Lesson 1 Speed Control

FEEDBACK CONTROL SYSTEMS • In 1745, speed control was applied to windmill by

Edmund Lee, and was improved by William Cubitt.
INTRODUCTION:
• In the 18th century, James Watt invented the flyball
• Control systems are an integral part of modern
speed governor to control the speed of steam
society. Numerous applications are all around us;
engines
• The rockets fire
• Space shuttle that lifts off to earth orbit Stability, Stabilization and Steering–In 1868,
• Self-guided vehicle delivering material to James Clerk Maxwell published the stability
workstations in an aerospace assembly plant. criterion for a third-order system based on the
coefficients of the differential equations.
DEFINITION:
• In 1874, Edward John Routh, using a suggestion
A Control System consists of subsystems and from William Kingdon Clifford that was ignored
processes assembled for the purpose of controlling earlier by Maxwell, was able to extend the stability
the output processes. criterion to fifth order systems.
A control system provides an output or response • Stability, Stabilization and Steering
for a given input or stimulus.
• During the second half of the 1800s, the
ADVANTAGES OF CONTROL SYSTEMS development of control systems focused on the
steering and stabilizing of ships.
• Power amplification
• Remote control • In 1874, Henry Bessemer, use a gyro to sense a
• Convenience of input form ship’s motion and applying power generated by the
• Compensation for disturbance ship’s hydraulic systems
HISTORY:
RESPONSE CHARACTERISTICS AND SYSTEM
Liquid Level Control CONFIGURATIONS

• The Greeks began engineering feedback systems • A control system provides an output or response
around 300 B.C.. for a given input or stimulus.
• The input represents a desired response; the
• Water clock- invented by Ktesibios,
output is the actual response.
operated by having water trickle into a
measuring container at a constant rate. Two control system configurations
• Oil lamp- Philon of Byzantium, application Open-loop Systems
of liquid level control
• It consists of a subsystem called an input
Steam Pressure and Temperature Controls transducer that converts the form of the
input to that used by the controller.
• Safety valve was invented by Denis Papin around
• Controller- drives the process or plant
1681 which started the concept of regulation of
• Input- the reference
steam pressure.
• Output- controlled variable
• On the 17th century, Cornelis Drebbel of Holland
invented a purely mechanical temp. Control
system for hatching eggs.
 Closed-loop system (Feedback Control) transforms the physical system into a schematic
diagram.
The input transducer converts the form of the
input to the form used by the controller. An
STEP 4:
output transducer, or sensor, measures the
• Develop a mathematical Model (Block Diagram)
output response and converts it into the from
• Once schematic diagram is drawn, the designer
used by the controller.
uses physical laws, such as Kirchhoff’s Law for
They have the advantage of greater accuracy electrical networks and Newton’s law for
than open-loop systems. They are less sensitive mechanical systems to model the system
to noise, disturbances, and changes in the mathematically.
environment.
STEP 5
• Reduce the Block Diagram

STEP 6
• Analyze and Design

ANALYSIS AND DESIGN OBJECTIVES

Control systems are dynamic, they respond to an
input by undergoing a transient response before
reaching a steady-state response that generally
resembles the input.
Major Objectives of System Analysis and Design

• Transient response
• Steady State
• Response Stability
DESIGN PROCESS
• To establish an orderly sequence for the design of
feedback control systems that will be followed
through continuous study of control system.

STEP 1:
• Transform Requirements into a Physical System
• Using the requirements, design specifications, such
as desired transient response and steady state
accuracy, are determined also

STEP 2:
• Draw a Functional Block Diagram
• The process of translating a qualitative description
of the system into a functional block diagram that
describes the component parts of the system and
shows their interconnection.

STEP 3
–Create a schematic diagram
• Most of the position control system consist of
electrical, mechanical, and electromechanical
components. After producing the description of a
physical system, the control system engineer
Lesson 2

Modeling in the Frequency Domain

Introduction
• In the previous lesson, we discussed the analysis
and
design sequence that includes obtaining the
system’s schematic and demonstrated this step for
a position control system.
• To obtain a schematic, the control systems
engineer
must often make many simplifying assumptions in
order to keep the ensuing model manageable and
still approximate physical reality. Partial Fraction Expansion
To find the inverse Laplace transform of a
For a cascaded connection: complicated function, we can convert the function to
a sum of simpler terms for which we know the
Laplace transform of each term.

The result is called a partial-fraction expansion

Cases of Partial Fraction Expansion

Case 1. Roots of the Denominator of F(s) Are Real

and Distinct

Laplace Transform
A system represented by a differential equation is Case 2. Roots of the Denominator of F(s) Are Real
difficult to model as a block diagram.  Thus, we now and Repeated
lay the groundwork for the Laplace transform, with
which we can represent the input, output, and
system as separate entities. 
Case 3. Roots of the Denominator of F(s) Are
The Laplace transform is defined as:
Complex or Imaginary

The Transfer Function

• A function that algebraically relates a system’s
output to its input.

• This function will allow separation of the input,

system, and output into three separate and
distinct parts, unlike the differential equation.

• The function will also allow us to algebraically

combine mathematical representations of
subsystems to yield a total system
representation.
The general nth-order, linear, time-invariant
differential equation

• where c(t) is the output, r(t) is the input, and the

ai’s, bi’s, and the form of the differential equation
represent the system.

• form the ratio of the output transform, C(s),

divided by the input transform, R(s)

• the output, C(s), the input, R(s), and the system,

the ratio of polynomials in s on the right. 

• We call this ratio, G(s), the transfer function and

evaluate it with zero initial conditions.

Block Diagram of a Transfer Function