Adama Science and Technology University

School of Mechanical, Chemical and Material Engineering

Adama, Ethiopia

Name :- Shemsudin Ahmedteib

ID number PGE/28433/15
Course Name And Course Code:- Autotronics and Vehicle
Intelligence (AENG6205)

Seminar presentation on:- “Control System Engineering”

Submitted to:- Alemayehu Wakjira (PhD)
Introduction to Control Systems
• A Control System is a device, or a collection of devices
that manage the behavior of other devices. Some devices
are not controllable.
• Control System is a conceptual framework for designing
systems with capabilities of regulation and/or tracking to
give a desired performance.
• The control systems can be represented with a set of
mathematical equations known as mathematical model.
• Mathematical modeling of a control system is the
process of drawing the block diagrams for these types of
systems in order to determine their performance and
transfer functions.
 Classification Ways of Control Systems

• Based on some parameters, we can classify the control

systems into the following ways.
Continuous time and Discrete-time Control Systems
• Control Systems can be classified as continuous time control
systems and discrete time control systems based on the type
of the signal used.
• In continuous time control systems, all the signals are
continuous in time. But, in discrete time control systems,
there exists one or more discrete time signals.
SISO and MIMO Control Systems
• Control Systems can be classified as SISO control systems
and MIMO control systems based on the number of inputs
and outputs present.
 Cont.…
• SISO (Single Input and Single Output) control systems
have one input and one output.
Whereas, MIMO (Multiple Inputs and Multiple Outputs)
control systems have more than one input and more than
one output.
Open Loop and Closed Loop Control Systems
• Based on the feedback path control systems can be
classified as open loop control systems and closed loop
control systems
• In open loop control systems, output is not fed-back to
the input. So, the control action is independent of the
desired output.
 Open-Loop Control Systems

• The open-loop system is also called the non-feedback

system.
• This is the simpler of the two systems.
• Open-loop control systems. Those systems in which the
output has no effect on the control action are called open-
loop control systems.
• In an open-loop control system, the controller independently
calculates exact voltage or current needed by the actuator to
do the job and sends it.
• An open-loop control system utilizes a controller or control
actuator to obtain the desired response.
• A simple The open-loop control system utilizes an actuating
device to control the process directly without using device.
 Cont.…
• Example is illustrated by the speed control of an
automobile as shown in Figure bellow. In this open-loop
system, there is no way to ensure the actual speed is
close to the desired speed automatically.
• The actual speed might be way off the desired speed
because of the wind speed and/or road conditions, such as
uphill or downhill etc.
 Closed-Loop Control Systems

• In practice, the terms feedback control and closed-loop control are

used interchangeably.
• The closed-loop system is also called the feedback system. A
simple closed-system is shown in Figure.
• It has a mechanism to ensure the actual speed is close to the
desired speed automatically.
• A closed-loop control system utilizes an additional measure of the
actual output to compare the actual output with the desired output
response.
• The measure of the output is called the feedback signal. A
feedback control system is a control system that tends to maintain
a relationship of one system variable to another by comparing
functions of these variables and using the difference as a means of
control.
 Cont.…
• As the system is becoming more complex, the
interrelationship of many controlled variables may be
considered in the control scheme.
• . Hence, the closed loop control systems are also called
the automatic control systems. Traffic lights control
system having sensor at the input is an example of a
closed loop control system.
 Steps in Control System Design

1. Establish Control Goals

2. Identify the variables to control
3. Write the specifications for the variables
4. Establish the system configuration and identify the
actuators
5. Obtain a model of the process, the actuator, and the
sensor
6. Describe a controller and select key parameters to be
adjusted
7. Optimize the parameters and analyze the performance
Mathematical Modeling of Control Systems
• Mathematical modeling is the process of using various
mathematical structures – graphs, equations, diagrams,
scatter plots, tree diagrams, and so forth – to represent real
world situations. The model provides an abstraction that
reduces a problem to its essential characteristics.
• Mathematical modeling of a control system is the process of
drawing the block diagrams for these types of systems in
order to determine their performance and transfer functions.
• The control systems can be represented with a set of
mathematical equations known as mathematical model.
• Differential equations models, Transfer function model and
State space model are mathematical models are mostly used.
Basic Elements of Block Diagram
• The basic elements of a block diagram are
a) A block,
b) The summing point and
c) The take-off point.
 Basic Connections for Blocks

