Control Theory

Introduc0on
𝑹(𝒔) C(𝒔)
𝑮𝟏 (𝒔)
−

IN2640 𝑮𝟐 (𝒔)
CRN: 12680
Ph.d. Std: Gilberto Alfonso Montes Ramírez
gilberto.montes@udem.edu
Oficina: C06301

PR23
 Industrial
Production
Autonomous
Farm
 Radio
Astronomy
Rocket Landing
 Robotic
Surgeons
Automatic Control Applications

• Antenna Azimuth Position Control System

• Rocket 6ire
• Space Shuttle Lift Off to earth orbit
• Metallic parts automatically machined
• Self-guided vehicle
• …among sooo many others

Nise, N. S. (2015).
Is Control Theory Important?
Online Review Material

https://www.youtube.com/playlist?list=PLn8PRpmsu08q8CE0pbZ-cSrMm_WYJfVGd
Context

A form of Control An automatic form of Control

Leigh J. R., 2004. Control Theory, 2nd Edition

Introduction to Control Theory
The object under study in control theory are systems.

General Structure of a System

Information link Environment

Element
around the System

Information link
through system
system boundary boundary

“System: a combination of components which act and work together on a determined

task.“ Ogata, K., Dormido Sebastián, Canto, R. D., & Mariani, A. (2010)
Introduction to Control Theory
Control Engineering is interested in System characteristics such as:
• Dynamical Systems
o A system which behavior over time is of
magnitude magnitude
interest since their states changes due to: Linear
inputs, disturbances, or naturally. System
Ducard, G. (2017).
time time

Linear Systems Stimulus to system Systems response

Can be described by the Supperposition
Principle magnitude magnitude
Linear
• Feedback Systems System
o Information flows in one or more
loops; part of the information entering
an element may be information that Stimulus magnified Response as above but
previously left that element. by 𝒌 times magnified 𝒌 times
Introduction to Control Theory
Systems are often represented in form of block diagrams and they usually :
o Have three basic stages Input – Process – Output
o Show main functions from the entire system
o Illustrate interconnection between elements, within system boundaries, and sometimes
to the environment
Where do we
find examples of
Control Signal, Controlled Variable
Control these systems?
Input, Stimulus, Output, Response,
System
Desired respose, Actual Response
Reference
Set of elements which
It is the value we want The quantity or
objective is to do a
to apply to the control condition to measure
controlled operation or
process and control
process
 Introduction to Control Theory
Example of an elevator response

Input command
3
n t

Elevatior location (floor)

sie e
r an ns tate
T po d y -s
Stea sponse
re s re dy -st ate
This Photo by Unknown Author is licensed under CC BY-NC S t ea erro
r

Desired output
3'( 𝑓𝑙𝑜𝑜𝑟
Control 3'( 𝑓𝑙𝑜𝑜𝑟
System
time Nise, N. S. (2015).
Introduction to Control Theory
Examples of every day systems

Input Output

Light Dimmer

Dimmer Switch level Ligth Intensity

https://ar.pinterest.com/pin/180918110020316461/

Dishwasher Digital Control System Cleanned dishes

Timer
Control Signal

Keyboard keys Musical Note

Musical
Keyboard
Introduction to Control System
Some Technical Concepts in Control Theory

Control Signal or Manipulated Variable: It is the

quantity or condition the controller modifies to
affect the value of the controlled variable. Disturbances
(Usually it’s a variable inside the system)

Controlled Variable: It is the quantity or

Input Control Output ≡ Controlled
condition to measure and control.
System Variable
Normally, it is the output of the system.
Control Signal
Disturbances
Disturbances: A signal that usually affects the
output of a systems in a negative way. There
internal and external disturbances.
Introduction to Control Theory
In-class verbal practice with control systems: tell input and output
Input Output

Cruise
Control
Speed
RadioAstronomy Antenna

Pupil Dynamics
Introduction to Control Systems

Control means to measure the value of the

controlled variable of the system and apply the
manipulated variable to the system to correct or
limit the deviation of its mean value respect to a
reference (desired) value

