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Dr. Naseer Ahmad

Education:
FSc Govt College Lahore (1994 - 1995)
BSc Mechanical Engg UET Lahore (1996 - 2000)
MSc Mechatronics Engg UET Lahore (2001 – 2004)
PhD Mechanical Engg KFUPM Saudi Arabia (2010 – 2014)

Work Experience:
Lecturer Mech Dept UET (2000-2004)
Assistant Prof Mech Dept UET (2004-2006)
Assistant Prof Mechatronics Dept UET (2006-2010)
Assistant Prof Mech Dept UET (20015-to date)

 Subjects Taught:
 Instrumentation and control
 Mechatronics System Design
 Control Systems
 Engineering Dynamics
 Engineering Statics 2
 ME-341 Control Systems

Week 1-2
Introduction

Dr. Naseer Ahmad

Department of Mechanical Engineering

University of Engineering and Technology (UET), Lahore

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Text Books:

Automatic Control Systems by Farid Golnaraghi and B.C Kuo, 9th

edition, John Wiley & Sons.

Reference Books:
Modern Control Systems by Richard C. Dorf and Robert H. Bishop,
12th edition, Prentice Hall.

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Chapter 1
Introduction to Control Systems
System:
• An interconnection of elements and
devices for a desired purpose.

Examples:

Element/components Block Diagram of Heater.

and their properties
Heater In Heater.

-Class Discussion
Heater
Electric Heat
Energy Energy

Heater, is a system (interconnection of various components), used to convert

the electrical energy to Heat energy.
Introduction to Control Systems (contd.)

System:
• An interconnection of elements and devices for a desired purpose.

Block Diagram of Heater.

Bicycle Element/components
and their properties
In Heater.

-Class Discussion
Bicycle
Force Speed

Bicycle, is a system (interconnection of various components), used to convert

the Force to Speed (Distance Travelled)
Introduction to Control Systems (contd.)

System:
• An interconnection of elements and devices for a desired purpose.

Element/components Block Diagram of Motor.

Motor and their properties
In Heater.

-Class Discussion
Motor
Electric
14 Torque
Energy

Motor, is a system (interconnection of various components), used to convert

the Electrical Energy to Mechanical Energy.
System System System System System
Name Figure Description Block Diagram Engineering Description
Torque Air flow Mech Energy to air flow.
By applying torque
Fan Blade it induces air flow. Mech
FanBlade

Energy
(Energy to Desired Variable)
Force Speed Mech energy to speed.
By applying torque Bicycle
Bicycle it travels distance. Mech
Energy
(Energy to Desired Variable)
Voltage Heat Flux
By applying voltage Mech energy to heat energy
Heater Heater
it produces heat. Electric Heat ( One form of Energy to another
Energy Energy form of Energy)
Voltage Torque Electrical energy to mech energy
By applying voltage Motor
Motor it produces torque. Electric Mech ( One form of Energy to another
Energy Energy form of Energy)

Numeric Data Numeric Data

Numeric data is Numeric data to numeric data
Calculator
Calculator processed by key Information Information ( One form of information to another
pressing. form of information)
Alpha/Numeric Alpha/Numeric Alpha/Numeric data to Alpha/numeric data
Data is processed by
Graphic Data Graphic Data
Computer programs
Computer ( One form of information to another
(software). Information Information form of information)
System System System System System
Name Figure Description Block Diagram Engineering Description
Heat Torque Heat energy to Mech energy
Class Discussion.
IC Engine Heat
Engine
Mech
( One form of Energy to another
Energy
form of Energy)
Energy

Neuron Signals Neuron Signals Signals to Signals

Information is Brain
Brain processed. ( One form of information to another
Information Information form of information)

Thrust Distance Mech energy to distance/speed.

