EL 3015 SISTEM KENDALI

Control Systems
SM I 2015/16

Carmadi Machbub (Kelas 1)

Iyas Munawar (Kelas 2)

1
INTRODUCTION

• Control systems surrounding us

• History – technology and theory
• Control system configurations
• Topics and courses organization
- Syllabus
- References
- Pre-requisites
- Labs
- Learning outcomes
• Assessment

2
Control systems surrounding us

• Float valve (flush toilet, water tank, liquid level

system)
• Air conditionning, lift
• Disk, CD, DVD, hard disk, …
• Washing machines
• Car - vehicle: power steering, anti-lock braking
system (ABS), suspension control, energy
management system
3
• Machine tools
• Electrical power control system: power generation, load-
frequency control, .....
• Industrial control (car fabrication, chemical, petroleum, ……)
• Internet control (congestion control, control over internet
(wireless sensor, ..)
• Antenna control, radar control, …
• Mobile robot, humanoid robot, robot soccer, under water robot,
…..
• Air craft control, rocket control, satellite attitude control, missile
guidance and control

• etc.
4
Natural control systems:
• In human body: blood circulation control
(glucose, acid uric, nutrition, etc.)
• Bird flying control,...
• Swarming formation

5
History – technology and theory
[Franklin, Nise, Ogata]
• Chronicle: since 300 BC until the Middle Ages, found
in Greek, China and the Middle East (Bagdad):
control of fluid flow rate to regulate a water clock
and the control of liquid level using the float valve.
• 1620: Cornellis Drebbel invented a system to control
the temperature of a furnace used to heat an
incubator for hatching chicken eggs.
• 1788: Fly-ball governor of James Watt for his famous
steam engine to control the steam flow.

6
• 1868: Maxwell, Flyball stability analysis
• 1877: Routh, Stability
• 1890: Lyapunov, Nonlinear stability
• 1910: Sperry, Gyroscope and autopilot
• 1922: Minorsky, Steering ships, stability from differential
equations
• 1927: Black, Feedback electronic amplifier;
Bush, Differential analyzer
• 1932: Nyquist, Nyquist stability criterion
• 1934: Hazen, Servomechanism
• 1938: Bode, Frequency response methods
• 1940s: Ziegler and Nichols, Tuning rules PID controllers
• 1942: Wiener, Optimal filter design; Cybernetics concept.
7
• 1947: Hurewicz, Sampled data systems
Nichols, Nichols chart
• 1948: Evans, Root locus
• 1950: Kochenberger, Nonlinear analysis
• 1956: Pontryagin, Maximum principle
• 1957: Bellman, Dynamic programming
• 1960: Draper, Inertial navigation
Kalman, Optimal estimation
• 1965: Zadeh, Fuzzy logic
• 1969: Hoff, Microprocessor
• ……….
8
Control theory development
• Until late of 1950 the ‘classical control theory’ had been
developped based on calculus/ordinary differentian equation
representing the single input-single output (SISO) linear model of
systems. Laplace transformation of the model to a transfer
function permit us to make system analysis and design in the
frequency domain.

• Since the early 1960 the so called ‘modern control theory’ was
also developped. System under consideration is represented in a
set of first ODE and forms a state space equation of multi-input
multi-output (MIMO) system.

• The development of computing machines has push this approach

and now combination of both approach give many contribution
to the development of control theory and application.
9
• The optimal control theory for deterministic system
as well as for stochastic system have beed
developped in the period of 1980.
• In the period of 1990, robust control was
developped.
• 1990- until now: learning based controller, intelligent
control, agent/multi-agent controller
• Fast internet, cloud computing, WSN etc. make us
possible to solve complex , large, even multi-layer
and hierarchical system. Collected data and sensors
can be configured as machine perception.

10
System configurations
Open loop and closed loop systems

input SYSTEM output

Compensator Plant y
+ e u
r 
D(s) G(s)
-

11
Open loop and closed loop systems
[Nise]

12
Closed loop system – state space representation
[Franklin]

plant
x
u
H y
x  Fx  Gu

Control law
+
x̂
-K Estimator  -
r

13
Closed loop digital system

+ e controller u plant y
r 
D(s) G(s)
-

14
Antenna azimuth position control
[Nise]

15
16
Design procedure
• Problem formulation and specification
• Modeling and representation
- Functional scheme
- Mathematical modeling (differential equation, transfer function)
- Block diagram and simplification
• Analysis
- Time response and frequency response
- Root locus and Bode plot analysis
• Design
- Roots location based on desired spec.
- Gap between desired location of roots and those of the plant.
- Compensator design
• Implementation, testing and fine tuning
17
Short syllabus [Curr. 2013]

• The course covers control systems analysis

and design for linear systems in case of
stability or performance. System analysis and
design are implemented using mainly
traditional approach in frequency domain.
• Introduction to concept of state space and
digital control system.

18
Learning outcomes

• Ability to analyse and design of control system

concepts including modeling, transient analysis,
steady-state and linier systems stability, and
designing control system in time and frequency
domain.
• Ability to use state space concept for modelling
and its connection with transfer function model.
• Ability to analyze and design of simple digital
control system.
19
 Syllabus
• Basic elements of a control system, concept of feedback, open
and closed-loop systems
• Mathematical modeling of physical SISO systems, linearized
models, and transfer function
• Time-domain analysis and stability of control systems
• PID controller design for SISO systems
• Feedback control system analysis & design via root-locus method
• Feedback control system analysis & design via frequency domain
method.
• Introduction to sampled data systems, discrete equivalents, and
sample rate selection.
• Introduction to state space representation, analysis and design
20
Pre-requisites and related activities

• EL2007 Signal and systems (pre-requisite)

• EL3215 Practical Lab. (co-requisite)
• Matlab

21
Main references

• Norman S. Nise, Control System Engineering,

John Wiley, 2011, 6th edition
• Katsuhiko Ogata, Modern Control Engineering,
Prentice Hall, 2010, 5th edition

22
Assessment
•  
(ME: Mid Exam)

Otherwise a final exam (FE) should be followed to

get Grade2

Maximum grade of Grade2 is B.

23
Schedule
• Monday, 9.00 – 10.40 (9026)
• Thursday, 11.00-11.50 (9313)

ME 1: Monday, 8st week

ME 2: Monday, 15st week
FE : Comply to UAS schedule given by ITB

24