Me 363

ME 363
AUTOMATIC CONTROL I
BY
M. N. SACKEY
COURSE OVERVIEW
• Introduction to Automatic Control
– Concept of an Engineering System,
• Classification of control systems
• Mathematical Techniques:
– Transfer Functions,
– Block Diagram representation of control systems ,
– Signal Flow Diagrams,
• Control system components,
• Time response of Control Systems,
• Introduction to System Stability using Routh-Hurwitz’s
Criterion
• Introduction to System Simulation:
– Electromechanical Analogies and
– Analogue Computers.
INTRODUCTION
• What is Automatic Control ?
– Automatic Control = Automatic + Control.
• CONTROL-The ability to purposefully direct or suppress change.
-To regulate, direct, command, or govern.
• CONTROL THEORY - Mathematical theory about controlling
dynamical systems over time.
• SYSTEM - A Group of interdependent items that interact regularly
to perform a task.
OR A Set of rules that governs structure and/or behavior
• CONTROL SYSTEM - An arrangement of physical components

connected or related in such a manner as to command, regulate,
direct, or govern itself or another system.
INTRODUCTION
• A CONTROL SYSTEM has the ability to purposefully direct or
suppress change in a group of interdependent items that
interact regularly to perform a task or a set of rules that
governs structure and/or behaviour.
• AUTOMATIC CONTROL -a methodology or philosophy of
analyzing and designing a system that can self-regulate a
PLANT (machine or a industrial process), operating condition
or parameters by the controller with minimal human
intervention.
• AUTOMATIC CONTROL SYSTEM - a combination of
components that act together in such a way that the overall
system takes routine decisions by itself in a predefined
desired manner.
COURSE OBJECTIVES
1. To Introduce the Concepts of Engineering

System and Automatic Control.
2. To identify the various Types of Automatic
Control Systems.
3. To identify the various components of an
Automatic Control System and their
representation
4. To determine and analyse the performance
and Stability of any Automatic Control
System.
Basic Concept
• General Introduction
– Control Systems are concerned with the means by
which systems are made to behave in a desired
manner(1-1.2)
• Application areas
– Political , economic, organizational behaviour, etc
• Our concern is to look at control system
pertaining to Engineering
– Class that can be described by Differential Equations
AIM of control(1-1.3)
• Regulate
– Maintain output parameter at a constant level (static)
• Tracking
– Make output follow some desired motion (dynamic)
Input varies , normally related to distance and its
derivatives
• Process Control
– Sequential where events happen one after the other
Classification of Control Systems
• Configuration
– Open (No interaction between input and output)
– Closed(Interaction between input and output through
Feedback mechanism)
• Application
– Regulation
– Servomechanisms
– Sequential process
• Input /output
– SISO, SIMO, MISO, MIMO
• Creation -man made, Natural, Hybrid
COMPONENTS OF A CONTROL
SYSTEM (1-1.5)
• SENSORS - MEASURE SOME PHYSICAL STATES
• RESPONDERS OR CONTROLLERS
• ACTUATORS WHICH EFFECT A RESPONSE TO
THE SENSORS
FUNCTIONS
Compare , compute and to Correct various
signals
CONTROL SYSTEM REPRESENTATION
• MATHEMATICAL EQUATIONS
– (EG DIFFERENTIAL EQUATIONS)
• TRANSFER FUNCTIONS
• BLOCK DIAGRAMS
• SIGNAL FLOWS GRAPHS
• STATE SPACE (MATRICES)
MATHEMATICAL MODELS OF SYSTEMS
Introduction
？
Why？
1) Easy to discuss the full possible types of the control systems —

only in terms of the system’s “mathematical characteristics”.
2) The basis of analyzing or designing the control systems.
What is ？
Mathematical models of systems ARE the mathematical
relationships between the system’s variables.
How ？
get？
1) theoretical approaches
2) experimental approaches
3) discrimination learning
TYPES
1) Differential equations
2) Transfer function
3) Block diagram , signal flow graph
4) State variables
The input-output description of the physical systems — differential equations

