 Dorf, Richard C., Bishop, Robert H.

, “Modern
Control Systems”, Pearson, 13th Edition, 2017
 Nise , Norman S. , “Control Systems Engineering”,
John Wiley and Sons , 8th Edition, 2019.
 Kuo B.C., "Automatic Control Systems", Prentice
Hall, 10th Edition, 2017
 Ogata, K, "Modern Control Engineering"Prentice
Hall,5th Edition, 2021
 Stanley M. Shinners, “Advanced Modern Control
System Theory and Design”, John Wiley and Sons,
2nd Edition. 1998
System is an arrangement, set, or collection of
things connected or related in such a manner
as to form an entirety or whole; is an
arrangement of physical components
connected or related in such a manner as to
form and/or act as an entire unit.

Control is usually taken to mean regulate,

direct, or command
Control system is an arrangement of physical
components connected or related in such a
manner as to command, direct, or regulate
itself or another system.
Process (Plant) to be
controlled

Process with a controller

Human
Control
Basic Component

 The system requires an input known as a set point. This provides

the system with a goal for self regulation.
 To attain this goal, the system requires knowledge of
performance. This is obtain at the summing point as an error
with should approach to zero.
 To obtain and minimize the error, we require a feedback.
 The error is passed through a compensating network for further
amplification processing.
 This signal becomes the driving for our plant under control. The
plant response by modifying the output and the control system
to be complete.
Input(objective) is the stimulus, excitation or
command applied to a control system,
typically from an external energy source,
usually in order to produce a specified
response from the control system.

Output(result) is the actual response obtained

from a control system. It may or may not be
equal to the specified response implied by
the input.
 Machine tools. Improve precision and increase
productivity by controlling chatter.
 Flexible robotics. Enable faster motion with
greater accuracy.
 Photolithography. Enable the manufacture of
smaller microelectronic circuits by controlling
vibration in the photolithography circuit-printing
process.
 Biomechanical and biomedical. Artificial muscles,
drug delivery systems, and other assistive
technologies.
 Process control. For example, on/off shape
control of solar reflectors or aerodynamic
surfaces.
2 TYPES OF CONTROL SYSTEM:
 OPEN-LOOP CONTROL SYSTEMS (non-
feedback system)
 CLOSED-LOOP CONTROL SYSTEMS(feedback
control system)
Open-loop control system is one in which the control action
is independent of the output; requires no feedback and
therefore is not error base. ( ex. automatic toasters)

Advantage
 Less expensive
 Easy to design
Disadvantage
 Requires an accurate input-output relationship with the
plant (accurately is determined by their calibration. To
calibrate means to establish or reestablish the input-
output relation to obtain desired system accuracy.)
 Does not measure error, thus assumes output is always
correct
Most automatic toasters are open-loop
systems because they are controlled by a
timer. The time required to make ‘‘good
toast” must be estimated by the user, who is
not part of the system. Control over the
quality of toast (the output) is removed once
the time, which is both the input and the
control action, has been set. The time is
typically set by means of a calibrated dial or
switch.
Day-to-day Examples
 Microwave oven set to operate for fixed time
 Washing machine set to operate on fixed
timed sequence.

No Feedback
For example, ceiling or table fan
control
Closed-loop/Feedback control system is one in
which the control action is somehow dependent
on the output. ( ex. autopilot mechanism of the
airplane )

Advantage
 Increase accuracy
 Reduce the effect of noise

Disadvantage
 High cost
 Requires qualified personnel to ensure stability
An autopilot mechanism and the airplane it
controls is a closed-loop (feedback) control
system. Its purpose is to maintain a specified
airplane heading, despite atmospheric changes.
It performs this task by continuously measuring
the actual airplane heading, and automatically
adjusting the airplane control surfaces so as to
bring the actual airplane heading into
correspondence with the specified heading. The
human pilot or operator who presets the
autopilot is not part of the control system.
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.
Feedback is a process whereby some
proportion of the output signal of a
system is passed (fed back) to the
input.
This is often used to control the
dynamic behavior of the System
 Utilizes feedback signal (measure of the
output)
 Forms closed loop
Controller:
Driver
Actuator:
Steering
Mechanism
➢ The driver uses the
difference between the actual
and the desired direction to
generate a controlled
adjustment of the steering
wheel
CHARACTERISTICS OF FEEDBACK
The presence of feedback typically imparts the
following properties to a system.
 Increased accuracy. For example, the ability
to faithfully reproduce the input.
 Tendency toward oscillation or instability.
 Reduced sensitivity of the ratio of output to
input to variations in system parameters and
other characteristics.
 Reduced effects of nonlinearities
 Reduced effects of external disturbances or
noise
 Increased bandwidth. The bandwidth of a
system is a frequency response measure of
how well the system responds to (or filters)
variations (or frequencies) in the input signal
THE CONTROL SYSTEMS ENGINEERING
PROBLEM
Control systems engineering consists of
analysis and design of control systems
configurations.
 Analysis is the investigation of the properties
of an existing system.
 Design problem is the choice and
arrangement of system components to
perform a specific task.
CONTROL SYSTEM MODELS OR REPRESENTATIONS
 To solve a control systems problem, we must put
the specifications or description of the system
configuration and its components into a form
amenable to analysis or design. Three basic
representations (models) of components and
systems are used extensively in the study of
control systems:
◦ Mathematical models, in the form of differential
equations, difference equations, and/or other
mathematical relations, for example, Laplace- and z-
transforms
◦ Block diagrams
◦ Signal flow graphs