Introduction To Control Systems

Course content
Introduction to Format and grading

control systems Outcomes
TI0118 Contacts
Introduction to control systems

Course introduction
Michela Mulas
TI0118 – Course introduction

Course content
TI0118 Contacts
About Me...
I Chemical Engineer at the UniCA

Trondheim I Post-graduate Researcher in NTNU
Helsinki I Industrial Engineering PhD at the UniCA

I Post-Doctoral Researcher in HUT/Aalto
I Bolsista CAPES at UFCG
Sheffield
I Professor at UFC
Cagliari

Course content
Introduction to Control loop configurations
Format and grading
control systems Analysis and design objectives
Outcomes
TI0118 Feedback control design steps
Contacts
... and about this course
This course is about control and automation
I We give an introduction of dynamic systems in the time domain and in the

frequency domain, stability analysis, performance of closed-loop control
systems, design of controllers and common control configurations.
I Automation and control have played a vital role in the advance of
engineering and science.
I Automation has become an important and integral part of modern manufacturing,
industrial processes and every-day life.

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Format and grading
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Control systems are an integral part of modern society
I Liquid-level control: A water clock invented by Ktesibios

(around 300 B.C.) operated by having water trickle into a
measuring container at a constant rate by using a float
valve similar to the water-level control in today’s flush toilets.
I Steam pressure control: the french physicist Denis Papin

invented the safety valve around 1681.
History
I Temperature control: Cornelis Drebbel in 17th century in
Holland invented a purely mechanical temperature control
system for hatching eggs.
I Speed control: In 1745, speed control was applied to a

windmill by Edmund Lee in England.

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Control systems are an integral part of modern society
I Control systems theory as we know it today began to

crystallise in the latter half of the nineteenth century:
Third industrial revolution
I The rockets fire and the space shuttle lifts off to earth
orbit; in splashing cooling water, a metallic part is
automatically machined; a self-guided vehicle ....
Today
I Within our own bodies are numerous control systems,
such as the pancreas, which regulates our blood sugar. 5thIndustrial
Revolution
Our eyes follow a moving object to keep it in view; our
hands grasp the object and place it precisely at a
TheGREEN
Revolution
predetermined location.
socially IEnvironmental
SUSTAINABLE
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The control problem
A control problem deals with forcing a desired

operation on a defined process.
I The system is the “object” under study

It can be a plant, a device, an equipment, a physical phenomenon...
I The desired operation is our request that the time behaviour of some variables
(the controlled variables) follow some desired responses, the reference signals.
I The ideal result of a control problem is

controlled variable = reference signal
over the time interval of the process operation.
I The goal can achieved by manipulating other variables (manipulated variables)

whose behaviour can be chosen and adjusted.

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Building blocks of a typical control loop are:
BLOCKDIAGRAMREPRESENTATION
Disturbance
Manipulated Controlled
Variable Variable
System
I The system is a complex assembly of interconnected elements, where some

quantities, the variables, change with time.
I The signals represent the behaviour of the variables with time.
Input variables, or independent variables are those variables influencing the
system (manipulated variables and disturbances).
Output variables, or dependent variables are those variables whose
behaviour is resulting from the system (controlled variables).

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Disturbance
Variable Variable
System
System
I The system can be represented with blocks and the signals with arrows oriented
through the system (inputs) and from the system (outputs).
I This highlights the cause-effect relationship that exists between the input and
output variables in the system.
I Single-input-single-output (SISO): a unique relationship exists.
I Multiple-input-multiple-output (MIMO): multiple relationships exist.

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Yeti
EÉÉÉa
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I alt
Disturbance
Reference Error Variable
Variable
Controller Actuator System skinperception
Sensor
Theobjectieistoforcethesystem
The main control “equation” can be written as:
Control = Sense + Compute + Act

toread maintainadesiredbehavior
e Definethedesiredbehavior
2 Designthecontroller

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We build control systems for four primary reasons:
1. Power amplification
2. Remote control
3. Convenience of input form
4. Compensation for disturbances
A radar antenna requires a large amount of power for its output

rotation.
I A control system can produce the needed power
amplification, or power gain.
Examples
Robots designed by control system principles can compensate
for human disabilities.
Control systems are also useful in remote or dangerous
locations.