The input-output description—description of the
mathematical relationship between the output variable
and the input variable of physical systems.
Mechanical Example : A mechanism
Define: input → F ，output → y. We have:
dy d2y
k F − ky − f =m 2
F dt d t
⇓
m d2y dy
m 2 +f + ky = F
y dt dt
f m
f If we make : = T1, = T2
k f
d2y dy 1
we have : T1T2 + T1 +y= F
dt 2 dt k
Steps to obtain the input-output description
(differential equation) of control systems
1) Identify the output and input variables of the control
systems.
2) Write the differential equations of each system’s component in
terms of the physical laws of the components, taking into
consideration:
* necessary assumption and neglect.
* proper approximation.
3) Dispel the intermediate(across) variables to get the input-

output description which only contains the output and input
variables.
4) Formalize theinput-output equation to be the “standard” form:
Input variable —— on the right of the input-output equation .
Output variable —— on the left of the input-output equation.
Writing the polynomial—according to the falling-power order.
General form of the input-output equation of the linear control

systems
——A nth-order differential equation:
Suppose: input → r ，output → y
y ( n ) + a1 y ( n−1) + a2 y ( n−2) + ⋅ ⋅ ⋅ + an−1 y (1) + a n y

= b0 r ( m ) + b1r ( m −1) + b2 r ( m −2 ) + ⋅ ⋅ ⋅ + bm −1r (1) + bm r .........n ≥ m
TRANSFER FUNCTION
Another form of the input-output(external)
description of control systems, different from
the differential equations is the TRANFER
FUNCTION
DEFINITION
• Transfer function IS The ratio of the Laplace
transform of the output variable to the
Laplace transform of the input variable with
all initial condition assumed to be zero and
for the linear systems, that is:
TRANSFER FUNCTION
C ( s)
G( s) =
R( s )
C(s) —— Laplace transform of the output variable
R(s) —— Laplace transform of the input variable
G(s) —— transfer function
* Only for the linear and stationary(constant parameter) systems.
* Zero initial conditions.
* Dependent on the configuration and coefficients of the
systems, independent on the input and output variables.
How to obtain the transfer function of a system
If the input-output differential equation is known
•Assume: zero initial conditions;
•Make: Laplace transform of the differential equation;
•Deduce: G(s)=C(s)/R(s).
TRANSFER FUNCTION
If control system is known
• Write the differential equations of the

control system;
• Make Laplace transformation, assume
zero initial conditions, transform the
differential equations into the relevant
algebraic equations;
• Deduce: G(s)=C(s)/R(s).
Recall -TRANSFER FUNCTION
• THE TRANSFER FUNCTION OF LINEAR SYSTEM
• Ratio of the Laplace Transform of the output variable to the
Laplace Transform of the input variable, with all initial
conditions assumed to be zero.
Represents the relationship describing the dynamics of the
system under consideration.
The transfer function, G(s) for a system representation in
figure below is
• Input G(S)
output G(S) =C(S)/R(S)
r(t) c(t)
Example of an open loop block diagram of a control system
BLOCK DIAGRAM MODELS (dynamic)
Portray the control systems by the block diagram models more
intuitively than the transfer function or differential equation
models
. BLOCK DIAGRAM REPRESENTATION OF THE CONTROL SYSTEMS
Si gnal X( s) Component G( s)
( var i abl e) ( devi ce)
X3( s)
Adder ( compar i son) X1( s) + E( s)

