B.

Advantages of Control System

1. Power Amplifications
Huge antennas pick up faint radio signals from far-far away
Use control system to control these antennas
2. Remote Control
Elevators http://www.youtube.com/watch?v=aD3uYNMB8Yc
Power for the load and speed
Control system regulate the position and speed Introduction to Control System
Cool example http://www.youtube.com/watch?v=rwL0w5ZgBjo&feature=related
3. Compensation for Disturbances
Robots go to dangerous/unknown places
Difusing bombs in unknown lands/planet
4. Convenience of input form
Air conditioning
Input adjusting temperature
Output cool air from it

A. Introduction to Control System

C. History Input Output
Process

300 B.C Liquid Level Control by Greeks to tell time click here CS in Nature Our body
1681 Steam Pressure and temperature Control Input Seeing Beautiful models passes by
Regulation of steam pressure Denis Papin click here Process Oxygen delivered to our cells
17th Century Using mechanical temperature control system for hatching Output Heart Beat Increases
eggs CS Driving a car
http://homepage.mac.com/sami_ashhab/courses/control/lectures/lecture_1/cruise_control.html
1745 speed control of windmills
Input Action of turning you wheel (to the left)
Pitching blades further back so less area available
Process Process occuring in the car itself
As wind decreases, more blade area available
Output The car turning left
1868 James Maxwell published the stability criterion for a 3rd order CS in Non Physical World Students’ Performance
system based on the coefficients of differential equations Input Students’ available study time
1877 Routh Hurwitz criterion to determine the stability of a system is Process Study time (if manipulate, improve output?)
proposed Output Grade

4 2
 C. History (continued)
1800 control system of steering and stabilizing ships
1900 Automatic steering of ships achieved
Late 1920’s and early 1930’s
Analysis of feedback amplifiers by H.W. Bode and H. Nyquist
Elevator Sinuisoidal Frequency analysis and design technique in control system
(more from Dorf)

Operation of an Elevator
1. Input push button to desired floor
2. Control system Elevator go to that floor
• Considering passengers’ comfort and
• Speed of elevator
3. From above graph rise of elevator is dependant on the transient response
i.e. the measure of the performance of the elevator

7 5

D. Control System Definition (continued) D. Control System Definitions

Input Output
A pictorial presentation of the functions performed by each component Control System
and of the flow of signals

Depicts the interrelationships that exists among the various components
Advantages Realistically indicates the signal transfer function flows of
the actual system
A system that consists of subsystems and processes (or plants) that are
interconnected with each other to control the system output when given a desired
input.
A simple control system consists of input (Desired Response), and its output (actual
Response)
Example Elevator OR figuratively

Push elevator’s Elevator goes to

button that floor
Elevator

8 6
1) Fundamental Block E. Block Diagram
Represent components/subsystems controller, amplifier, etc In a block diagram, signal transfer function can be visualized clearly
Each block may have one or more input Arrows
Input and output signal may have the same form depending on the indicates direction of the flow of signal
function Signal can only pass in the arrows’ directions
Example Functional operation of a system can be visualized more readily by
Displacement examining the block diagram than the physical system itself
Voltage
Component (Valve) Example click here
Three main characteristics
1. Fundamental Blocks
2. Component/Subsystems
3. Signals
Voltage Speed
Component (Motor)

return
11 9

2) Component/ subsystem Example of block diagram

1. Summing Junction 2. Take-off point

Input Output
Component/Subsystems

Allows 2 or more signals to be A point where a signal from a

Input
added/subtracted block goes to other blocks or Output
summing junction G1 G2 G3
Allows signal to be taken from any
components’ output
Assuming constant signal
return

12 10
H. Transfer Function (continued)
Example of Open-Loop System 3) Signals in Control System
D(s) Example
+ C(s)
R(s)
K G(s)
+

Finding the output of the system, C(s) yields

! = " ! # + $ %(!)

