Automation and

Control Systems

Dr. issam ELGMATI

Assessments/Books
• 2 Midterm exams (20% each)
• Assignments/Tutorials : 20%
• Final Exam:40%

• Text book1: Control System Engineering by Norman

Nize,
6th edition, 2011.

• Text book2: Modern Control Systems by Richard Dorf, 2nd

2
edition, 2010.
Course Contents
.No List of Topics

1 Introduction to Control Systems

2 The Basics of Control Theory

3 Mathematical Modeling of Systems

4 System Response and Stability

5 State Space Analysis

6 Steady State error

7 PID Controllers 3
Basic Concepts
• System
• A collection of components which are coordinated together
to perform a function.
• Dynamic System
• A system with a memory.
• For example, the input value at time t will influence the
output at future instant.
• A system interacts with its environment through a
controlled boundary.
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Basic Concepts
• The interaction is defined in terms of variables.
i. System input
ii. System output
iii. Environmental disturbances

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System Variables
• The system’s boundary depends upon the defined objective
function of the system.

• The system’s function is expressed in terms of measured

output variables.

• The system’s operation is manipulated through control input

variables.

• The system’s operation is also affected in an uncontrolled 6

manner through disturbance input variables.
 Control System
• Control is the process of causing a system variable to
conform to some desired value.

• Manual control Automatic control (involving machines

only).

• A control system is an interconnection of components

forming a system configuration that will provide a desired
system response.
Input Output
Signal
Control Signal
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System
Energy
Source
Control
• The word control is usually taken to mean :
- regulate,
- direct,
- command.

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Input
• The input is the stimulus, excitation or command applied to a
control system.

• Typically from external energy source, usually in order to

produce a specified response from the control system.

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Output
• The output is the actual response obtained from a control
system.

• It may or may not be equal to specified response implied by the

input.

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Manual Vs Automatic Control
• Control is a process of causing a system variable such as
temperature or position to conform to some desired value or
trajectory, called reference value or trajectory.
• For example, driving a car implies controlling the vehicle to follow
the desired path to arrive safely at a planned destination.
i. If you are driving the car yourself, you are performing manual control of
the car.

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ii. If you use design a machine, or use a computer to do it, then you have
built an automatic control system.
Response Characteristics
• Transient response:
• Gradual change of output from initial to the desired condition
• Steady-state response:
• Approximation to the desired response
• For example, consider an elevator rising from ground to the 4th
floor.

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Block Diagram
• Component or process to be controlled can be represented by
a block diagram.
• The input-output relationship represents the cause and effect
of the process.

Input Process Output

• Control systems can be classified into two categories:

i. Open-loop control system
ii. Closed-loop feedback control system
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Control System Classification
• An open-loop control system utilizes an actuating device to control the
process directly without using feedback.

Desired Output Actuating Process Output

Response
Device
• A closed-loop feedback control system uses a measurement of the
output and feedback of the output signal to compare it with the
desired output or reference.
Desired
Output
Output Comparison Controller Process
Response

Measurement
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Single Input Single Output (SISO) System
1. Open Loop Control System
• In an open loop control system, the input to the plant does not
depend in any way on the current and past values of the output
of the plant.
• Relatively simple and consequently low cost with generally
good reliability.

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Block Diagram of open loop
system

An open-loop control system is one in which 16

the control action is independent of the output.
Applications of Open Loop
 Motor
 Heater /boiler
 Cooking Oven
 Water valve system in a pool or sink

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Open loop: control of a dc motor

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Disadvantage of Open Loop
 The biggest problem with the open loop control systems is
that they rely totally in calibration, and cannot effectively
deal with exogenous disturbances.

 They can not effectively deal with changes in the process.

 Can not deal with uncertainty.

 Can not stabilize an unstable system.

 Often inaccurate since there is no correction for error.

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2. Closed Loop Control System
 Closed loop control system make the control system robust to
uncertainty and disturbances.

 It senses the output of the system and adjust the control input
using feedback rules, which are based on how the system output
deviates from the system behaves.

 The feedback helps compensate for the differences, if the system

behaves slightly differently than the model.

 Relatively accurate in matching the actual to the required values.

 More complex, and more expensive, greater chance of breakdown 20

due to number of components.
Feedback
Feedback is that property of a closed-loop system
which permits the output to be compared with
the input to the system so that the appropriate
control action may be formed as some function of
the output and input

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 22

Control Systems
Manual control system

Goal: Regulate the level of fluid by adjusting the output valve.

•The input is a reference level of fluid and is memorized by

operator.
•The power amplifier is the operator.
•The sensor is visual. 23
•Operator compares the actual level with the desired level and
opens or closes the valve ( actuator).
The level of fluid in a tank control

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Closed Loop
A closed-loop control system is one in which the
control action is somehow dependent on the output.

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 Closed Loop system with external
disturbance and noise measurement

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Multiloop feedback system with
inner loop and outer loop

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Multi Variable Control System

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Applications of Closed Loop

• Guided missiles
• automatic gain control in radio receivers
• satellite tracking antenna
• Etc.

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Control of a disk with tachometer

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 Given a process, how to design a
feedback control system?
Three steps:

• Modeling. Obtain mathematical description of the systems.

• Analysis. Analyze the properties of the system.

• Design. Given a plant, design a controller based on performance

specifications.
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The course spans each of these steps in that sequence.
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Control Systems
Design examples

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 Rotating disk speed control
Step 1. Control goal
• Design a system that will held a rotating disk at a constant speed.
Ensure that the actual speed of rotation is within a specified percentage
of desired speed.

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Step 2. Variable to be controlled

• Speed of rotation disc

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 Step 3. Control design specification

• Design a system that will ensure that

the actual speed of rotation is within a specified percentage
of desired speed.

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Step 4 Preliminary system configuration
Step 4 Preliminary system configuration

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With precision components, we could expect
to reduce the error of the feedback system to
one-hundredth of error of the open-loop system.

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Thank you

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