Control

Systems
MT 425
Instructor
Dr Samina Jamil
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Week
Chapter Title Task
No
1 1 Basic concepts of control systems, Transfer functions
2 2 A quick review of mathematical modeling Assignment 1
State space equations, Time Response of First and Second Order Systems,
3 3 Quiz 1
Similarity Transformations
Decomposition of Transfer function, Controllability Observability of Linear
4 4 Assignment 2
Systems
Quiz 2
5 5 Block Diagrams, Reduction of Block Diagrams using theorems

Course 6

7
5

6
Converting block diagram to signal flow graphs, Signal Flow Graphs,
Mason’s Rule
Stability and Routh-Hurwitz Stability Criterion, Routh Table for entire row
of zeros
Assignment 3

Quiz 3

Outline
Steady state errors, Find the steady-state error for a unity feedback system,
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specify a system’s steady-state error performance
Mid-Term Exams
Design the gain of a closed-loop system to meet a steady-state error
10 7 Assignment 4
specification
11 8 Root Locus Techniques and Analysis Quiz 4
12 8 Pole Placement in Time Domain Assignment 5
Quiz 5
13 9 Design via Root Locus, PID controller Design
Cascade Compensation, Lead Compensator, Lag Compensator, Lead-Lag
14 9 Assignment 6
Compensator
15 10 Frequency Response Techniques and Analysis, Quiz 6
16 10 Frequency Response Design, Bode, Nyquist Plots
End-Semester Exam
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Pre-Requisite
•Modeling
•ODE, Laplace, inverse Laplace
•MATLAB/Simulink/SimScape, Solid Works
•Motors/drivers, Arduino, Sensors
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Study Material
Textbook
Control System Engineering by Nise, 7th Edition
Reference Books
•Modern Control Engineering by Ogata, 5th Edition
•Control System by Schaum series
Softwares
MATLAB, Simulink, Simscape
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Marking Scheme
•Quiz 10
•Assignment 10
•CEP 10
•Midterm 25
•Final 45
Lecture 1: Basic Concepts of
Control Systems
Instructor
Dr Samina Jamil

6
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Lecture 1:
Introduction
•Control system introduction
•Types: Open loop and close loop
•Definitions
•Analysis and design objectives
•Case study
•Examples
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Lecture 1:
Introduction
Control System Importance of Control System
•Arrangement of physical components •A means to direct the system to
connected in a way to direct or regulate itself perform a required operation.
or another system. •Can perform the required operation
•Can be man-made as well as natural. without continuous intervention.
•May compensate disturbances and
deficiencies in the system using feedback.
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Lecture 1:
Introduction
Control System History
•James Watts’ centrifugal governor
•1932 Nyquist stability check
•1940s PID industrial controller
•1960s MIMO system control
•Optimal and robust control

https://www.youtube.com/watch?v=B01LgS8S5C8

A washing machine operates as per time adjusted for washing. Its operation does not depend
upon output i.e., clothes are clean or not!
Lecture 1:
Introduction
Types of Control System
Open Loop Control
•Input is set at required level (like fan
regulator set at high speed).
•Input transducer converts input into signal in
required form (like a dial on iron sets
thermostat).
•Controller generates appropriate signal to
operate the plant (like heater or fan).
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•Plant operates to provide output as per
reference input.
•A disturbance may result an output which
is different from desired input.
•A disturbance can be internal or external
to the system (low ac mains voltage for fan,
or cool breeze from an open window for
heater).
Example of Open Loop Control
•Fan, heater, washing machine
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Lecture 1:
Introduction
Types of Control System
Close Loop Control
•Output is compared with input and the
difference between input and the output is used for
corrective action by the controller.
Example of Closed Loop Control
• Air conditioner, human walking, automatic light
on/off systems
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Lecture 1:
Introduction
Definitions Input sensor/transducer
•Changes references input into required
Reference Input
form of signal, like temperature on ac can be
•Determines desired output, (like set in the form of numbers (e.g., 22oC), input
temperature set on air conditioner). transducer converts it into proportional
Output/controlled variable voltage.
•Actual output, like the temperature obtained Plant/process
in the room. •The system which is to be controlled, like
ac or heater.
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Lecture 1:
Introduction
Definitions Disturbance
Output transducer/sensor •An unwanted input that may be
•Measures the output and converts into generated within system (like variation in
circuit parameters, power supply
same form of signal given by input transducer,
fluctuation etc) or externally (like a door
like a thermistor to sense room temperature
opened in a heated room).
and generate a proportional voltage.
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Lecture 1:
Introduction
Definitions Controller
Summing point •Generates a signal to derive an actuator
•A circuit that adds/subtracts signals. such that error may be reduced. A simple
controller can be an amplifier to amplify
Error/Actuating signal small error signal to derive actuator.
•A comparison is made between desired •If error is large, more action by controller
(reference input) signal & measured (actual is required.
output). The difference is called the Error, like
reference input is 22oC (say 2.2V) and actual
room temperature is 30oC (say 3V), then error is
-8oC (say -0.8V). The error derives the controller.
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Lecture 1: Modeling error refers to the error in estimation of system properties in the

Introduction form of a mathematical model. This model is required in the design and
analysis of a controller as well as the whole control system.

