Systems and Control

Engineering I
Lecture 1(contd.)
Classification of Control System

AKANO, Theddeus T. (PhD)

E-mail: akanott@ub.ac.bw
manthez2016@gmail.com
Office: 140 (Building 248)
 Classification of Control System
Single-input-single-output (SISO) control system and
Multi-input-multi-output (MIMO) control system
 SISO control system: has only one input and one output.

Humidity Comparator Controller Process Outputs

 MIMO control system: has only more than one input and more
than one output.

Temp
Humidity Comparator Controller Process
Outputs
Pressure

Measurements
 Types of Control System contd.
Linear vs. Nonlinear Control System
 Linear Control System: A Control System in
which output varies linearly with the input is
u(t) Process y(t)
called a linear control system. It satisfies
properties of homogeneity and additive.
 Homogeneous property:
 Additive property:
y=-2*u(t)+1 y=3*u(t)+5
5 35

30
0

25
-5
y (t)

y (t)
20
-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 contd.
Linear vs. Nonlinear Control System

 Nonlinear Control System: When the input and output has nonlinear
relationship the system is said to be nonlinear. It does not satisfy
properties of homogeneity and additive, i.e.
Adhesion Characteristics of Road

0.4
A dhes ion Coeffic ient

0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08
Creep
 Types of Control System contd.
Linear vs. Nonlinear Control System

 Linear control System Does not exist in Adhesion Characteristics of Road

practice. 0.4

A dhes ion C oeffic ient

 Linear control systems are idealized models 0.3

fabricated by the analyst purely for the

0.2
simplicity of analysis and design.
0.1
 When the magnitude of signals in a control
system are limited to range in which system 0
0 0.02 0.04 0.06 0.08
components exhibit linear characteristics Creep

the system is essentially linear.

 Types of Control System contd.
Linear vs. Nonlinear Control System

 Temperature control of petroleum product in a distillation column.

Temperature

tion
500
o si
°C

Va lve P

0% 25% 100%
% Open
 Types of Control System contd.
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.

 Time varying control system is a system in which one or more parameters

vary with time.
 Types of Control System contd.
Lumped parameter vs. Distributed Parameter

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

lumped-parameter control systems.

 Whereas the distributed parameter control systems are described by

partial differential equations.
 Types of Control System contd.
Continuous Data vs. Discrete Data System
 In continuous data control system all system variables are function of a continuous
time t.

x(t)

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 contd.
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 contd.
Adaptive Control System

 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 contd.
Learning Control System

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

called a learning control system.
Summary of Types of Control System
Control Systems

Li
n
ea
Natural Man-made

rt
im
ei
nv
ar
Manual Automatic

ian
t(
LT
I)
Open-loop Closed-loop

c
on
tro
ls
linear

ys
Non-linear linear Non-linear

tem
s
Time variant Time invariant Time variant Time invariant
 Examples of Control Systems
 Water-level float regulator
 Examples of Control Systems contd.
 Manual fluid level regulation
 Examples of Control Systems contd.
 Fluid-flow control
 Examples of Control Systems contd.
 Tap regulation with float
 Examples of Control Systems contd.
 Flyball Governor

Flyball Governor
James Watts 1769
 Examples of Control Systems contd.
 Room Temperature control
Examples of Modern Control Systems
Examples of Modern Control Systems contd.
 Aircraft control
Examples of Modern Control Systems contd.
 Automobile control

(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 Modern Control Systems contd.
 Open-loop & Closed-loop Models of Blood Glucose Control System

Open-loop Models of Blood Glucose Control System

Closed-loop Models of Blood Glucose Control System

Examples of Modern Control Systems contd.
 A Model of Heart Rate Control System
Examples of Modern Control Systems contd.
 Boiler-Generator
Examples of Modern Control Systems contd.
 Water-Clock
Examples of Modern Control Systems contd.
 Computer system
Examples of Modern Control Systems contd.
 Robotic manipulation
E N
D