LECTURE 1

INTRODUCTION TO CONTROL
SYSTEMS

MCTE 3312 (SECTION 1)

NUR LIYANA AZMI, PhD
Department of
Mechatronics Engineering
CONTENT

WHAT IS CONTROL BASIC ELEMENT IN OPEN LOOP VS

SYSTEMS? CONTROL SYSTEM CLOSED LOOP SYSTEM
WHAT IS CONTROL SYSTEMS?
WHAT IS CONTROL SYSTEMS?

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”
WHAT IS CONTROL SYSTEMS?
Control system is a interconnection of components forming a
system configuration which will provide the desired system
response.
Disturbance, n(t)

Input, u(t) Output, y(t)

System

: signal or variable
HOW TO CONTROL?
Compute Actuate
Control “Law” Gas Pedal/
Brake

Sense
Vehicle Speed

Control = Sensing + Computation + Actuation

In Feedback “Loop”
 CONTROLLER : A device for
controlling a source of power in
which the output is controlled to be
some function of the input.

WHAT IS The objective is to ensure the actual

CONTROL output of the system is equal to the

desired output or the reference
signal.
SYSTEMS?
SYSTEM: Any collection of interacting
elements for which there are cause-
and-effect relationships among the
variables.
ELEMENT IN CONTROL SYSTEM
In general

Disturbance

Main Components:
• Plant: Process + Actuator
• Controller
• Sensor
• Disturbance
APPLICATIONS
OPEN-LOOP SYSTEM
(FEEDFORWARD)
• An open loop control system utilizes an actuating device to
control the process directly without using any feedback.
• The output has no effect on the control action.
• Do not correct for disturbances and are simply commanded by
the input.

Reference Actuating Controlled

input, r(t) signal, u(t) variable, y(t)
Controller Process
CLOSED-LOOP SYSTEM
(FEEDBACK)
• A closed loop control system maintains a prescribed relationship
between the output and the reference input by comparing them
and using the difference as a mean of control.
• The controlled variable, y(t) is measured and fed back for
comparison with the reference input and an actuating signal is
sent through the system to correct the error.
- Output, y(t)
Reference input/
Controller Process
Desired output,
+
u(t)

Measurement
OPEN LOOP VS CLOSED LOOP
Closed loop system has greater accuracy than open loop system:
• Less sensitive to noise, disturbances and changes in the
environment.
• Complex and expensive.
ADVANTAGES OF CONTROL
SYSTEMS
• POWER AMPLIFICATION
• REMOTE CONTROL
• CONVENIENCE OF INPUT FORM
• COMPENSATION FOR DISTURBANCES
WHAT WILL WE STUDY?
• Transfer function
Plant Modeling • Block diagram
• Signal Flow Graph
Week 1 – Week 3
• State-space representation

• Transient Response
• Steady-state error
System Analysis • Stability Week 4 – Week 7

• Root Locus
Controller Design • P, PI, PID Controller Week 8 – Week 12
• Frequency Response