E( s) =x1( s) +x3( s) - x2( s)
+
-
X2( s)
Example DC MOTOR1
The differential equations of a DC Motor1 can be written down as:
dia
La + Ra ia + Ea = ua ....(1) M = C m ia .........................( 2)
dt
dω
Ea = C eω .........................( 3) M − M = J + f ω .....(4)
dt
Taking Laplace Transform, gives:
U a ( s ) − Ea ( s )
La sI a ( s ) + Ra I a ( s ) + Ea ( s ) = U a ( s ) ⇒ I a ( s ) = .............(5)
La s + Ra
M ( s ) = C m I a ( s )......................................................................................(6)
Ea ( s ) = C e Ω( s ).......................................................................................(7)
1
M ( s ) − M ( s ) = J sΩ( s ) + f Ω( s ) ⇒ Ω( s ) = [ M ( s ) − M ( s )]......(8)
Js + f
Chapter 2 mathematical models of systems
～(8):
Draw block diagram in terms of the equations (5)～
M (s)
Ua( s) 1 I a( s) M( s) - 1 Ω(s )
Cm
- La s + Ra Js + f
Ea( s)
Ce
M(s)
CONSIDER THE MOTOR AS A WHOLE:
1
(TeTms + Tm)
J
TeTms2 + (Tm + TeT f )s + T f +1
Ua(s) 1 Ω(s)
Ce -
TeTms2 + (Tm + TeT f )s + T f +1
Example WATER LEVEL CONTROL SYSTEM
1 k4
Ce k2e −τs k3
k1 TeTm s 2 + Tm s + 1 s T1 s + 1 T2 s + 1
Desired Actual
water level water level
Input hi e ua ω θ Q W ater Output h
am
plifier Motor Gearing Valve container
-
Feedback signal hf
Float
Tm α
(Te s + 1)
− J M ( s)
2
TeTm s + Tm s + 1
The block diagram model of Water level control systemis:
M(s)
Tm
(Tes +1)
J
TeTms2 +Tms +1
Ua(s)
1 k3
Hi (s) E(s) Ce - k2e −τs k4 H(s)
K
- TeTms2 +Tms +1 Ω(s) s θ(s) T1s+1 Q(s) T2s +1
Hf (s)
α
Example DC motor2 control system
1 −τs 1
k p (1 + ) kDe Ce
TI s TeTm s 2 + Tm s + 1
Desi red
rotate speed Actuator Actual
Reference Error rotate speed
i nput ur e uk a ua Output ω
Regul ator Tri gger Recti fi er DC
motor
-
Techometer
Feedback si gnal uf Tm
α (Te s + 1)
− J M ( s)
Ts + 1 2
TeTm s + Tm s + 1
The block diagram model DC Motor2 is:
M (s )
Tm
(Te s + 1)
J
TeTm s 2 + Tm s + 1
Ur(s) E(s) Uk(s) Ua(s) 1 - Ω(s) 1

1 −τs Ce θ (s )
kp(1+ ) kDe
- TI s TeTm s 2 + Tm s + 1 s
Uf (s)
α
Ts+1
DETAILS OF BLOCK DIAGRAM REPRESENTATION
2.6.2 Block diagram reduction
2.6.2.1 Basic forms of the block diagrams of control systems

Chapter 2-2.ppt
BLOCK DIAGRAM REPRESENTATION COMPONENTS (1-1.6)
• BLOCK DIAGRAMS – PERSPECTIVE VIEW
• Rectangle represent the System or a characteristics of

the system (is usually a multipier)
• Circle is comparator – compares various signal (OR SUMMER
(ADDITION, SUBTRACTION))
• Arrow is used to connect the various components and
indicates the flow of signals through the system
Block Diagram Cont’d
• The block Diagrams represent a mathematical
expression or equation
R(S)
C(S)
G(S)
• R(S) – input signal or desired state or reference

• G(S) – system (or System Transfer function or
model or Gain)
• C(S) – Output (or response, behaviour )
Block Diagram Algebra
R(S) C(S)
G(S)
C(s) = G(s)*R(S)
Example of an open loop System (no interaction between input and output)
Block Diagram Algebra cont’d
• C(S) = G(S).Z(S) or C(S)/Z(S) = G(S)
Z(S)
R(S) ± G(S) C(S)
D(S)
COMPARATOR : Z(S) = R(S) – D(S)
Algebra cont’d
• C(S) = (R(S) – D(S))*G(S)

• C(S)/R(S) =(1-D(S)/R(S))*G(S)
• NORMALLY FOR THE ABOVE SYSTEM MAY BE
CONSIDERED AS A MULTIPLE INPUT SYSTEM AND
THE OVERAL C(S)/R(S) IS OBTAINED BY
SUPERPOSITION. (FIRST PUT R(S) =0 AND COMPUTE
C(S)/D(S) AND THEN PUT D(S) = 0, AND COMPUTE
C(S)/R(S); THEN SUM THE TWO RATIOS)
Open loop system
Open loop system
R(S) C(S)
G(S)
Example of an open loop System (no interaction between input and output)
Basic Block Diagram constructions
i) Block Diagram
R1(s) Y2(s)
G1 G2
Y2(s)=G2(s)*G1(s)*R1(s)
Cascade (Or Series)