Consist of subsystems and processes (or plants) assembled for the

purpose of obtaining a desired output with desired performance, given
an specified input. Nise, N. S. (2015).
Control • Modeled with mathematical equations to describe its dynamics
System • Represented by different types of diagrams/schemes; e.g.
Defintion interconnected elements in a Block Diagram.
Vasquez S. J., 2007. Ingeniería en Electrónica
Introduction to Control Systems
Elements of the Block Diagrams in Control Systems

Input Input Transducer converts the form of the input to that used by
Transducer the controller (Its operation will affect the controller)
Potentiometer, timer, pedals, valve

Controller provides the exitation signal to drive the actuator that

governs the process (or plant).
• Designed to control the global behavior of the process.
Controller
• Also named as: regulator, corrector, compensator.
Human operator, mechanical, electro-mechanical,
analog electrical, microprocessors, microcontrollers
Vasquez S. J., 2007. Ingeniería en Electrónica
Introduction to Control System
Elements of the Block Diagrams in Control Systems

Process Plant: A sigle element or a set of elements working to accomplish a

particular operation. Also, any action/task/process that is to be
or Plant controlled.
• A physical object to control such as:
CD player, disk drive mechanics, aircraft or missile, car
suspension, engine, rolling mill, high-rise building, computer
network, industrial process, elevator, (temperature) in a room
Sensor: It allows to measure the output of the plant.
Sensor • Transform physical observation (variables) into
electrical signals.
Altimeter, GPS, shaft encoder, strain gauge, IMU,
tachometer, microphone, pressure/temperature
transducer, chemical sensors, sonar, lidar
 Introduction to Control Systems
Examples of the different elements in a Control System

Hydraulic, pneumatic, electric motors, pumps,

*Actuator heaters, aircraft control surfaces, voice coil,
solenoid, piezo-electric transducer

(Lozano, 2021) Extracted from: https://www.amazon.in/Anself-Ultra-quiet-DC12V-

Extracted from:
https://www.progressiveautomations.com/blogs/products/inside-an-electric- Brushless-Submersible/dp/B00JWJIC0K
linear-actuator

Wind gusts, earthquakes, shaking, vibration, road

Disturbances surface variations, variation in feed material
 Introduction to Control System
Open-Loop Systems
In an Open-Loop control system the controlled variable has no effect over the control action
Reference
or Control Disturbance 1 Disturbance 2
Signal
Summing Summing
Input + Junction + Junction
Process or
Transducer Controller
+ Plant + Controlled
Manipulated Variable
Nise, N. S. (2015).
Variable or
Control signal
Main Features: h in k of
t
¿Let’s en-loop
• The controlled variable (output) is not measured or feedbacked to the controller op
some systems?
• Every input is maped to a fix operation condition (it does what it is suppose to) l
contro
• Precision may depend on calibration of its components and machinery parts
• Disturbances may yield unwanted outputs affecting the process. Can’t compensate outcomes.
• They frequently need a human operator for adjustment and functionality Vasquez S. J., 2007. Ingeniería en Electrónica
Introduction to Control System
Open-Loop Control System

Open-Loop
Control
Systems

Irrigation System
This Photo by Unknown Author is licensed under CC BY-NC-ND

Study time

Dishwasher
Toaster
Introduction to Control Systems
Open Loop Control System

Imagine: A manual-gas-oven has to be heated to a particular temperature in ℃.

𝟑𝟎° 𝟗𝟎°

Input Transducer: Gas valve Cooker

Controller: Cooker Temperature
Plant: Oven
Controlled Variable: Temperature Oven
Gas valve
Gas Flow
Introduction to Control Systems
Open Loop Control System

Imagine: A toaster toasting bread

https://www.youtube.com/watch?v=FurC2unHeXI&list=PLn8PRpmsu08q8CE0pbZ-cSrMm_WYJfVGd&index=2
 Introduction to Control System Closed-Loop System
In a Closed-Loop Control System the reference and output variables (signals) sustain an active
relationship since they are constantly compared to a reference and the difference between them is
used as a control parameter. In the presence of disturbances, this operation works to reduce the
difference between the input and the output of the system.
Disturbance 1 Disturbance 2

