BASICS OF CONTROL AND

SIMULATION

Lecture 1: Introduction

Orkhan Karimzada
 TEXT BOOKS
1. Control Systems Engineering, (6th Edition)
By: Norman S. Nise.
2. Modern Control Systems, (12th Edition)
By: Richard C. Dorf and Robert H. Bishop.
3. Schaum’s Outline of Feedback and Control Systems, (2 nd Edition)
By: Joseph J. Distefano, Allen R. Stubberud, and Ivan J. Willaims.
 COURSE OUTLINE
• Open loop and close loop control systems.
• Block diagrams models and reduction techniques.
• Signal flow graphs.
• Mathematical modeling of electrical and mechanical systems.
• Transient and steady state response of linear control systems.
• State-space representation and analysis.
• Eigen values and Eigen vectors.
• Closed-loop system stability analysis using the Routh-Hurwitz criteria.
• Stability, performance analysis, and control system design using the
Root Locus techniques.
• Bode diagrams.
• Polar plots.
• Nyquist stability criterion.
• Gain and Phase margins.
• Nichol’s chart.
 PREREQUISITES

 For Classical Control Theory

Differential Equations
Laplace Transform
Basic Physics
Ordinary and Semi-logarithimic graph papers

 For Modern Control theory above &

Linear Algebra
Matrices
 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).
 Definitions
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

 Definitions
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.
 Definitions
Manipulated Variable

Input
or Output
Set point Controller Process Or
or Controlled Variable
reference

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.
 TYPES OF CONTROL SYSTEM

 Natural Control System

Universe
Human Body

 Manmade Control System

Vehicles
Aeroplanes
 TYPES OF CONTROL SYSTEM

• Manual Control Systems

– Room Temperature regulation Via Electric Fan
– Water Level Control

• Automatic Control System

– Room Temperature regulation Via A.C
– Human Body Temperature Control
 Types of Control System
Open-Loop Control Systems utilize a controller or control actuator to obtain
the desired response.
• Output has no effect on the control action. No feedback – no
correction of disturbances
• In other words output is neither measured nor fed back.

Input Output
Controller Process

Examples:- Washing Machine, Toaster, Electric Fan

 Types of Control System
• 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.
 Types of Control System
Closed-Loop Control Systems utilizes feedback to compare the actual
output to the desired output response.

Input Output
Comparator Controller Process

Measurement

Examples:- Refrigerator, Iron

 Types of Control System
Multivariable Control System

Temp Outputs
Humidity Comparator Controller Process
Pressure

Measurements
 Types of Control System
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.

 Types of Control System
Servo System
• A Servo System (or servomechanism) is a feedback control system in
which the output is some mechanical position, velocity or
acceleration.

Antenna Positioning System Modular Servo System (MS150)

 Types of Control System
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=3*u(t)+5
y=-2*u(t)+1
35
5

30
0
25
-5
20

y(t)
y(t)

-10
15

-15
10

-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t) u(t)
 Types of Control System
Linear vs. Nonlinear Control System

• 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
 Types of Control System
Linear vs. Nonlinear Control System

• Linear control System Does not

Adhesion Characteristics of Road
exist in practice.
0.4
• Linear control systems are

Adhesion Coefficient
idealized models fabricated by 0.3
the analyst purely for the
simplicity of analysis and design. 0.2

• When the magnitude of signals in 0.1

a control system are limited to
range in which system 0
components exhibit linear 0 0.02 0.04 0.06 0.08
Creep
characteristics the system is
essentially linear.
 Types of Control System
Linear vs. Nonlinear Control System

• Temperature control of petroleum product in a distillation column.

°C

Temperature

500°C

Valve Position

0% 25% 100%
% Open
 Types of Control System
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
 Types of Control System
Lumped parameter vs. Distributed Parameter

• Control system that can be described by ordinary differential equations are

lumped-parameter control systems.

d 2x dx
M 2
C  kx
dt dt

• Whereas the distributed parameter control systems are described by partial

differential equations.
2
x x  x
f1  f2 g 2
dy dz dz
 Types of Control System
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
 Types of Control System
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
 Types of Control System
A DA P TI VE C ONT R OL SY ST EM

• The dynamic characteristics of most control systems are not constant for
several reasons.

• The effect of small changes on the system parameters is attenuated in a

feedback control system.

• An adaptive control system is required when the changes in the system

parameters are significant.
 Types of Control System
LEARNING CONTROL SYSTEM

• A control system that can learn from the environment it is operating is

called a learning control system.
 TYPES OF CONTROL SYSTEM
Control Systems

LT
I
Co
ntr
ol
Natural Man-made

Sy
emst
s
(L
in
Manual Automatic

ear
tim
ei
nv
Open-loop Closed-loop

ari
ant
onc
tr
linear

ol
Non-linear
Non-linear

sy
linear

stem
s)
Time variant Time invariant
Time variant Time invariant
Examples of Control Systems
Water-level float regulator
Examples of Control Systems
Examples of Control Systems
Examples of Control Systems
Examples of Control Systems
History
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
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Examples of Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems

(a) Automobile steering

control system.
(b) The driver uses the
difference between the
actual and the desired
direction of travel
to generate a controlled
adjustment of the
steering wheel.
(c) Typical direction-of-
travel response.
Examples of Control Systems
Examples of Control Systems
Examples of Modern Control Systems
Open-loop & Closed-loop Models of Blood Glucose Control System
Examples of Control Systems
A Model of Heart Rate Control System
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Control Systems
Examples of Control Systems
Examples of Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
Exercise 1
 Exercise 2

Describe the block diagram of a person playing a

video game. Suppose that the input device is a joystick
and the game is being played on a desktop computer.
 Exercise 3
In the past, control systems used a human operator as part of a closed-loop control system. Sketch
the block diagram of the valve control system shown in Figure
 Exercise 4

The student-teacher learning process is inherently a

feedback process intended to reduce the system error
to a minimum. With the aid previous examples, construct
a feedback model of the learning process and identify
each block of the system.
 Exercise 5

The role of air traffic control systems is increasing as airplane traffic

increases at busy airports. Engineers are developing air traffic control
systems and collision avoidance systems using the Global Positioning
System (GPS) navigation satellites. GPS allows each aircraft to know its
position in the airspace landing corridor very precisely. Sketch a block
diagram depicting how an air traffic controller might use GPS for aircraft
collision avoidance.
 Exercise 6
The potential of employing two or more helicopters for transporting payloads that are too
heavy for a single helicopter is a well-addressed issue in the civil and military rotorcraft
design arenas. Overall requirements can be satisfied more efficiently with a smaller aircraft
by using multilift for infrequent peak demands. Hence the principal motivation for using
multilift can be attributed to the promise of obtaining increased productivity without having
to manufacture larger and more expensive helicopters. A specific case of a multilift
arrangement, where two helicopters jointly transport payloads has been named twin lift.
Figure P1.21shows a typical "two-point pendant" twin lift configuration in the
lateral/vertical plane. Develop the block diagram describing the pilots‘ action, the position
of each helicopter, and the position of the load.