By applying thrust(force) Rocket
Rocket it travels distance. Mech
Energy
(Energy to Desired Variable)

By applying high Flow Torque Fluid energy to mech energy

P.Whee
Pelton pressure fluid it l ( One form of Energy to another
Hydal Mech
Wheel produces torque. Energy Energy form of Energy)

Gas flow Heat flux

Methane (Potential Numeric data to numeric data
Burner
Burner Energy) to heat Potential Heat ( One form of information to another
energy. Energy Energy form of information)

Wind flow will Wind Flow Torque Alpha/Numeric data to Alpha/numeric data
Wind
Windmill develop the rotation
Wind mill Mech ( One form of information to another
of propellor form of information)
Energy Energy
 Energy Source
Intention /Heat Energy

Desired Neuron Actual

speed Controller Signal Actuator Force Process/Plant Speed
Rider/
Brain Bicycle
Muscles

Controller is Actuator is Process/Plant is

 Information  Energy converting/processing  Physical system
processing system system  Input is
 Input is information  Input is in form of manipulated form
in form of signal source/bulk energy and of energy
 Output is again in output is again in form of  Output is
form of signal processed/ converted energy.
controlled/desired
 Amount of energy converted variable.
is proportional to input signal

An interconnection of systems (controller, actuator and Human riding a bicycle is a

process/plant) that will provide a desired system response SPEED CONTROL
is known as CONTROL SYSTEM.
SYSTEM
Temperature Control System of an Oven

Energy Source
/Electrical Energy
Intention
Desired Electrical Heat Actual
Temp Controller Signal Actuator Energy Process/Plant Temperature
Switch/Dim Heater Oven/Furnace
mer

Controller is Information Actuator is Energy Process/Plant is Physical

processing system converting system system
 Desired temp to  Electrical Energy  Manipulated form of
electrical signal to Heat Energy energy to
controlled/desired
variable.

An interconnection of systems (controller, actuator and

process/plant) that will provide a desired system response
is known as CONTROL SYSTEM.
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Speed Control System of a Fan

Energy Source
/Electrical Energy
Intention
Desired Electrical Mech Actual
Airflow Controller Signal Actuator Energy Process/Plant Airflow
Switch/Dim Motor Fan Blades
mer

Controller is Information Actuator is Energy Process/Plant is Physical

processing system converting system system
 Desired temp to  Electrical Energy  Manipulated form of
electrical signal to Mech Energy energy to
controlled/desired
variable.

An interconnection of systems (controller, actuator and

process/plant) that will provide a desired system response 19

is known as CONTROL SYSTEM.

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Water Flow Control System of a Pump

Energy Source
Intention /Electrical Energy

Desired Actual
Waterflow Electrical Mech Waterflow
Controller Signal Actuator Energy Process/Plant
Switch/Dim Motor Pump
mer

Controller is Information Actuator is EnergyProcess/Plant is Physical

processing system converting system system
 Desired flow rate to  Manipulated form of
 Electrical Energy
electrical signal to Mech Energy energy to
controlled/desired
variable.
An interconnection of systems (controller, actuator and
process/plant) that will provide a desired system response
is known as CONTROL SYSTEM. 20

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 Week2

21
SPEED CONTROL SYSTEM of BICYCLE

Energy Source
Intention /Heat Energy

Desired Neuron Actual

speed Controller Signal Actuator Force Process/Plant Speed
Rider/
Brain Bicycle
Muscles

Controller is Actuator is Process/Plant is

 Information  Energy converting/processing  Physical system
processing system system

An interconnection of systems (controller, actuator and process/plant) that will provide

a desired system response is known as CONTROL SYSTEM.
Speed Control System of Motorbike

Energy Source
/Fuel/Heat Energy
Intention
Desired Mechanical Mech Actual
Speed Controller Signal Actuator Energy Process/Plant Speed

Driver Throttle Engine Bike

Force

An interconnection of systems (controller, actuator and process/plant) that will provide a desired
system response is known as CONTROL SYSTEM.

An open loop control system utilizes an actuating device to control the process directly
without using feedback.

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Speed Control System of Motorbike
Rider intends to maintain the speed of 60km/h.

