University of Sana’a

Faculty of Engineering
Mechatronics Department

LAB5:CONTROL SYSTEM DESIGN

By :

Eng. Mohammed Abdalnasser Alzaghir

773215130
 CONTENTS
 Open Loop Control versus Closed Loop Control
 Closed Loop Control:
- On/Off Control Action
- Proportional Control Action
- Integral Control Action
- Derivative Control Action
TYPES OF CONTROL METHODS AND THEIR ACTION
OPEN LOOP CONTROL VERSUS CLOSED LOOP CONTROL
 An open-loop control system takes input under the consideration and doesn’t react on
the feedback to obtain the output. This is why it is also called a non-feedback control
system.
 A closed loop system is also referred as a feedback control system. These systems
record the output and modify it according to the input.
 Examples of the open loop control systems include washing machines, light switches,
gas ovens, etc.
 Reaction to Internal and External Disturbances.
CLOSED LOOP CONTROL
 On/Off Control.
 Proportional Control.
 Integral Control.
 Derivative Control.
ON/OFF CONTROL ACTION
 On/Off Control is a simple control method frequently used in systems that do not need high
performance or accuracy, such as water heaters, air conditioners, and refrigerators.
 On/Off Control exhibit oscillation in second order system.
ON/OFF CONTROL ACTION
Example:
 Effect of On/Off Control.
PROPORTIONAL CONTROL ACTION
 In the proportional control algorithm, the controller output is proportional to the error signal.
 It provides tighter control and less oscillation compared to the more basic On-Off control.
 Proportional-Only lacks the ability to correct for steady-state error.
 PROPORTIONAL CONTROL ACTION
Example:
 Effect of Proportional Control in first order system.
 PROPORTIONAL CONTROL ACTION
Example:
 Effect of Proportional Control in second order system.
 INTEGRAL CONTROL ACTION

 In the proportional control of a plant whose transfer function does not possess an integrator
l/s, there is a steady-state error, or offset, in the response to a step input.
 Steady-state error can be eliminated if the integral control action is included in the controller.
 Disadvantage of Integral control action
that it may lead to oscillatory response
of slowly decreasing amplitude or even
increasing amplitude, both of which are
usually undesirable.
 INTEGRAL CONTROL ACTION
Example:
 Effect of Integral Control in First and second order system.
 DERIVATIVE CONTROL ACTION
 An advantage of using derivative control action is that it responds to the rate of change of the
actuating error and can produce a significant correction before the magnitude of the actuating
error becomes too large.

 Derivative control anticipates the actuating error, initiates an early corrective action, and
tends to increase the stability of the system.

 Derivative control adds damping to the system and thus permits the use of a larger value of
the gain K (proportional gain).

 Because derivative control operates on the rate of change of the actuating error and not the
actuating error itself, this mode is never used alone, It is always used in combination with
proportional or proportional-plus-integral control action.
 DERIVATIVE CONTROL ACTION
Example:
 Effect of Derivative Control in second order system.
 CLOSE LOOP MOTOR VELOCITY CONTROL
 Transfer function of Dc Motor from previous lab:

Using Simulink:
- Apply On/Off Control Action and observe the effect ??
- Apply Proportional Control Action and observe the effect ??
- Apply Integral Control Action and observe the effect ??
- Apply Derivative Control Action(together with p control) and observe the effect ??
 CLOSE LOOP MOTOR VELOCITY CONTROL
 Transfer function of Dc Motor from previous lab:

Using Simulink:
- Apply On/Off Control Action and observe the effect ??
- Apply Proportional Control Action and observe the effect ??
- Apply Integral Control Action and observe the effect ??
- Apply Derivative Control Action(together with p control) and observe the effect ??
 DEMONSTRATION USING ARDUINO AND DC MOTOR

 Extra-marks.
 Demonstration of real physical system.
 Close loop control using (on/off, P, I and PD).
 For more details:
http://ctms.engin.umich.edu/CTMS/index.php?aux=Activities_DCmotorA
 ANY QUESTIONS ?!
Eng. Mohammed Abdalnaaser Alzaghir

773215130