Input/reference [r(t), R(s)]

Output [c(t), C(s)]
Error [e(t) = r(t) – c(t)]
Feedback/Disturbance/Noise return

15 13

F. Open Loop Control System (OLCS)

G. Closed-Loop Control System (CLCS)
An Open-Loop control system utilizes an actuating device to control the
A Closed-loop control system uses a measurement of the output and process directly without feeding back the output
feedback of the signal to compare it with the desired output
reference/command Output signal of an OLCS is not fed back to influence the control action
The control action depends on the input signal only
Rectifies Open Loop Control System It cannot compensate for any disturbance
The output signal is fed back Example
influence the control action
Toaster what you set is what you get
Improve the overall system performance
Microwave set the exact time you want
Advantages Washing machine, electric fan, etc
Able to compensate for filter disturbances & noise measuring the output
Advantage simple, cheap to build
response
Disadvantage
Insensitive to noise & changes to the system parameters/environment
Sensitive to disturbances
Can be used repeatedly
Unable to correct the disturbance
Transient response and steady-state error can be controlled more conveniently
More accurate than OLCS click here
16 14
 G. Closed-Loop Control System (CLCS)
Another Example of Closed-Loop System

TRANSFER FUNCTION D(s)

E(s) + C(s)
R(s) C(s) R(s)
G(s) K G(s)
+
-

Transfer function G(s) is the relation between the output H(s)

variable and the input variable:

C (s)
C ( s) G ( s) R( s) G (s)
R( s)
*Open loop TF
17

H. Transfer Function (continued) & ! =" ! ' ! ( ! (1)

! = & ! #+$ ! % ! 2
Important Terms/Definitions
Substituting equation (1) into equation (2) yields
order
G(s) = s2 + 4s + 3 ! = " ! ' ! ( ! #% ! + $ ! % !
------------------------ = #" ! % ! ' # ! ( ! % ! + $ ! % !
s5 + 8s4 + 20s3 +16s2
Zeros (-1, -3)
Bringing the C(s) terms to the LHS yield
= (s+1)(s+3)
+1)(
+1 )(s+3)
3) 1 + #% ! ( ! ! = #" ! % ! + $ ! %(!)
------------------------ )* + ,(+) 0 + *(+) * + ) * + 0(+)
! = + = R(s)+
-.)* + /(+) -.)* + /(+) -.* + / + ) -.* + / + )
+4))
+4
( s2)(s + 2)2(s+4)

Poles (0, 0, -2, -2, -4)

20 18
H. Transfer Function (continued) H. Transfer Function (continued)
For a second order system Damping
Ratio Stability of a system depends on the pole location of a system
2
# n Natural All the poles on the left hand side of an s-plane of a bode
G (s) 2 Frequency plot, yields a stable system
s ! 2"#
"# n s ! #n2 Imaginary
Axis
#n natural frequency
" damping ratio
Example of Closed Loop Control System real-axis
E(s) = R(s) ± H(s) C(s)
C(s) = G(s) E(s)
= G(s) [R(s) – H(s) C(s)]
Hence giving the closed-loop transfer function

C (s) G ( s)
R( s) 1 $ G ( s) H ( s)
23
S-plane 21

H. Transfer Function (continued)

Example of Closed Loop Control System Example

= (s+1)(s+3)
------------------------ Poles = 0,0,-2,-2,-4,-4
( s2)(s + 2)2(s+4)
Hence, STABLE
Show calculations
on board

= (s+1)(s+3)
------------------------ Poles =0,0,2,2,-4,-4
( s2)(s - 2)2(s+4)
Hence, UNSTABLE

