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CHAPTER 1
INTRODUCTION TO CONTROL SYSTEMS

Semester 2019/2020-I
By: DR. DWI PEBRIANTI

BEE3313 DP - credit to YAW, NH, NMAG & MSR

 Syllabus
2

1.1 • Introduction

1.2 • Control Terminology

• Basic Components of a
1.3 control system
• Closed-loop control versus
1.4
open-loop control
DP - credit to YAW, NH, NMAG & MSR
 Lesson Outcomes
3

1. Identify the Control Terminology

2. Describe the basic features and configurations of a
control system
3. Explain the similarities and differences between
closed-loop control and open-loop control

DP - credit to YAW, NH, NMAG & MSR

 1.1 Introduction
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1. Control system
2. Electric motor
3. Sheave
4. Counter weight
5. Guide rails
 1.1 Introduction – Control System
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System?
Disturbance?
Open loop/Closed loop?
Controlled variable?

Steering a car on a curve road

A control system is an interconnection of components

forming a system configuration that would provide a
desired output in response to input signals.
DP - credit to YAW, NH, NMAG & MSR
 1.2 Control Terminology
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 Controlled variable: The controlled variable is the quantity or condition that
is measured and controlled

 Manipulated variable: The manipulated variable is the quantity or condition

that is varied by the controller so as to affect variable value of the controlled
variable.

 Plants: A plant is a piece of equipment perhaps just a set of machine parts

functioning together, to perform a particular operation.

 Process: A process is to be a natural, progressively continuing operation or

development marked by a series of gradual changes that succeed one another in
relatively fixed way and lead toward a particular result

 Actuator: A device that converts an electrical control signal into mechanical

motion. Sometimes also called as Motor
DP - credit to YAW, NH, NMAG & MSR
 1.2 Control Terminology…Cont.
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 System: A system is combination of components that act together and perform a certain
objective. A system is not limited to physical ones. The concept of the system can be
applied to abstract, dynamic phenomena such as those encountered in economics. The word
system should be therefore, be interpreted to imply physical, biological, and economic.

 Disturbance: A disturbance is a signal that tends to adversely affect the value of the out
signal. If the disturbance is generated within the system is called internal, while an external
disturbance is generated outside the system and is an input to the systems.

 Open-loop(Non-feedback) system: An open-loop system utilizes an actuating device to

control the process directly without using feedback

 Feedback control/closed-loop system: A closed-loop system uses a measurement of the

output and feedback of this signal to compare it with the desired output (reference or
command). 
DP - credit to YAW, NH, NMAG & MSR
 1.2 Control Terminology…Cont.
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Disturbance

Manipulated Controlled
quantities Process quantities

DP - credit to YAW, NH, NMAG & MSR

 Example of Control System
9

YAW- credit to NH, NMAG & MSR

Home Heating System
1.3 Basic Components of a Control System
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 Block Diagram

OBJECTIVES RESULTS
INPUT, R OUTPUT, Y
CONTROL SYSTEM
Target,
Actual value,
Desired
Actual condition

Basic components of a control system

DP - credit to YAW, NH, NMAG & MSR

1.4 Closed-loop control versus open-loop control
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Open-loop Control
Without feedback !!

Reference Controller Actuating Controlled variable,

input, R signal, C signal, U output, Y
CONTROLLER ACTUATOR PLANT

Block diagram of an open-loop control system

DP - credit to YAW, NH, NMAG & MSR
 Example of Open Loop Control System
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Flow Rate Manual Control

1.4 Closed-loop control versus open-loop
control…cont.
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Closed Loop Control
Desired is compared withSystem
a measurement
of the actual in order to measure error.

Difference between the desired input and

actual output is equal to the error.
Reference Error
input, R signal, E output, Y
CONTROLLER ACTUATOR PLANT
+

- C U G

Block diagram of an
closed-loop control
SENSOR
system
Feedback H

This measurement is obtained by measurement using a sensor

DP - credit to YAW, NH, NMAG & MSR

 Takes signal from controller,
provides power to plant
Input Signal Comparator Output Signal

14 Controller Plant
Actuator Effect
Error Actual
Desired Steering
Car
Driver : Mechanism course
course Human
of of
Brain
travel Driver :
travel
Human
Eyes
Feedback
Sensor

Desired course of travel

Actual course of travel

Block Diagram for steering a car on a curve

road DP - credit to YAW, NH, NMAG & MSR
 Washing machine
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Open loop / Closed Loop?

Why

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 Microwave Oven
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Open Loop

Close Loop
 Liquid Storage Tank

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 Cooling System

18

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 Toaster
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 Sample Question – Last Sem 2014/2015 I
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The underwater robot as shown in Figure 1 is used in

offshore company for underwater pipeline inspection.
The robot can moves horizontally about x-axis by using
two horizontal thrusters. It also can moves vertically
about z-axis using one vertical thruster and rotate about
z-axis (yaw angle). All the thrusters are controlled by
programmable microcontroller. The robot used a gyro
sensor to stabilize the yaw angle underwater.

