CONTROL THEORY

EMMANUEL EFFAH
GCTU
 Outline
• COURSE DETAILS
• COURSE OUTLINE
• INTRODUCTION
• CONCEPT OF CONTROL
 COURSE DETAILS
OBJECTIVES
• By the end of this course successful students will
be able to;
• Appreciate the relevance of control systems
engineering in their field of study.
• Mathematically model simple dynamic systems.
• Use tools and techniques to analyse various
dynamic systems.
• Design proportional controllers for feedback control
systems.
• RECOMMENDED TEXT
• Modern Control Engineering, 4th edition, 2002 (ISBN:
0130609072), K. Ogata, Prentice Hall.
• Control Systems Engineering, 4th edition, 2004 (ISBN:
0471445770), Norman S. Nise, Wiley.
• Automatic Control Systems, 8th edition, 2003 (ISBN:
0471134767), B. C. Kuo, John Wiley & Sons.
• Feedback systems: An introduction to scientists and
engineers, Karl J Astrom and Richard Murray.
• Modern Control Systems, 10th edition, 2005 (ISBN: 0-13-
127765-0), R.C. Dorf & R.H. Bishop, Prentice Hall.
 COURSE OUTLINE
• CONCEPT OF CONTROL
• SYSTEM MODELLING
• TRANSIENT RESPONSE ANALYSIS AND STEADY-STATE
ERROR ANALYSIS
• ROOT LOCUS METHOD
• FREQUENCY RESPONSE ANALYSIS
• COMPENSATION TECHNIQUES
 Introduction to MATLAB in control systems
Week Topic Content

1 Introduction to Concept of control, introduction to MATLAB and SIMULINK

control theory and for control engineering, delivering mini project to students.
MATLAB

2 and 3 System Modelling Overview of Laplace transforms, differential equations,

modelling of various dynamic systems i.e. electrical
systems, mechanical systems, inverse Laplace
transforms

4-7 Transient response Transfer functions, first order responses, second order
analysis and responses, steady state error for unity feedback systems,
steady state error designing gain of a closed loop system to meet steady state
analysis error specifications

8 Root locus method Properties of root locus, analysis of systems using root locus
using MATLAB
9 -11 Frequency Concept of frequency response analysis, sketching bode plots,
response analysis phase and gain margin of transfer functions, sketching Nyquist
plot, phase and gain margin of transfer functions on Nyquist
plot, analysis of frequency responses and design using MATLAB

12 and 13 Compensation Introduction to lead/lag compensators, Introduction to PID

techniques controllers, design of PID controllers for systems
Continuous Assessment
Evaluation
ASSESSMENT TOOL EXPECTED DUE DATE WEIGHT/30
Assignments, Assignment: one week 5
Attendance after problems are
assigned
Attendance: randomly
taken at lectures
Quizzes unannounced 3
Midsemester *7th week 8
examinations
Mini project/LAB After final exams 14

Final Exam: final examination is allotted 70% of the total score expected
in this course. Students should note that the final exam is largely
dependent on activities during the continuous assessment; examination
are based on the knowledge and application of concepts introduced
during the semester
 INTRODUCTION
CONTROLLER
VARIABLES
SYSTEM

CONTROL
SYSTEM

System
-Combination of components that work together to perform a certain task

Controller
-A system that effects control on another based on a specified control objective

Control system
-The overall system comprising the plant and the controller and the required
interconnections of inputs and outputs that determine how these subsystems
influence each other
 INTRODUCTION
• Control systems are everywhere ;
- In the physical world ( man-made and nature
- In the nonphysical world

Illustration: The Impact of Control Technology, T. Samad and A.M. Annaswamy (eds.), 2011
 Control design process
• Establish the goal
• Identify the variables to be controlled
• Write the specifications
• Establish the system configuration
• Obtain a model of the process, the actuator and the
sensor
• Describe a controller and select key parameters to be
adjusted
• Optimize the parameters and analyse the performance
Concept – system configuration
 CONCEPT - EXAMPLE
Manipulated variable
Which variable can be manipulated?
Answer: the setting of valve V1
 Concept - example

Controlled variable
What are we trying to control?
Level of liquid in the tank, measured by Level indicator L1
Disturbance variable
What has an impact on the system but we cant manipulate?
Flow-rate of liquid from its source measured by flowmeter F1