Energy Source
/Fuel/Heat Energy
Intention

Desired Mechanical Mech Actual

Speed 60km/h Controller Signal Actuator Energy Process/Plant Speed
Error
+ Driver Throttle Engine Bike
- Force

Sensor/Transducer
Speedometer/
Feedback signal Rider vision

An close loop control system uses a measurement of the output and

feedback of this signal to compare it with the desired output (reference or
command). 24
Temperature Control System of an Oven
Controlled Variable: Oven
Temperature

Energy Source
/Electrical Energy
al
Electrical Heat
n
sig

Signal Energy Controlled

or

Reference Controller Actuator Process/Plant Variable

Err

+ Switch Heater Oven

Desired Actual
Temp - Temp

Electrical Signal Sensor/Transducer

Feedback signal Thermocouple 25

 Open Loop Control System v/s Close Loop Control System
Some Applications:
As discussed before.
Advantages:
• Simple in construction.
• Rugged
• Reliable
• Economical (low cost)
• Consumes low energy
Disadvantages:
• Not much accurate
• It is influenced by disturbances
Some Applications:
As discussed before.
Advantages:
• Accurate/works precisely
• It rejects the disturbances
Disadvantages:
• Complicated system (sensors/controller/instrumentation)
• Consumes high energy
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• High cost of the system
 Room Temperature Control System
(Cognitive Level: Understand)

Controlled Variable: Room Temperature

Electrical
Energy
Error signal

Heat Flow
Reference
signal/command Controller Actuator Process/Plant Controlled Variable
On/Off Air
+ Conditioner Room
Desired Temp Switch Actual Temp
-

Feedback signal Measurement

Thermocouple
Measured Temp
Temperature Control System
Of an Iron
(Cognitive Level: Apply)

Controlled Variable:
Base Temperature

Electrical
Energy

y
erg
l
na
s ig

En
Reference
or

at
signal/command Controller Actuator Process/Plant Controlled Variable

He
Err

On/Off Heater Iron Base/ Contact

+ Switch Surface Actual Temp
Desired Temp: Adjustment -
of Contact point

Measurement

Measured Temp
Bimetallic Strip
Deflection of Bimetallic Strip End
First historical feedback system claimed by Russia,

By I.Polzunov (1765), inventor of two cylinder

steam engine

Level of water in boiler is controlled by float

mechanism.
(Cognitive Level: Apply)

Is it is Control System ????? Yes

Controlled Variable: (Water Level)
Identify the Process/Plant ???
Identify the Actuator (effect the cont var)???
Identify the Controller ???
How the measurement of controlled variable is done ???
How we can set the reference value for water height ???
Controlled Variable: (Water Level)
Water

te
Source

Ra
ion
l

low
na

si t
s ig

Reference

Po

F
ter
or

signal/command

p
Controller Actuator Controlled Variable
Fla
Process
Err

Wa
Lever Valve Boiler/
+ Mechanism Container
Desired Water level: Actual
-
Initial height of float Water level

Feedback signal Sensor/Transducer

Float
Position of Float
 (R.C. Dorf)

Fluid level control system

Controlled Variable: (Water Level)

Valve Butterfly
Water
Error signal

Water flow
Source

Position
Reference
(Water Level)

rate
signal/command Controller Actuator Process/Plant Controlled Variable
+ Brain/Hand Valve Tank
Desired Level Actual Level
-

Feedback signal Measurement

Meter/
Measured Level Human vision
Petrol level control system in carburetor

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First close loop control system
• By James Watt (1769) is generally
agreed

• All mechanical system for the speed

control of an engine.

(Cognitive Level: Apply)

Is it is Control System ????? Yes

Identify the Process/Plant ???

Identify the Actuator (effect the cont var)???
Identify the Controller ???
How the measurement of controlled variable is done ???
How we can set the reference value for water height ???
 First close loop control system
• By James Watt (1769) is generally agreed

• All mechanical system for the speed control of an engine.