+ +
Input + Process
Controller or Plant
Transducer + +
−
Actuating Signal/ Control Signal Controlled
Reference Signal
Error Signal* Variable
(input to controller)
Sensor
Measurement Nise, N. S. (2015)
Vasquez S. J., 2007. Ingeniería en Electrónica

* In systems where both input/output transducers have unity gain (ex. amplify signal by 1), the actuating signal’s value is equal to
the actual difference between the input and the output
 Introduction to Control System
Examples Closed-Loop Control Systems
Closed-Loop
Control
Systems

SMT Oven
Product Quality Supervision

Automated Car Production Line Autonomous Mobile Robot

Introduction to Control Systems
Closed Loop Control System Temperature Control in an automatic electric oven

Automatic Electric Oven

Input Transducer: any user interface to se it up…

Controller: Controlador
Heating
Area
Plant: Electrical oven
Input: Desired temperature
(the reference value already avaible in the
program of the controller)

Controlled Variable: Temperature

 Case of Study: Position Control System

Purpose:
• to have the azimuth angle output od
the antenna, 𝜃! (𝑡), follow up the input
angle of the potentiometer 𝜃" (𝑡)

Detailed Layout of the Antenna system Nise, N. S. (2015).

Case of Study

Schematic of the Antenna system

Nise, N. S. (2015).
Case of Study

Functional block diagram

Nise, N. S. (2015).
Introduction to Control System
Open-Loop Control System
Benefits
• Simple contruction and easy maintenance.
• Usually low cost
• No stability problems
• Convinient either when it is dificult to measure
the output (controlled variable) or output
measuring is not affordable economically.
Disadvantages
• External disturbances and system calibration
changes frequently outcomes a undesired
output.
• Calibration is required very often
Closed-Loop Control System
• System response relatively insensible to
internal variations or external disturbances:
Less sensitive to noise, disturbances, and
changes
• Transient response and steady-state error can
be controlled more conveniently
• Greater accuracy than openl-loop systems.
• Stability problems: excesive corrections may
cause undesired oscilations
• Usually requires more system componets
• More complex and higher cost
Vasquez S. J., 2007. Ingeniería en Electrónica
Introduction to Control System
Activity 1.1 Describe the Following Control Systems

1. Air Conditioning System

2. Blood glucose control (as in human-body)
3. Electric Toaster (Classic device)
4. Sun-tracking Solar Panel
5. Windshield Car Wiper with Rain Sensor
6. Elevator
7. Automatic Laundry Machine Input:
Controller:
Plant:
Controlled Variable:
Description Criteria Open-Loop or Closed-Loop?:
 LTI Systems
Linear Time Invariant and Variant Systems

Linear Time Invariant Systems (LTI)

• Modeled by differential equations which coefficients are

either constants or functions of the independent
variable.
$!' $'
Ø 𝑎 +𝑏 + 𝑐𝑦 = 0
$& ! $&

Linear Time Variant System

• Coefficients of differential equations are functions
of the time.
$ %! $%
Ø 𝑡 # $& ! + 𝑡 $& + 𝑥 = 15 sin 3𝑡

• A control system of spacecraft is an example of

these systems: Its mass changes overtime due to
fuel consumtion.
Ogata, K., Dormido Sebastián, Canto, R. D., & Mariani, A. (2010). Perez, M., Perez, A. and Perez, E. (2008). Vasquez S. J., 2007. Ingeniería en Electrónica
 LTI Systems
Linear Control Systems
Superposition
𝑥( (𝑡) 𝑦( (𝑡)
Superposition Principle states:
LTI
Homogeneity
The output response of a 𝑥) (𝑡) 𝑦) (𝑡) input output
system to the sum of inputs is LTI
the sum of the responses to 2 2
the individual inputs. 𝑥( (𝑡) + 𝑥) (𝑡) 𝑦( (𝑡) + 𝑦) (𝑡)
LTI 1 1

A Linear Differential Equation

𝑑) 𝑦 𝑑𝑦
Linearity Property 𝑎 +𝑏 + 𝑐𝑦 = 0 • Coefficients are constant or functions of the
𝑑𝑡 ) 𝑑𝑡 independent variable functions