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We build control systems for four primary reasons:
1. Power amplification
2. Remote control
3. Convenience of input form
4. Compensation for disturbances
Disturbances are the main reasons for which we need control

I For example, an antenna system points in a commanded
direction.
If wind forces the antenna from its position, or if noise
Examples enters internally, the system must be able to detect the
disturbance and correct the antenna’s position.
I The system itself must measure the amount that the
disturbance has repositioned the antenna.
I Then, it returns the antenna to the position commanded by
the input.

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Open-loop systems
The controller gets information only regarding the reference signal.

An open loop system starts with a subsystem called an input transducer
I It converts the form of the input to that used by the controller.
The controller drives a process or a plant.

The input is sometimes called the reference, or set-point if constant.
The output are the controlled variable.
Other signals, such as disturbances, can be added to the controller and process
outputs via summing junctions (the algebraic sum of their input signals using
associated signs).

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Closed-loop systems
OpenLoop Vs Closedhop
feedbackcontrol
of
mesorements
outputvariables arefed backto
a
processthroughthecontroller
In the closed-loop configuration:

Themanipulatedinputvariable isgeneratedwithout
I The input transducer converts the form of the input to the form used by the
controller.
messringtheoutputvariable
I An output transducer, or sensor, measures the output response and converts it
into the form used by the controller.

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Closed-loop systems
In a closed-loop configuration:
I For example, if the controller uses electrical signals to operate the valves of a
temperature control system, the input position and the output temperature are
converted to electrical signals.
The input position can be converted to a voltage by a potentiometer, a variable
resistor, and the output temperature can be converted to a voltage by a thermistor,
a device whose electrical resistance changes with temperature.

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Closed-loop systems
The closed-loop system compensates for disturbances

I It measures the output response, feeding that measurement back through a
feedback path, and comparing that response to the input at the summing junction.
I If there is any difference between the two responses, the system drives the plant,
via the actuating signal, to make a correction.
I If there is no difference, the system does not drive the plant, since the plant’s
response is already at the desired response.

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Computer-controlled systems
In many modern systems, the controller (or compensator) is a digital computer.

The advantage of using a computer is that many loops can be controlled or
compensated by the same computer through time sharing.
Any adjustments of the compensator parameters required for a desired response can
be made by changes in software rather than hardware. The computer can also perform
supervisory functions, such as scheduling.

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Analysis and design objectives
I Analysis is the process by which a system’s performance is determined.

I Design is the process by which a system’s performance is created or changed.
A control system is dynamic: It responds to an input by undergoing a transient

response before reaching a steady-state response that generally resembles the input.
The three major objectives of systems analysis and design are:
1. Producing the desired transient response.
2. Reducing steady-state error.
3. Achieving stability.

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Analysis and design objectives - Transient response
The transient response, or natural response, is the response of a system to a

change from an equilibrium or a steady state.
I In the case of an elevator, a slow transient

response makes passengers impatient,
whereas an excessively rapid response
makes them uncomfortable.
I If the elevator oscillates about the arrival
floor for more than a second, a
disconcerting feeling can result.
Transient response is also important for structural reasons: Too fast a transient
response could cause permanent physical damage.

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Analysis and design objectives - Steady-state response
Steady state occurs after the system becomes settled

Steady state response of control system is a function of input signal and it is also
called as forced response.
I This response may be an elevator stopped

near the 4th floor.
We are concerned about the accuracy of
the steady-state response.
I An elevator must be level enough with the
floor for the passengers to exit, and a
read/write head not positioned over the
commanded track results in computer
errors.

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Analysis and design objectives - Stability
To explain stability, we start from the fact that the total response of a system is the sum
of the natural response and the forced response.
I Natural response describes the way the system dissipates or acquires energy.
The form or nature of this response is dependent only on the system, not the input.
I On the other hand, the form or nature of the forced response is dependent on the
input.
For a linear system: Total response = Natural response + Forced response
For a control system to be useful, the natural response must:
I eventually approach zero (leaving only the forced response) or oscillate.
Sometimes, the natural response grows without bound rather than diminish to zero or
oscillate. Eventually, the natural response is so much greater than the forced response
that the system is no longer controlled. This condition is called instability.

