REGULATION AND CONTROL

INTRODUCTION TO CONTROL SYSTEMS

By Tewedage Sileshi
Outline
 What is a Control System?  Why Control?
 Basic Definitions  Control system design process
 Types of Control Systems
 Examples
What is control system?

 A system Controlling the operation of another system.

 A system that can regulate itself and another system.

 A control System is a device, or set of devices to manage, command, direct or

regulate the behaviour of other device(s) or system(s).

Definition

 System – An interconnection of elements and devices for a desired purpose.

 Control System – An interconnection of components forming a system configuration that will provide

a desired response.

 Process – The device, plant, or system under control. The input and output relationship represents the

cause-and-effect relationship of the process.

Input Process Output

 Cont’d
 Controlled Variable– It is the quantity or condition that is measured and Controlled. Normally

controlled variable is the output of the control system.

 Manipulated Variable– It is the quantity of the condition that is varied by the controller so as to affect

the value of controlled variable.

 Control – Control means measuring the value of controlled variable of the system and applying the

manipulated variable to the system to correct or limit the deviation of the measured value from a
desired value. Manipulated Variable

Input
or Output
Set point Controller Process Or
or Controlled Variable
reference
 Cont’d

 Disturbances– A disturbance is a signal that tends to adversely affect the value of the system. It is an

unwanted input of the system.

• If a disturbance is generated within the system, it is called internal disturbance. While an

external disturbance is generated outside the system.
Type of control systems

 Natural Control System

 Universe

 Human Body
 Cont’d

 Manmade Control System

 Aeroplanes

 Chemical Process
 Cont’d
Manual Control Systems

Room Temperature regulation Via Electric Fan

Water Level Control

Automatic Control System

Home Water Heating Systems (Geysers)

Room Temperature regulation Via A.C

Human Body Temperature Control

 Cont’d

 Open-Loop Control Systems utilize a controller or control actuator to obtain the desired response.

• Output has no effect on the control action.

• In other words output is neither measured nor fed back.

Input Output
Controller Process

 Examples:- Washing Machine, Toaster, Electric Fan, microwave oven, e.t.c

 Cont’d
• Since in open loop control systems reference input is not compared with measured output, for each
reference input there is fixed operating condition. Therefore, the accuracy of the system depends
on calibration.

• The performance of open loop system is severely affected by the presence of disturbances, or
variation in operating/ environmental conditions.

Missile Launcher System

 Cont’d

 Closed-Loop Control Systems utilizes feedback to compare the actual output to the desired output

response. Input Output

Comparator Controller Process

Measurement

 Examples:- Refrigerator, Electric Iron, Air conditioner

 Cont’d

Multivariable Control System

Outputs
Temp
Humidity Comparator Controller Process
Pressure

Measurements
 Cont’d
Feedback Control System

• A system that maintains a prescribed relationship between the output and some reference input by

comparing them and using the difference (i.e. error) as a means of control is called a feedback control

system.
Input + error Output
Controller Process
-

Feedback

• Feedback can be positive or negative.

 Cont’d

Missile Launcher System

 Cont’d
Servo System

 A Servo System (or servomechanism) is a feedback control system in which the output is some

mechanical position, velocity or acceleration.

Modular Servo System (MS150)

Antenna Positioning System
 Cont’d

Linear Vs Nonlinear Control System

 A Control System in which output varies linearly with the input is called a linear control system.

u(t) Process y(t)

y(t )  2u(t )  1 y(t )  3u(t )  5

y=-2*u(t)+1 y=3*u(t)+5
5 35

0 30

25
-5
y(t)

20

y(t)
-10
15
-15
10
-20
0 2 4 6 8 10 5
u(t) 0 2 4 6 8 10
u(t)
 Cont’d

 When the input and output has nonlinear relationship the system is said to be nonlinear.
Adhesion Characteristics of Road

0.4
Adhesion Coefficient

0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08
Creep
 Cont’d

Time invariant vs Time variant

• When the characteristics of the system do not depend upon time itself then the system is said to time

invariant control system.