(Ogata, K. et al 2010)
LTI Systems
LTI System Definition

Time-Invariant Features Any delay over input, reflects on the output

input 𝑥(𝑡) 𝑦(𝑡) response

LTI
𝑥(𝑡 − 𝑎) System 𝑦(𝑡 − 𝑎)
a time delayed function a time delayed response

Impulse function 𝛿(𝑡) ℎ(𝑡) Impulse response

Ogata, K. (2003), Electronic Tutorials

 LTI Systems
Feedback Control System Classification

Nonlinear Control System 𝑦(𝑡)

𝑦(𝑡) Amplifier
Saturation
Limit Cycle Theory
• Does not follow the Superposition

output
output
Principle
𝑡 𝑡
• Applies to more real-world systems Poincaré Maps input
input

• Solved by Nonlinear Differential 𝑦(𝑡)

𝑦(𝑡) Backlash
Lyapunov Stability Motor dead zone in gears
Equations
Theorem
• Few mathematical techniques have

output
output
been developed to solve these Describing functions 𝑡
𝑡
systems input
input

Vasquez S. J., 2007. Ingeniería en Electrónica

 Introduction to Control System
Continuous-Time System Input and Outputs are continuous time signals

𝑥( (𝑡) Control 𝑦( (𝑡)

Input Controlled
Signal System Variable

𝑅
𝑣* 𝑡 𝑣* 𝑡 𝑑𝑣+ (𝑡) 1 1 𝑣+ (𝑡)
Electrical 𝐶 𝑣+ (𝑡) + 𝑣+ 𝑡 = 𝑣 𝑡
𝑑𝑡 𝑅𝐶 𝑅𝐶 *

𝑣(𝑡) 𝐹 𝑡 𝑣+ (𝑡)
𝑑𝑣(𝑡) 𝑏 1
Mechanical + 𝑣 𝑡 = 𝐹 𝑡
𝒎 𝐹(𝑡) 𝑑𝑡 𝑚 𝑚
𝒃
www2.hawaii.edu. (n.d.)
Introduction to Control System
Discrete-Time System Input and Outputs are discrete time signals

𝑥( [𝑛] Control 𝑦( [𝑛]

Input Controlled
Signal System Variable

Financial
Monthly Monthly Account
deposit Investment account w/ Balance 𝑑[𝑛] 𝑏[𝑛]
1% monthly return 𝑏 𝑛 = 1.01𝑏 𝑛 − 1 + 𝑑[𝑛]
𝑑[𝑛] 𝑏[𝑛]

Www2.hawaii.edu. (n.d.)
REFERENCES

* Nise, N. S. (2015). Control systems engineering (7th ed.). Hoboken, NJ: John Wiley & Sons, Inc.
* Ogata, K., Dormido S., Dormido, R., Mariani, A., Picco, E., Mantz, R., & Rossello, J.
(2010). Ingeniería de control moderna (5th ed.). Madrid: Prentice Hall.
* Ducard, G. (2017). [online] Ethz.ch. Available at: https://ethz.ch/content/dam/ethz/special-
interest/mavt/dynamic-systems-n-control/idsc-dam/Lectures/System-
Modeling/Slides_HS17/SysMod2017_Lect1.pdf [Accessed 16 Jan. 2020].
* Www2.hawaii.edu. (n.d.). [online] Available at: http://www2.hawaii.edu/~gurdal/EE315/class4.pdf
[Accessed 22 Jan. 2020].
* Perez, M., Perez, A. and Perez, E. (2008). INTRODUCCIÓN A LOS SISTEMAS DE CONTROL Y MODELO
MATEMÁTICO PARA SISTEMAS LINEALES INVARIANTES EN EL TIEMPO.. [online] Dea.unsj.edu.ar.
Available at: http://dea.unsj.edu.ar/control1b/teoria/unidad1y2.pdf [Accessed 22 Jan. 2020].
* Lozano, R. (2021, September 27). ¿Cómo usar par de encoder rotativo incremental con arduino?
Talos Electronics. Retrieved September 18, 2022, from
https://www.taloselectronics.com/blogs/tutoriales/como-usar-par-de-encoder-rotativo-
incremental-con-arduino