Construct a functional block diagram for a closed loop

system that stabilizes the yaw angle. Identify which
thrusters should be control to perform a yaw angle.
Clearly state the input, output, controller, plant and etc.

YAW- credit to NH, NMAG & MSR

 Answer
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YAW- credit to NH, NMAG & MSR

 Example : Test 1, Q1, 2013/2014 Sem 1
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Segway personal transporter (PT), Figure 1, is a two

wheeled vehicle in which the human operator stand
vertically on the platform. As the driver leans left, right,
forward or backward, a set of sensitive gyroscopic sensors
sense the desired input. These signals are fed to a
computer that amplifies them and commands the motors to
propel the vehicle in the desired direction. One very
important feature of the PT is its safety: the system will
maintain its vertical position within a specified angle
despite the road disturbance, such as uphills and downhills
or even if the operator over – leans in any direction. Draw
a functional block diagram of the PT system that keeps the
system in a vertical position. Indicate the input and output
signals, intermediate signals and the main subsystems.
 Answer :
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Disturbance : uphill / downhill

Reference +
Attitude : +
Segway Real
Amplifier Motor Attitude
Vertical + PT
position -

Gyroscopic
sensor

Input : Reference attitude (Vertical position)

Output : Actual attitude
Plant : Segway Personal Transporter
Controller : computer / amplifier
Control input : manipulated variable : angle of attitude
 Control System
24 Type of system Advantages Disadvantages
1. Open-loop control system 1. Simple construction and ease of 1. The system response very sensitive to
maintenance. external disturbance and internal
2. Less expensive than a corresponding variations in system parameters.
closed-loop control system 2. Recalibration is necessary from time to
3. There is no stability problem time in order to maintain the
4. Convenient when output is hard to required quality in the output
measure or measuring the output
precisely is economically not
feasible.
2. Closed-loop control system 1. Makes the system response 1. Risk instability
relatively insensitive to external 2. Complexity in analysis and
disturbance and internal variations in implementation and expensive
system parameters.
2. Possible to use relatively inaccurate
and inexpensive components to
obtain the accurate control of a given
plant.
3. Better control of transient & steady-
state response
4. Increased accuracy
-Increased ability to reproduce output
with varied input.

DP - credit to YAW, NH, NMAG & MSR

 Sample Question SEM1213I
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Sterilization of Fresh Fruit Bunch in the pressure sterilizer is

important processes in a Palm Oil Mill. These sterilizing
processes is done by sterilizing the fruit brunches under steam
pressure. The cooking times of the fruit brunch within 3 bar
pressure or 45 psi for 60-90 minutes is controlled by controlling
the opening/closing of control valve. During the cooking
process, the fruit will become soft and the enzymes that produce
Free Fatty Acids (FFA) are deactivated. Thus, this process is
controlled by the feed forward controller and a differential
pressure sensor is used to sense the actual pressure so that the
system can maintain the 3 bar pressure. Figure 1.1 illustrates the
sterilizer system.
Construct a functional block diagram for a closed-loop system
that controls the pressure of the sterilizer system. Clearly state
 Sample Past Year Question SEM1213I
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Steam
Control valve

Pressure
PT
Transmitter

Waste
Sterilizer
Liquid

Pump
Figure 1.1: The sterilizer system

DP - credit to YAW, NH, NMAG & MSR

 Answer
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Pressure + Valve opening Steam Plant Actual Pressure

set point mechanism Flow Sterilizer
3 bar - rate

Pressure
Transmitter

Input : Pressure set point  3 bar

Output : Actual pressure
Plant : sterilizer
Controller : valve opening mechanism
Control input : manipulated variable : steam flow rate
DP - credit to YAW, NH, NMAG & MSR
 Question Final Exam 2014 2015 Sem II
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Consider
   an antenna azimuth position control system
that could be used to position a radio telescope
antenna as shown in Figure 1.1(a). The schematic of
the system is shown in Figure 1.1(b). The purpose of
the system is to have the azimuth angle output of the
antenna, , follow the input angle of the
potentiometer, . The input command is an angular
displacement. A potentiometer is used to convert the
angular displacement into a voltage. Similarly, the
output angular displacement is converted to a voltage
by a potentiometer in the feedback path. The signal
and power amplifier boost the existing error. Sketch
the block diagram representing the antenna azimuth
position control described above.
DP- credit to YAW, NH, NMAG & MSR
 answer
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YAW- credit to NH, NMAG & MSR

 End of Chapter 1
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1. Q & A

2. Outcomes :
– Identify the Control Terminology
– Describe the Basic features and configurations of a
control system
– Explain the similarities and differences between
closed-loop control and open-loop control

DP - credit to YAW, NH, NMAG & MSR