y(t )  2u(t )  1

• Time varying control system is a system in which one or more parameters vary with time.

y(t )  2u(t )  3t
 Cont’d

Continuous Data Vs Discrete Data System

• In continuous data control system all system variables are function of a continuous time t.
x(t)

• A discrete time control system involves one or more variables that are known only at discrete time

intervals.
X[n]

n
 Cont’d
Deterministic vs Stochastic Control System

• A control System is deterministic if the response to input is predictable and repeatable.

x(t) y(t)

t t

• If not, the control system is a stochastic control system

z(t)

t
Classification of a control system
Control Systems

Natural Man-made

Manual Automatic

Open-loop Closed-loop

Non-linear linear
Non-linear linear

Time variant Time invariant

Time variant Time invariant
Classical Vs Modern control
 Classical Control  Modern Control
 System Modelling  State Space Modelling
 Transfer Function  Eigenvalue Analysis
 Block Diagrams  Observability and Controllability
 Signal Flow Graphs  Solution of State Equations (state Transition Matrix)
 System Analysis  State Space to Transfer Function
 Time Domain Analysis  Transfer Function to State Space
 Frequency Domain Analysis  Direct Decomposition of Transfer Function
 Bode Plots, Nyquist Plots, Nichol’s Chart  Cascade Decomposition of Transfer Function
 Root Locus  Parallel Decomposition of Transfer Function
 System Design  State Space Design Techniques
 Compensation Techniques
 PID Control
Examples of a control system
Water-level float regulator
Cont’d
Cont’d
Purpose of control systems

i.Power Amplification (Gain)

 Positioning of a large radar antenna by low-power rotation of a knob

ii.Remote Control
 Robotic arm used to pick up radioactive materials

iii.Convenience of Input Form

 Changing room temperature by thermostat position

iv.Compensation for Disturbances

 Controlling antenna position in the presence of large wind disturbance torque
 Cont’d

Rover was build to work in contaminated areas

Photo © Hank Morgan/Rainbow/PNI.

 Cont’d

Robots used in surface mining, planetary exploration

Historical development

i.Ancient Greece (1 to 300 BC)

 Water float regulation, water clock, automatic oil lamp

ii.Cornellis Drebbel (17th century)

 Temperature control

iii.James Watt (18th century)

 Flyball governor

iv.Late 19th to mid 20th century

 Modern control theory
Watt’s Fly ball Governor
 Cont’d
 18th Century James Watt’s centrifugal governor for the speed control of a steam engine.

 1920s Minorsky worked on automatic controllers for steering ships.

 1930s Nyquist developed a method for analyzing the stability of controlled systems

 1940s Frequency response methods made it possible to design linear closed-loop control systems

 1950s Root-locus method due to Evans was fully developed

 1960s State space methods, optimal control, adaptive control and

 1980s Learning controls are begun to investigated and developed.

 Present and on-going research fields. Recent application of modern control theory includes such non-engineering
systems such as biological, biomedical, economic and socio-economic systems
 ???????????????????????????????????
Control System Design Process
1. Determine a physical system and specifications from the requirements

2. Draw a functional block diagram

3. Transform the physical system into a schematic

4. Use the schematic to obtain a block diagram, signal-flow diagram, or state-

space representation

5. If multiple blocks, reduce the block diagram to a single block or closed-

loop system

6. Analyze, design, and test to see that requirements and specifications are me
What is the Control System Engineer trying to achieve?

 First, understand the broader picture of the

application to best apply a suitable control system.
 A good control system is a system that will
 generate a response quickly and without oscillation (good transient response),
 have low error once settled (good steady-state response),
 and will not oscillate wildly or damage that system (stability).
Mathematics review required

 For Classical Control Theory

 Differential Equations
 Laplace Transform
 Basic Physics
 Ordinary and Semi-logarithmic graph papers
 For Modern Control theory above &
 Linear Algebra
 Matrices
Summary

We have introduced:
 Why do we need Control?
 What is a Control System?
 Types of Controls
 Feedback is very important.
 Control design process
 Mathematical reviews required
Next Lecture

Review of Laplace Transform