24 22
H. Transfer Function (continued) H. Transfer Function
Note : Time domain equation can be transformed into a Laplace domain A control system with input r(t) and output c(t) can
using Laplace Transform
be also represented using a differential equation:
'
% st
L[ f (t )] &e f (t )dt F (s)
0
d n c(t ) d n%1c(t ) d m r (t ) d m%1r (t )
F(s) is a function in the Laplace domain where s is a complex number an ! an%1 ! ... ! a0 c(t ) bm ! bm%1 ! ... ! b0 r (t )
The output C(s) and input R(s) have been separated but are still related in
dt n dt n%1 dt m dt m%1
one equation
s ( ! j#
G(s) is called a Transfer Function Laplace Domain ' % st
L[ f (t )] &0 e f (t ) dt F (s)
Representing G(s) into a block diagram click here
Example Find its transfer function
an s n C ( s ) ! an%1s n%1C ( s ) ! ... ! a0C ( s ) bm s m R( s ) ! bm%1s m%1 R( s ) ! ... ! b0 R( s )

27

Represent G(s) block diagram

R(s) C(s) C (s) bm s m ! bm%1s m%1 ! ... ! b0
G(s)
G (s)
R( s) an s n ! an%1s n%1 ! ... ! a0

The input and the output has been separated

although still related using an equation

R(s) C(s)
bm s m ! bm %1s m %1 ! .. ! b0
a0 s n ! an %1s n %1 ! .. ! a0

G(s) is also the open loop transfer function in this case

28
J. Analysis and Design Objectives of Control System I. (a) Effect of Feedback on Open Loop Control System
Control system are dynamic respond to input by going through a 1. Error between input and output of a system is reduced
transient phase before settling to the steady-state phase 2. System performance characteristic effected
Ideally steady-state output signal = input signal 1. Stability
2. Overall system gain
Initial Transient Steady-state 3. Sensitivity and bandwidth
Value Response Value 3. Sensitivity to external disturbance, parameter changes and noise
reduction
1. Stable system ability of a system to follow its input signal
Three objectives in designing a control system
2. Unstable system a system that cannot control its output/ the output
1. Transient Response
increases infinitely
2. Stability
4. With feedback, an unstable system can be stabilize
3. Steady-State Response
5. However, feedback can also cause instability to an initially stable system

31 29

Three objectives of designing a control system I. (b) Effect of feedback on system gain
1. Transient Response In Laplace, ‘s’ represents a complex number.
Transient response of a control system must be within the specification System’s gain can be obtained by finding the magnitude of the system’s
required
transfer function i.e.
Example : Elevator slow movement makes passenger impatient BUT fast C (s)
movement makes passenger uncomfortable (dangerous).
R( s)
2. Stability
System should produce consistent/steady output where C (s)
OLCS ) GOL ( s )
Unstable system is harmful to the plant/process R( s)
Example : Unstable elevator harmful to passengers
G (s)
3. Steady-State Response CLCS ) GCL ( S )
1 $ G (s) H (s)
Only for stable system
Steady-state error should be as small as possible Feedback influences system’s transfer function overall system gain
Example : elevator if does not stop at designated floor may cause serious
The system gain can be increased/decreased depending on +/- feedback
accidents

32 30
K. Example of Control System (2)
Control of nuclear reactor
In a nuclear power generating plant, heat from a reactor is used to generate steam for turbines.
The rate of fission reaction determines the amount of heat generated, and this rate is J Design Process
controlled by rods inserted into the reactive core. The rods regulate the flow of neutrons. If
the rods are lowered into the core, the rate of fission diminish; if the rods are raised, the
fission rate will increase. By automatically controlling the position of the rods, the amount of
heat generated by the reactor can be regulated. Draw a functional block diagram for the
nuclear reactor control system shown below.

Set
Amplifier,
desired
motor and drive
power
system
level

Rod

Step 1 Step 2 Step 3 Step 4,5,6,7

Solve it
Radioactive core
Neutron detector (Design Process of Azimuth)
35 33

K. Example of Control System

L. Classification of Control System Problem Question 5, Nise
Signal Type Mathematical Model A university wants to establish a control system model that represents the student population
as an output, with the desired student population as an input. The administration determines
Continuous Discrete Linear Non-linear the rate of admissions by comparing the current and desired student populations. The
•Signals used in •Signals used in admissions office then uses this rate to admit students. Draw a functional block diagram
•Ideal system •General system showing the administration and the admissions office as blocks of the system. Also show the
subsystem in discrete/ digital •Use Analysis exists in the world signals :
time domain form and design phase •Difficult to analyze 1. Desired student population
•Several tools can •No general 2. Actual student population
be used to solve the method to find 3. Desired student rate determined by administration
control problem control solution 4. Actual student rate determined by admission office
d.c. motor •Approximation 5. Drop out rate
made 6. Net rate of influx
•Example Solve it
a.c. motor, inverted
pendulum

