Feedback Control Systems

Lecture 2

Introduction (Examples)
 Control Systems (Review)
• A control system is an interconnection of components that wil
l provide a desired system response
• In order for a system to be controllable, there must be a cause
-effect relationship for its components, i.e. there must be som
e input that can cause changes to the output parameter to be
controlled.
 Role of Control Systems
• Convenient (room temperature control, laundry machine)
• Dangerous Environment (hot/cold places, space, bomb re
moval)
• Impossible for human (nanometer scale precision
positioning, work inside the small space that human cann
ot enter)
• Lower cost, high efficiency (factory automation), etc.

• Many examples of control systems around us

Elevator, AC, Microwave oven, Automobile, etc.
They exist in nature (human body temperature control)
Mathematical Representation of Control Sy
stems
Types of Control Systems (Review)
• There are two types of Control System with m
any variations and combinations
– Open Loop Control Systems
– Feedback or Closed Loop Control Systems
 Open-Loop Control
Open-loop Control System
• shooting a basketball, toaster, microwave oven

• Calibration is the key!

• Can be sensitive to disturbances
 Example: (Toaster)
• A toaster toasts bread, by setting timer.

• Objective: make bread golden browned and crisp.

• A toaster does not measure the color of bread during the toas
ting process.
• For a fixed setting, in winter, the toast can be white and in su
mmer, the toast can be black
• A toaster would be more expensive with sensors to measure t
he color and actuators to adjust the timer based on the meas
ured color.
 Example: Washing Machine
• A laundry machine washes clothes, by setting a pr
ogram.

• A laundry machine does not measure how clean

the clothes become.
• Control without measuring devices such as (senso
rs) are called open-loop control
 Closed-Loop (Feedback) Control
• Compare actual behavior with desired behavior
• Make corrections based on the error
• The sensor and the actuator are key elements of a feedback lo
op
• Design control algorithm

• An actuator is a type of motor for moving or controlling a mec

hanism or system
 Basic elements in closed loop control
systems (contd.)

• System:
Combination of components that act together & perform cert
ain objectives
• Disturbance:
A signal that tends to adversely affect the value of output of s
ystem.
• Feedback Control:
An operation that tends to normalize the disturbances and re
duce the difference between the output of a system and som
e reference input.
 Basic elements in feedback control
systems
Control system design objective
• To design a controller system in which output follows
the reference in a “satisfactory” manner even in the f
ace of disturbances.
Example: Automobile direction control
• Attempts to change the direction of the automobile.

• Manual closed-loop (feedback) control.

• Although the controlled system is “Automobile”, the inp
ut and the output of the system can be different, depe
nding on control objectives!
 Example: Automobile cruise control
• Attempts to maintain the speed of the automobile.

• Cruise control can be both manual and automatic.

• Note the similarity of the diagram above to the
diagram in the previous slide
Systematic controller design process
 Example (SCADA)
• SCADA (supervisory control and data acquisition) is a type of 
industrial control system (ICS).
• Industrial control systems are computer controlled systems that monitor an
d control industrial processes that exist in the physical world.
 Course Roadmap
Modeling Analysis Design
Laplace Transform Time response Design specs
Transfer Function • Transient Root Locus
Mathematical Mod • Steady state Frequency Domain
eling Stability PID & Lead-lag
• Mechanical
• Routh- Design Examples
• Electrical Hurwitz
• Electro-mechan
(Nyquist Creteria)
ical
Frequency response
Linearization
• Bode plot

Matlab simulation Laboratory/Project

 Purpose of this Course
To learn basics of feedback control systems
Modeling
• as a transfer function and a block diagram
• Laplace transform (Mathematics)
• Mechanical, electrical, chemical, electromechanical systems
Analysis
• Step response, frequency response
• Stability: Routh-Hurwitz criterion, Nyquist criterion
Design
• Root locus technique, frequency response technique,
• Bode Plot, Nyguist Plot
• PID control, lead/lag compensator
Theory, (simulation with Matlab), practice in laboratories
 Summary & Exercises

Summary
• Introduction of control systems
• Open loop and closed loop systems
• Examples of control systems
Next
Laplace Transform
Exercises
• Find at least 10 open loop and closed loop systems i
n your surrounding: represent the overall systems th
rough diagrams
Questions?