Peter A. Lin
ME322 Northern Illinois University
Copyright © 2001-2005
Module 3, Slide 35 Summer 2005
ii) Block Diagram (Parallel)
R1(s) Y2(s)
+
G1
+
G2 Parallel
Y2(s)=[G2(s)+G1(s)]R1(s)
ME363
14
Slide 36
iii) Block Diagram (negative feedback)
E =R1- G2*Y1
Y1= F=E*G1
R1(s) E =R1-G2*Y1 Y1=(R1-G2*Y1)*G1
F =E*G1= Y1(s) Y1+G2*Y1*G1=R1G1
+ G1 Y1(1+G2G1)=R1G1
_ Y1=R1G1/(1+G2G1)
Y1(s)
Y1/R1=G1/(1+G1G2)
Y1/R1=G1/(1-G1G2)
G2*Y1 F =E*G1
G2
Y1(S)=G1(S)[R1(S)-Y1(S)G2(S)]
Y1(S)=G1(S)R1(S) / [1 + G1(S)G2(S)]
ME363
Module 3, Slide 37
Negative Feedback
Algebra cont/d
E =R1- G2*Y1
Y1= F=E*G1
Y1=(R1-G2*Y1)*G1
Y1+G2*Y1*G1=R1G1
Y1(1+G2G1)=R1G1
Y1=R1G1/(1+G2G1)
Y1/R1=G1/(1+G1G2)
Postive feed back
E =R1+ G2*Y1
Y1= F=E*G1
Y1=(R1+G2*Y1)*G1
Y1-G2*Y1*G1=R1G1
Y1(1-G2G1)=R1G1
Y1=R1G1/(1-G2G1)
Y1/R1=G1/(1-G1G2)
Block Diagram (negative feedback)
E= R1 – G2*Y1
R1(s) Y1(s)
+ G1
+ _
Y1
G2
The gain of a single-loop negative feedback system is the forward

gain divided by the sum of 1 plus the loop gain.
Peter A. Lin
Block Diagram (positive feedback)
E =R1+G2*Y1
R1(s) Y1(s)
+ G1
+ +
Y1(s)
Y1*G2
G2
Y1(S)=G1(S)[R1(S)+Y1(S)G2(S)]
Y1(S)=G1(S)R1(S) / [1 - G1(S)G2(S)]
Peter A. Lin
Block Diagram Reduction
Block Diagram Reduction
PURPOSE: To reduce a complicated block
diagram to the simplest one.
Thus the GOAL is to simplify the diagrams
while maintaining the same overall original
relationships between parameters or
components of interest.
Using the three basic constructions and Block
Diagram Algebra
ME363
Module 3, Slide 42
i) Block Diagram Algebra
Combing blocks in cascade (or series)
R1(s) Y2(s)
G1 G2
R1(s) Y2(s) Y2 = G1G2R1