• There are three basic types of connections between two

blocks.
• Series Connection
• Series connection is also called cascade connection. In the
following figure, two blocks having transfer functions G1(s)
and G2(s) are connected in series.
• The transfer function of this single block is the product of
the transfer functions of those two blocks.
 Cont.…
• Parallel Connection
• The blocks which are connected in parallel will have
the same input.
• That means we can represent the parallel connection of
two blocks with a single block. The transfer function of
this single block is the sum of the transfer functions of
those two blocks.
 Cont.…
• Feedback Connection
• As we discussed in previous chapters, there are two types
of feedback — positive feedback and negative feedback.
• The following figure shows negative feedback control
system. Here, two blocks having transfer
functions G(s) and H(s) form a closed loop.
 Transfer Function Model

• Transfer function model is an s-domain mathematical model of

control systems. The Transfer function of a Linear Time
Invariant (LTI) system is defined as the ratio of Laplace
transform of output and Laplace transform of input by
assuming all the initial conditions are zero.
• If x(t) and y(t) are the input and output of an LTI system, then
the corresponding Laplace transforms are X(s) and Y(s).
• i.e., Transfer Function =
 Modeling of Mechanical Systems

• The differential equation modeling of

mechanical systems. There are two types of
mechanical systems based on the type of
motion.
• Translational mechanical systems
• Rotational mechanical systems α ⇒=
Where,
 Cont.…
• Spring: - Spring is an element, which stores potential
energy. If a force is applied on spring K, then it is
opposed by an opposing force due to elasticity of
spring. This opposing force is proportional to the
displacement of the spring. Assume mass and frictions
are negligible.
• x ⇒x ⇒x
 Cont.…
• Modeling of Rotational Mechanical Systems
• Rotational mechanical systems move about a
fixed axis. These systems mainly consist of
three basic elements. Those are moment of
inertia, tensional and spring
 Block Diagram Manipulation (Reduction)

• Block Diagram Reduction Rules

• Follow these rules for simplifying (reducing) the block
diagram, which is having many blocks, summing points and
take-off points.
• Rule 1 − Check for the blocks connected in series and
simplify.
• Rule 2 − Check for the blocks connected in parallel and
simplify.
 Cont.…
• Rule 3 − Check for the blocks connected in
feedback loop and simplify.
• Rule 4 − If there is difficulty with take-off
point while simplifying, shift it towards right.
• Rule 5 − If there is difficulty with summing
point while simplifying, shift it towards left.
• Rule 6 − Repeat the above steps till you get
the simplified form, i.e., single block.
 Classical Control Systems

• Classical control theory is a branch of control theory

that deals with the behavior of dynamic systems with
inputs, and how their behavior is modified
by feedback, using the Laplace transform as a basic
tool to model such systems.
• Classical control theory deals with linear time
invariant (LTI) single-input single-output (SISO)
systems.
• The usual objective of control theory is to control a
system, often called the plant, so its output follows a
desired control signal, called the reference, which
may be a fixed or changing value.
 Time Response of Classical Control Systems

• If the output of control system for an input

varies with respect to time, then it is called
the time response of the control system.
• Time domain space representation – In this
type the values of the state variables are
represented as functions of time. With this
model, the system being analyzed is
represented by one or more differential
equations.
 Cont.…
• Since frequency domain techniques are limited to linear
systems, time domain is widely used to analyze real-world
nonlinear systems. Although these are more difficult to solve,
modern computer simulation techniques such as simulation
language have made their analysis routine.
• The time response consists of two parts.
– Transient response:- Transient response means that which
goes from the initial state to the final state.(free or natural
response)
– Steady state response:- Steady-state response, we mean
the manner in which the system output behaves as t
approaches infinity.(forced response)
 Cont.…