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Feedback control design steps
1. Transform requirements into a physical system.

Using the requirements, design specifications, such as desired transient
response and steady-state accuracy, are determined.

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2. Draw a functional block diagram
3. Create a schematic
CTI
After producing the description of a physical system, we transform the
physical system into a schematic diagram.

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2. Draw a functional block diagram
3. Create a schematic
4. Develop a mathematical model (block diagram)
5. Reduce the block diagram
Subsystem models are interconnected to form block diagrams of larger
systems.

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Summarising...
Source: Youtube (https://www.youtube.com/watch?v=XJLMW6l303g)
Bravo Luigi!!

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TI0118 Contacts
Course schedule Tentative!!

March 14, 2023 March 14, 2023
Tuesday Tuesday
Thursday Thursday Tuesday Tuesday
Thursday Thursday
Mar. 14
16 Mar. 16 June. 13 June. 13
15 June. 15
Course intro Course intro
Background survey Background survey Design with RL Design
Design with
with RL
RL Design with RL
Mar. 21
23 Mar. 23 June. 20 June. 20
22 June. 22
nd models Systems
Systems and
and models
models Systems and models Bode/ Nyquist plots Bode/
DesignNyquist
with Bode/
plots
Nyquist Design with Bode/ Nyquist
Mar. 28
30 Mar. 30 June. 27 June. 27
29 June. 29
functions Transfer
Transfer functions
functions Transfer functions Design with State-Space Design
Design with
with State-Space
State-Space Design with State-Space
Apr. 46 Apr. 6 July. 4 July. 46 July. 6
Recesso escolar Recesso escolar AP3 AP3
of dynamic systems Simulation
Semana Santa
of dynamic systems Semana Santa Revision exercises Revision
Written exercises
Exam Written Exam
Apr. 11
13 Apr. 13 July. 11 July. 11
13 July. 13
Transfer function Transfer function
e models State
to/from
space
State
models
Space to/from State Space
Apr. 18
20 Apr. 20
AP1 AP1
xercises Revision
Oral Examexercises Oral Exam
Apr. 25
27 Apr. 27
system 1st
2nd order
order system
system 2nd order system
May. 24 May. 4
l poles and zeros Additional

Block diagram
poles
representation
and zeros Block diagram representation
May. 911 May. 11
w representation Signal
Stability
flow representation Stability
May. 16
18 May. 18
Exercises
Exercises Exercises
Classes might need be rescheduled

sistants Course
Course assistants
assistants Course assistants
May. 23
25 May. 25
Exercises
Exercises Exercises
sistants Course
Course assistants
assistants Course assistants
May.
June. 30
1 June. 1
AP2 AP2
xercises Revision
Oral Examexercises Oral Exam
June. 68 June. 8
us Root-Locus
Root-Locus Root-Locus
page 1 of 2 page 1 of 2 page 2 of 2 page 2 of 2

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TI0118 Contacts
Course format and grading

The course consists of lectures, hands-on exercises and homework assignments.
The final grading is based on:
40% Homework assignments
There will be three homework assignments
Homework assignments can be done individually or in pairs.
50% Exams
There will be two oral exams and one written exam.
10% Presence and interaction in the class activities

Presence and interaction in the classe room
In itinere exercises
Quizzes

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TI0118 Contacts
Course material
Lecture handouts
Selected material
This is a restricted list of various interesting and useful books that

will be touched during the course.
Norman S. Nise, Control system engineering (6th Ed., in

Main
English, 2011 or Portuguese, 2012)1 .
References
Katsuhiko Ogata and Bernardo Severo, Engenharia de
Controle Moderno (3th Ed., 2000, or newer), in Portuguese.
Newerversionavailable
1 Today’s slides are mainly based on Chapter 1
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TI0118 Contacts
Course software
The homework assignments consist of computer exercises to be performed in a
programming language of your choice.
Control System Toolbox in MATLAB provides algorithms and apps for

systematically analysing, designing, and tuning linear control systems.
https://prppg.ufc.br/pt/matlab/
GNU Octave is mostly compatible with MATLAB, as they have a lot of

features in common
https://www.gnu.org/software/octave/
An example of control system toolbox in R:

https://cran.r-project.org/web/packages/control
An example of control system toolbox in Python:

https://python-control.readthedocs.io/en/0.9.3.post2/
An example of control system toolbox in Julia:

https://juliacontrol.github.io/ControlSystems.jl/stable/

Course content
TI0118 Contacts
Course outcomes
After the completion of the course you should be able to...
I Model a physical system as transfer functions and state space.