G1G2
ME363
Module 3, Slide 43

Moving a summing point behind (to the right) a block
A (original)
Y2= (R1+/-R2)G
R1(s) Y2(s)
G(s)
+/-
R2(s)
B(equivalent)
R1(s) Y2(s)
G(s)
Y2=R1G+/-R2G +/-
Y2= (R1+/-R2)G G(s) R2(s)
ME363
Module 3, Slide 44
Moving a pickoff point ahead (to the left) of a block
A
R1(s) Y2(s)
Y2=R1G
G(s)
Y1(s)
R1(s) Y2(s)
B G(s)
Y1(s) G(s)
Y2=R1G
ME363
Module 3, Slide 45
Dynamic Response
Moving a pickoff point behind a block
R1(s) Y2(s)
G(s)
Y1(s)
Y1 = r1 y1 = r1g
Y2(s)
R1(s) G(s)
Y1(s) 1/G(s)
Peter A. Lin
Dynamic Response
Moving a summing point ahead of a block
R1(s) Y2(s)
G(s)
+/-
R2(s) y2 = r1g+/-r2
R1(s) Y2(s)
G(s)
+/- y2= (r1+/-r2/g)G
R2(s)
1/G(s)
ME363
Module 3, Slide 47
Combine blocks
R1(s) Y2(s)
G1(s)
+/-
G2(s)
R1(s) Y2(s)
G1
1 m G 1G 2
ME363
Module 3, Slide 48
Block Diagram Manipulation
(reduction)
• We often represent control systems using
block diagrams. A block diagram consists of
blocks that represent transfer functions of the
different variables of interest.
• If a block diagram has many blocks, not all of
which are in cascade, then it is useful to have
rules for rearranging the diagram such that
you end up with only one block.
For example, we would want to
transform the following diagram
Block Diagram Transformations
1.Combining blocks in cascade(series)
2 (Blocks in Parallel)
3. Moving a summing
point behind a block
4. Moving a pickoff point ahead
of a block
5. Moving a pickoff
point behind a block
6. Moving a summing
point ahead of a block
7. Eliminating a
feedback loop
8. replacing summing points
9. Combining summing points
Attention
Don't use this
2.6 block diagram models (dynamic)
2.6.2.2 block diagram transformations
1. Moving a summing point to be:
behind a block
x1 y
x1 y
G G
± ±
x2 x2
G
Ahead a block
y x1 y
x1
G
G
±
±
x2 1/G x2
2. Moving a pickoff point to be:
behind a block
x1 y x1 y
G G
x2 x2
1/G
ahead a block
x1 y x1 y
G G
x2
x2
G
3. Interchanging the neighboring—
Summing points
x3 x3
x1 ＋
y x1 ＋ y
－
x2
－
x2
Pickoff points
y y
x2 x1 x2
x1
4. Combining the blocks according to three basic forms.
Notes:
1.Neighboring summing point and pickoff point can not
！
be interchanged！
2. The summing point or pickoff point should be moved
to the same kind！！
！
3. Reduce the blocks according to three basic forms！
Examples:
BLOCK DIAGRAM REDUCTION
Procedure for reduction of block diagram:
1. Reduce the cascade blocks
2. Reduce the parallel blocks
3. Reduce the internal feedback loops
4. It is advisable to shift take-off points toward right
(BEHIND)and summing points toward left (AHEAD).
5. Repeat step 1 to step 4 until the simple form is
obtained.
6. Find the transfer function of the overall system
using the formula C(s)/R(s).
block diagram: reduction example
H2
R _ C
+_ + G1 + G2 G3
+
H1
H2
G1
R _ C
+_ + + G1 G2 G3
+
H1
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
H2
G1
R _
G1G2 C
+_ + G3
1 − G1G2 H1
H2
G1
R _
G1G2G3 C
+_ +
1 − G1G2 H1
R G1G2G3 C
+_ 1 − G1G2 H1 + G2G3 H 2
R G1G2G3 C
1 − G1G2 H1 + G2G3 H 2 + G1G2G3
Example
Example
Example
Block Diagram Reduction Rules
Cascaded blocks
X G H Y X GH Y
Moving a summer behind a block

+ +
X G Z X G Z
+_ +_
Y G Y
Moving a summer ahead of a block
+ +
X G Z X G Z
+_
+_
Y 1/G Y
Moving a pickoff ahead of a block
X G Y
X G Y
Y Y G
Moving a pickoff behind a block

Block Diagram with Disturbance Input
Disturbance D(s)
Command
R(s) + ++ C(s)
G1(s) G2(s)
-
H(s)
• A disturbance input is an unwanted or

unavoidable input signal that affects a
system’s output. Examples:
- load torque in motor control
- open door in room climate control 5
9

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• CONTROL SYSTEM - An arrangement of physical components

1. To Introduce the Concepts of Engineering

1) Easy to discuss the full possible types of the control systems —

The input-output description of the physical systems — differential equations

Define: input → F ，output → y. We have:

3) Dispel the intermediate(across) variables to get the input-

General form of the input-output equation of the linear control

Suppose: input → r ，output → y

y ( n ) + a1 y ( n−1) + a2 y ( n−2) + ⋅ ⋅ ⋅ + an−1 y (1) + a n y

• Write the differential equations of the

Adder ( compar i son) X1( s) + E( s)

Ur(s) E(s) Uk(s) Ua(s) 1 - Ω(s) 1

2.6.2.1 Basic forms of the block diagrams of control systems

• BLOCK DIAGRAMS – PERSPECTIVE VIEW

• Rectangle represent the System or a characteristics of

• R(S) – input signal or desired state or reference

• C(S) = G(S).Z(S) or C(S)/Z(S) = G(S)

• C(S) = (R(S) – D(S))*G(S)

Open loop system

Cascade (Or Series)

The gain of a single-loop negative feedback system is the forward

R1(s) Y2(s) Y2 = G1G2R1

Block Diagram Algebra

Moving a summer behind a block

Moving a summer ahead of a block

Moving a pickoff ahead of a block

Moving a pickoff behind a block

• A disturbance input is an unwanted or

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