Controlled Variable: Flywheel Rotational Speed

Heat Energy/
Error signal

Steam

Valve Flap

Energy
Reference

Torque Mech
signal/command
Controller Actuator Plant Controlled Variable
Lever Engine Flywheel/
+ Mechanism Output shaft Actual rotational
Desired rotational - Speed
speed
Feedback signal Sensor/Transducer
Governor
Position of Governor Collar
 2nd Week
2nd Lecture

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 (R.C. Dorf)
Automotive speed control system
Controlled Variable: Vehicle Speed
Fuel
/Thermal Power

tle al/

rce
rot ed
al

Fo
Th cel P
ig n

n
Reference

tio
s

Ac
or

signal/command

c
Controller Actuator Process/Plant Controlled Variable

Tra
Err

Brain Engine
+ Automobile
Desired speed /driver Actual speed
- v(km/h)

Feedback signal Measurement

Speedometer 36 36
Measured Speed
 (R.C. Dorf)
Automotive cabin temperature control system
Controlled Variable: Cabin Temperature Mech Power
al

w
ig n

Flo
Reference
s
or

at
signal/command Controller Actuator Process/Plant Controlled Variable
Err

He
Thermostat Air Automotive
+ /Switch Conditioner Cabin Actual Temp
Desired Temp
-

Feedback signal Measurement

Thermocouple 37 37
Measured Temp
More Control Systems involved in Automotive:

 Automotive speed control system

 Cabin temperature control system
 Antinoise control system

 Cruise control system

 Traction control system
 Antilock Brake System (ABS)

 Engine Temperature Control System

 Fuel Injection Control System
 Transmission Control System
 Active Suspension Control System
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Control Systems involved in Flying Object:

 Height (Attitude) Control System

 Cruise Control System
 Direction Control System

 Path Trajectory Control System

(Height, Cruise and Direction)
 Anti collision control system

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Controlled Variable: Flight Path

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Controlled Variable: Road Adhesion

e
orc
cf
ion

i
am
al

sit
ig n

yn
Po
Reference

Ae ng
rod
s

ng
or

Wi
signal/command Controller Actuator Process/Plant Controlled Variable
Err

Wi
Internal Adjustable
+ Wing Automobile
Desired Computer Actual
- Road Adhesion
Road Adhesion

Feedback signal Measurement

Tire strain gauges 41 41
Measured Level
 Controlled Variable:
Gas pressure

n
tio
al

e
Reference

osi
ign

rat
signal/command

eP
s
Controlled

w
or

lv

Fl o
Spring Controller Actuator Process/Plant Variable
Err

Va
Spring Diaphragm Valve Valve
Desired + Position Chamber Actual
Stiffness(K)
Pressure - Pressure
[Screw
displacement [Spring Force Feedback signal Measurement
X(t)] N] Diaphragm Area 42 42
Measured variable
(Force)
Controlled Variable: Automobile

e
tio orc
Position

tc.

ec n f
al

n
ig n

Dir ctio
tle
Reference
s

rot

Tra
or

signal/command Controller Actuator Process/Plant Controlled Variable

Th
Err

Internal S Wheel,
+ Accl, Break Automobile
Desired Computer Actual
- Automobile
Automobile
Position Position
Feedback signal Measurement
Camera, 43 43
Measured Level Ultrasonic, LiDAR
Feedback Control System for Hard Drive

Develop the Head Position

Feedback Control System for
Hard Drive (used as storage
media)

al
ig n

Reference
s
or

signal/command Controller Actuator Process/Plant Controlled Variable

Err

+ Motor Drive Motor Read Arm

Desired Actual
-
Head Position Head Position
Feedback signal Measurement
Encoder/Resolver
Measured Position
Controlled Variable: Tool Position

ec
for
al

n
ig n

tio
Reference
s

c
or

Tra
signal/command Controller Actuator Process/Plant Controlled Variable
Err

Servomotor Machine
+ Motor Drive
Desired Tool /Table Actual
-
Tool position Tool position
Feedback signal Measurement
Position sensor
Measured position 45
Controlled Variable: Vertical Position (CDP)
Controlled Variable: Travelling Speed (CDP)

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Practice
Problems

Relevant to
this topic

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52
 Controlled
Reference
Controller Actuator Process Variable
+
-

Sensor/Transducer
Chapter No 1 (Complete)
Modern Control System by RC Dorf

End of Lecture

Jaza k Allah
Question and Answer
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