I Present and analyse control systems using block diagrams.
I Predict system dynamic response for the transfer functions (zeros/poles).
I Design lead compensator and lag compensator.
I Design PID control.

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TI0118 Contacts
Course policy
I Regular attendance is expected.

I You are responsible for all material covered in class.
I You are responsible for the assigned readings and for the computer exercises.
I Honesty is the foundation of good work

I Trust the value of your own intellect.
I Undertake research honestly and credit others for
Academic integrity1 their work.
I Demonstrate your own achievement.
I Accept corrections from the course staff as part of
the learning process.
1 https://integrity.mit.edu

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TI0118 Contacts
Contacts
Contact me by email or Telegram Email: michela.mulas@ufc.br
I Q&A time on Fridays 16:00 – 18:00

Place: Google Meet
Course assistant Antonio Felype Ferreira Maciel

I Q&A time on Wednesdays
10:00-12:00 (or 16:00-18:00?)
Place: DETI - Room 2
Google Meet
All communication will take place through SIGAA or

Telegram or my official email address.
Any email or contact coming from different sources

have to be ignored.

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TI0118 Contacts
Hans Rosling - The magic washing machine
Source: https://www.ted.com/talks/hans_rosling_and_the_magic_washing_machine

Introduction To Control Systems

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Course content

Introduction to Format and grading

Introduction to control systems

TI0118 – Course introduction

I Chemical Engineer at the UniCA

Helsinki I Industrial Engineering PhD at the UniCA

TI0118 – Course introduction

... and about this course

This course is about control and automation

I We give an introduction of dynamic systems in the time domain and in the

TI0118 – Course introduction

... and about this course

Control systems are an integral part of modern society

I Liquid-level control: A water clock invented by Ktesibios

I Steam pressure control: the french physicist Denis Papin

I Speed control: In 1745, speed control was applied to a

TI0118 – Course introduction

... and about this course

Control systems are an integral part of modern society

I Control systems theory as we know it today began to

A control problem deals with forcing a desired

I The system is the “object” under study

I The ideal result of a control problem is

I The goal can achieved by manipulating other variables (manipulated variables)

TI0118 – Course introduction

I The system is a complex assembly of interconnected elements, where some

TI0118 – Course introduction

TI0118 – Course introduction

Control = Sense + Compute + Act

TI0118 – Course introduction

A radar antenna requires a large amount of power for its output

TI0118 – Course introduction

Disturbances are the main reasons for which we need control

TI0118 – Course introduction

The controller gets information only regarding the reference signal.

The controller drives a process or a plant.

TI0118 – Course introduction

In the closed-loop configuration:

TI0118 – Course introduction

TI0118 – Course introduction

The closed-loop system compensates for disturbances

TI0118 – Course introduction

In many modern systems, the controller (or compensator) is a digital computer.

TI0118 – Course introduction

I Analysis is the process by which a system’s performance is determined.

A control system is dynamic: It responds to an input by undergoing a transient

TI0118 – Course introduction

The transient response, or natural response, is the response of a system to a

I In the case of an elevator, a slow transient

TI0118 – Course introduction

Steady state occurs after the system becomes settled

I This response may be an elevator stopped

TI0118 – Course introduction

TI0118 – Course introduction

1. Transform requirements into a physical system.

TI0118 – Course introduction

1. Transform requirements into a physical system.

TI0118 – Course introduction

1. Transform requirements into a physical system.

TI0118 – Course introduction

Source: Youtube (https://www.youtube.com/watch?v=XJLMW6l303g)

TI0118 – Course introduction