

• Closed-loop control systems  Feedback control systems

• Closed-loop systems have many advantages over open-
loop systems.
1-13
Responses of Idle-Speed Control Syst.

• The objective of a regulation system is to maintain the

system speed at a prescribed level.

1-14
 1-2 What Is Feedback, And What Are
Its Effects?
Simple Feedback System Configuration

Error (e = r − b)

Output signal (y = Ge)

Input signal Constant gains

Feedback signal or a gain functions

(b = Hy)

• Feedback exists whenever there is a closed sequence of

cause-and-effect relationships.
• G is the open-loop gain and H is feedback gain functions.
1-15
Effect of Feedback on Overall Gain
y = Ge = G(r-b)
= G(r-Hy) = Gr-GHy
 y(1+GH) = Gr

y G
M= =
r 1 + GH

1-16
Two Feedback Loops
y G
• Input-output relation: M = = (1-2)
r 1 + GH + GF

Inner loop

outer loop

e=r-b1-b2, b1=Hy, b2=Fy, y=Ge=G(r-b1-b2)=Gr-GHy-GFy

(1+GH+GF)y=Gr ∴M=y/r=G/(1+GH+GF)
1-17
Effect of Feedback on Stability (1/2)
• A system is unstable if its output is out of control.

• Feedback can cause a system that is originally stable to

become unstable.
• Feedback can improve the control precision, system
dynamic response, bandwidth, and damping effect, …
• Example: If GH = −1 in (1-1), the output of the system is
infinite for any finite input. y G
M= =
The system is said to be unstable. r 1 + GH
1+GH = 0 M ∞

1-18
Effect of Feedback on Stability (2/2)
• Feedback can stabilize an unstable system.
• Example: Assume that the inner-loop feedback system in
Fig. 1-10 is unstable (i.e., GH = −1).
The overall system can be stable by properly selecting the
outer-loop feedback gain F.
y G 1 + GH = 0
M= = 
r 1 + GH + GF 1 + GH + GF ≠ 0
• Feedback scheme can improve stability or be harmful to
stability if it is not properly applied.

1-19
Sensitivity
• A good control system should be very insensitive to
parameter variations but sensitive to the input commands.
• Definition: The sensitivity of the gain of the overall system
M to the variation in G:
∂M M percentage change in M
SG =
M
= (1-3)
∂G G percentage change in G
y G ∂M G 1
• Let M = = . Then GS M
= = (1-4)
r 1 + GH ∂G M 1 + GH
ƏM/ƏG = (GH-1-GH)/(1+GH)2=1/(1+GH)2
• Feedback can increase or decrease the sensitivity of a
system.

1-20
 Effect of Feedback on
External Disturbance or Noise
• Feedback can reduce the effect of noise and disturbance on
system performance.

• The system output y due to the noise signal n acting alone (r=0)
– In the absence of feedback (H=0), y = G2 n (1-5)
– With the presence of feedback, y = G2
n (1-6)
1+ G1G2 H 1-21
Effect of Feedback: Summary
• Feedback may increase the gain of a system in
one frequency range but decrease it in another.
• Feedback can improve stability or be harmful to
stability if it is not properly applied.
• Feedback can increase or decrease the sensitivity
of a system.
∂M G 1
S =
M
=
• Feedback also can affect bandwidth,∂Gimpedance,
M 1 + GH
G

transient responses, and frequency responses of the

control system.
• To improve the dynamic performance of the time
responses and frequency responses of the control
system. 1-22
1-3 Types of Feedback Control Systems
• According to the method of analysis and design
– linear or nonlinear: dx(t)/dt=Ax(t)+Bu(t)
– time-varying or time-invariant: dx(t)/dt=A(t)x(t)+B(t)u(t)
• According to the types of signal found in the system
– continuous-data or discrete-data
ac or dc control system sampled-data or
digital control system
– modulated or unmodulated
• According to the main purpose of the system
– position-control or velocity-control,….

1-23
DC Control System
• The signals in the system are modulated by some form of
modulation scheme.

Position control system using DC servo motor 1-24

AC Control System
• The signals in the system are unmodulated, but they are
still ac signals according to the conventional definition.

Position control system using AC servo motor

1-25
Sample-Data & Digital Control Systems

D-to-A

A-to-D

1-26
 What is Control ?
Closed-loop Control = Opened-loop + Feedback

1-27
Autonomous Driving Car (2008)
RTK-DGPS IMU

Warning
Auto driving
Collision warning
command
Intimation
Positioning turn right or turn left
message

Vehicle speed

Vehicle
DSP TMS6713DSK

Distance

Position information

Laser Range Wireless Warning message

Finder RS-232 module Navigation Interface at
monitoring center
1-28
Autonomous Driving Car Demo 2

1-29
Robotic Wheelchair
Control states

Distance (HEX.)
System Status

Laser Range Finder Router Notebook Embedded Controller

PCI Bus

Analog

AO Module

CANbus
Omni R-net

Encoder’s
Signals
DC Motors and Encoder

1-30
Linear Induction Motor
Experimental setup:

1-31
Walking-aid Robot

1-32
EV 4W DRIVE & CONTROL SYSTEM
Application: PEMFC hybrid electric scooter system

Y. S. Lee et., IPC-13, Korea, August 2005.

Motor Driving Control System
Y. Y. Chauo, DPLab. NCTU
Hybrid Electrical Vehicle (HEV)
Industrial Electronic Applications
PEV, HEV, Fuel Cell Powered LEV, EV, Battery Powered BUS,
LEV, EV, …
Renewable Energy System & Control

& Control
 DC-DC Boost Converter

PV
Panel

Power Electronic Lab., Institute of Electronic Engineering,

Fu Jen Catholic University, Taipei, Taiwan
輔仁大學電子工程學系(所) EMI電力電子研究室
Control Plant
Renewable Energy System
 & Control

J. S. Lai, FEEC VT
Pole Assignment Method for SMES Controller Design