• Here, both the transient and the steady states are indicated in the
figure. The responses corresponding to these states are known as
transient and steady state responses.
• Mathematically, we can write the time response c (t) as
• c (t) =
• Where, ctr(t) is the transient response, c ss(t) is the
steady state response
 Cont.…
• Unit step signal

• Unit ramp signal

• Unit parabolic signal

 Frequency Response of Classical Control Systems

• The frequency response of a system is a frequency dependent

function which expresses how a sinusoidal signal of a given
frequency on the system input is transferred through the
system.
• Each frequency component is a sinusoidal signal having
certain amplitude and a certain frequency. (The Fourier series
expansion or the Fourier transform can be used to express
these frequency components quantitatively.)
• The frequency response expresses how each of these
frequency components is transferred through the system.
Some components may be amplified, others may be
attenuated, and there will be some phase lag through the
system.
 Cont.…
• The frequency response is an important tool for analysis
and design of signal filters (as low pass filters and high
pass filters), and for analysis, and to some extent, design,
of control systems.
• The response of a system can be partitioned into both the
transient response and the steady state response. We can
find the transient response by using Fourier integrals. The
steady state response of a system for an input sinusoidal
signal is known as the frequency response. In this
chapter, we will focus only on the steady state response.
 Design of Classical Control

• A PID (Proportional – Integral – Derivative) controller

is an instrument used by control engineers to regulate
temperature, flow, pressure, speed, and other process
variables in industrial control systems.
• The simplest way of implementing a controller is by
hand tuning a PID controller. It requires no knowledge of
the system and it can stabilize most any system that is
controllable. There are three principal ways of looking at
PID controller. The first way is the classical control
methodology.
 Cont.…
• Classical PID controllers are the most popular controllers due to
the simplicity of operation and low cost.
• Fuzzy logic is used to enhance them due to its ability to translate
the operator’s control action into a rule base. This paper presents
an affirmative analysis of Fuzzy PID controllers. Here, an
attempt is made to explain the working of classical PID
controllers, Fuzzy logic, Fuzzy logic controllers, advancement
of classical PID controllers using fuzzy logic and the
mathematical working of fuzzy PID controllers.
• A PID controller is an instrument used in industrial control
applications to regulate temperature, flow, pressure, speed and
other process variables. PID (proportional integral derivative)
controllers use a control loop feedback mechanism to control
process variables and are the most accurate and stable controller.
 Cont.…
Fuzzy PID Control
• Proportional integral derivative (PID) control is a
well-established way of driving a system towards a
target position or level.
• Fuzzy logic is developed to handle the fuzziness
found in human concepts such as those embedded in
the knowledge base of an expert system.
• The difference between PID and fuzzy PID, in
conventional PID Controller there is a difficulty to
control the value of the parameters and get good
suitable characteristic.
 Cont.…
• In the Fuzzy-Controller to satisfy the control
characteristics of the parameters there is special ability and
that is to provide an easy computing, to control for motor.
• Fuzzy Logic: - The term fuzzy refers to things that are not
clear or are vague. In the real world many times we
encounter a situation when we can’t determine whether the
state is true or false, their fuzzy logic provides valuable
flexibility for reasoning. It is a form of many-valued logic.
In this way, we can consider the inaccuracies and
uncertainties of any situation
• In the Boolean system truth value, 1.0 represents absolute
truth value and 0.
 Cont.…
• 0 represents absolute false value. But in the fuzzy
system, the truth values of variables may be any real
number between 0 and 1 both inclusive. It is employed
to handle the concept of partial truth, where the truth
value may range between completely true and
completely false.
• Fuzzy models or sets are mathematical means of
representing vagueness and imprecise information.
These models have the capability of recognizing,
representing, manipulating, interpreting, and utilizing
data and information that are vague and lack certainty.
 Cont.…
Sliding Mode Control
• Sliding mode control (SMC) is one of the popular strategies
to deal with uncertain control systems. The main feature of
SMC is the robustness against parameter variations and
external disturbances A Fuzzy logic controller using simple
approach & smaller rule set is proposed, and the adaptive PID
with sliding mode controller is proposed for second order
uncertain systems.
• The sliding mode control (SMC) is strongly requested due to
its robustness against the disturbances.
• The principle of the sliding mode control is to force the
system to converge toward a selected surface and then to
evolve there in spite of the uncertainties and the disturbances.
 Cont.…
• The sliding mode approach is classified in the
monitoring with Variable System Structure (VSS).
• The sliding mode is strongly requested seen its
facility of establishment, its robustness against the
disturbances and models uncertainties.
• The principle of the sliding mode control is to force
the system to converge towards a selected surface
and then to evolve there in spite of uncertainties and
the disturbances.
 Cont.…
• The surface is defined by a set of relations between
the state variables of the system.
• The sliding surface is defined according to the
control objectives and to the wished performances
in closed loop, the synthesis of the discontinuous
control is carried out in order to force the
trajectories of the system state to reach the sliding
surface, and then, to evolve in spite of uncertainties,
of parametric variations.
 Modern Control System