Open vs Close Loop Close loop

Open loop •Control action is linked with output
•Control action is independent of output hence through feedback, hence there is a check and
correction mechanism.
no check or correction mechanism for output.
•Caters for modeling error, design
•Simple design, low cost, no stability issues.
discrepancies and disturbances.
•Disturbance sensitive, frequent calibration
•Complicated design, costly, can be
required.
unstable.
Given a DC motor controlled by a variable voltage source whose dial is calibrated for RPM. If due to some error in
system, output RPM are not equal to RPM set on dial, calibration must be done, but there is no mechanism of
correcting output automatically.
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Lecture 1:
Introduction
Analysis and Design Objectives Steady State Response
•A given control system is analyzed or •How the system follows the input, once it
designed with respect to its response for a reaches the final value?
given input. Steady state error
•Ideally, the system must exactly follow the •If system stays at a final value which is
given reference input. different from the desired value.
Transient Response
•The output before it settles to the final
value, like time taken and speed change in rpm
of a motor when it starts from rest.
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Lecture 1:
Introduction Mathematical model is analyzed for
stability; poles of the system should be
in LHP. The simulation of a model also
indicates its stability status.
Analysis and Design Objectives
Stability
•Does the output of the system remain within
safe limits, or it keeps increasing?
•c(t) can be an elevator’s position or a joint angle
of a robotic arm.
•While designing, a system is checked for its
stability.
•A system can be stabilized by changing its
parameters or including a controller.
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Lecture 1:
Introduction
Analysis and Design Objectives
Transient & steady-state response
•Transient response is the natural response and
steady-state is the forced response.
•System output can be slow, which can be
improved by increasing the controller gain.
•Large gain may result in overshoots and even
instability.
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Lecture 1:
Introduction
Analysis and Design Objectives
Other considerations
•Design cost.
•Power requirements.
•Robustness.
•Etc.
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Lecture 1:
Introduction
The Design Process
Step 1: Determine a physical system and its specs to meet the requirements.
Step 2: Draw a functional block diagram.
Step 3: Represent physical system as a schematic.
Step 4: Convert schematic into mathematical model or block diagram.
Step 5: Reduce the block diagram.
Step 6: Analyze and design the system to meet requirements of stability, transient and steady-
state response.
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Lecture 1:
Introduction
Case Study:- Antenna Position Control
Problem statement
•It is required that the antenna’s rotation in the plane
parallel to ground (azimuth) is controlled.
a) System concept
•Develop a system to rotate antenna (plant) through
an angle θo (output), given an input θi (reference
input).
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Lecture 1:
Introduction
Case Study:- Antenna Position Control
b) Detailed layout
•We can use a potentiometer (input transducer)
to set the input.
•We need an actuator (motor usually with gears)
for antenna rotation.
•Another potentiometer (output sensor) to
measure and feedback the output position. Gears are added to adjust torque needed for
antenna and also to scale position
measurement feedback.
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Lecture 1:
Introduction
Case Study:- Antenna Position Control
b) Detailed layout
•A differential amplifier (summing circuit) to
compare input and output to generate error signal.
•The power amplifier raises the level of error
signal appropriate to run the motor.
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Lecture 1:
Introduction
Case Study:- Antenna Position Control
c) Schematic
•The physical components are now drawn in the
form of schematic diagram (like we draw a circuit
diagram to solve it more easily).
•The antenna is modeled by ‘Inertia’ and ‘Viscous
damping’ blocks.
•Inertia block models a mass-related resistance to
motion and viscous damping shows friction related
resistance to the motion.
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Lecture 1:
Introduction
Case Study:- Antenna Position Control
d) Functional block diagram
•Now we have a standard feedback and control
system, whose mathematical model can be derived
for analysis, design and tuning.
•Each block represents a model (usually gain or
transfer function of that block).
•Signals (like Applied input, Error etc) are
multiplied with gains and outputs are generated
and these outputs proceed to next block.
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Lecture 1:
Introduction
Problem 1 (Nise)
•Draw block diagram of the system shown. Given
the potentiometer is 10 turn type? Also find gain of
the block. Implement the system in MATLAB and
Simulink.

θi vo
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Lecture 1:
Introduction
Example 1.16 (Schaum)
•Draw block diagram of the system to turn room
light on after dusk and turn off after dawn?
•An over simplified design is as shown.
•This gives only ‘system concept’.
•Can you refine the system a bit? (‘Detailed
layout’ or ‘Schematic’)
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Lecture 1:
Kp G

Introduction
Steady State Error
•Given a feedback control system with plant
model G(s)=1/s3+3s2+3s+1 with unity gain feedback.
Simulate the system for step input.
MATLAB simulation

Stability check
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Lecture 1:
Kp G

Introduction
Steady State Error
•Given a feedback control system with plant
model G(s)=1/s3+3s2+3s+1 with unity gain feedback.
Simulate the system for step input.
Simulink simulation