• Modern MIMO System Design

• Modern control theory is carried out in the state space, and
can deal with multiple-input and multiple-output (MIMO)
systems.
• Modern Controls Methods where high-order differential
equations are broken into a system of first-order equations.
The input, output, and internal states of the system are
described by vectors called "state variables".
• This overcomes the limitations of classical control theory
in more sophisticated design problems, such as fighter
aircraft control, with the limitation that no frequency
domain analysis is possible.
 Cont.…
• In modern design, a system is represented to the greatest
advantage as a set of decoupled first order deferential
equations defined using state variables.
• Nonlinear, multivariable, adaptive and robust
control theories come under this division.
• Matrix methods are significantly limited for MIMO
systems where linear independence cannot be assured in
the relationship between inputs and outputs. Being fairly
new, modern control theory has many areas yet to be
explored.
 Cont.…
• Robust Control
• In the classical control design problem, the main objective is
to stabilize the system while attenuating disturbances and
noise, under the assumption that the plant and disturbance
models are known .
• In practice, there are always discrepancies between the models
and the actual system. For this reason, the design of control
systems able to handle model uncertainty and unmodeled
disturbances has long been a concern. It has been formulated
as the robust control design problem. By modeling faults as
unmolded disturbances or model uncertainty, the design of
robust controllers to mitigate faults is part of the passive fault-
tolerant control approaches.
 Cont.…
• Advantages
– It is possible to analyze time-varying or time-invariant,
linear or non-linear, single or multiple input-output systems.
– It is possible to confirm the state of the system parameters
also and not merely input-output relations.
– It is possible to optimize the systems and useful for optimal
design.
– It is possible to include initial conditions.
• Disadvantages
– Complex techniques
– Many computations are required.
 Conclusion

• Basic elements of control system In recent years,

control systems have gained an increasingly importance
in the development and advancement of the modern
civilization and technology.
• Control System is a conceptual framework for
designing systems with capabilities of regulation and/or
tracking to give a desired performance.
• Classification control systems based on some
parameters; they are Continuous time and Discrete-time
Control Systems, SISO and MIMO Control Systems
and Open Loop and Closed Loop Control Systems.
• The control systems can be represented with a set of
mathematical equations known as mathematical model.
 Cont.…
• The control systems can be represented with a set of
mathematical equations known as mathematical model.
• Mathematical model of a system such as Laplace
transform, transfer function and block diagram
manipulations are revised on this seminar. Focus the
necessary steps in the designing Control. Block diagram
and basic elements of block diagram. The basic
elements of a block diagram are a block, the summing
point and the take-off point. Design of classical control
systems with the aspects of time response and frequency
response of classical control systems. Widely used
classical controls are PID, Fuzzy PID and Sliding Mode
PID.
 This Is
THE-END!
&
Thank you!