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In an Open Loop Control System the plant output has no effect on the control
L. (Another) Classification of Control System
action e.g. washing machine
A Closed Loop Control System compares the output with the reference input and
uses the differences as a means of control. It is a feedback system.
Kinetic (tracking) control Regulating Process control
Negative feedback Output signals which are fed back so it can be compared with the input
system system
Positive Feedback Output signals which are fed back to be added with the input Control variables Control variables
Servomechanism a feedback control system where the outputs are in mechanical form
displacement/position, temperature, flow, level,
e.g. position, speed, acceleration speed, acceleration pressure
Regulating Control System Feedback control system with constant input signal Fast system response with Slow system response with
and slow transient response small delay time large delay time
Tracking Control System Feedback control system with fast transient response Fixed or varied input System responds to a fixed
Involve electrical/ hydraulic setpoint
manipulators Manipulate pneumatic/
heating

39 37

M. Common Terminology
Water Clock by Ktesibios
Model An expression or a mechanism which describes dynamic characteristics of a system
•Constant water trickle Modeling to establish a system model by using mathematical or experimental methods
into a measuring Automatic A control system which uses equipments that operates based on certain techniques
container to obtain the desired output.
•Float valve was used so Disturbance Unwanted signals that originates from inside or outside of the system. It disturbs the
the water level kept at system and yields bad influence towards the signal of the output system
constant level Plant A piece of equipment or a process to be controlled
•return Controller a piece of equipment or an instrument used to produce a desired performance of the
plant
Process A consecutive and constant operations that produce differences between one operation to the
next.
Design steps to design systems’ components. Each component has a designated function in the
overall system
Synthesis the steps in combining system components to build an integrated system
System A combination of components which is performed to obtain a desired purposes. It consists of
physical (motor, microwave, etc) as well as non-physical systems (economy, students’ intake,
etc)
Control system A combination of components to build a system that produce a desired output

40 38
Example of closed loop system

Steam Pressure by
Denis Papin ,1681
•Invested the safety valve
•Very similar to present
pressure cooker return

Example
position control system (robot arms),
velocity control system (vehicle cruise control)
& temperature control (air-conditioner)
Combination of OLCS & CLCS washing machine
OLCS fills up with water
CLCS washing/rinsing of machine (return)
43 41

Azimuth Example
Example of Open Loop Control System

return
44 42
Step 3: Schematic diagram displays further information on the components
Azimuth Example
used.
Step 1: Transforming the requirements into physical system and design

3. Transform specifications. For example, in the antenna azimuth position control

physical
system into a
system, the requirement would state the desire to position the antenna
schematic
from a remote location and describe such features as weight and physical
dimensions. Using the requirements, the design specification such as the
desired transient response and steady-state accuracy are determined.

1 . Determine
design
specification

47 45

Step 4: The development of a mathematical modeling. The schematic Step 2: At this step, the designer will interconnect the relation between
diagram helps the development of mathematical model for the system. system components, such as electrical components and mechanical
Physical laws such as Kirchhoff’s laws for electrical networks, Newton’s component

laws for mechanical systems, along with simplifying assumptions, are used

to model the system mathematically. The mathematical model can be of

several forms such as differential equations, transfer functions and state-

space equations.

- Step 5: Block diagram reduction. Normally, a practical system has complex 2. Draw a
functional
structure. Hence, the block diagram algebra and the signal flow graph block

methods (among others) are used to simplify the block diagram structure

of the system.
48 46
- Step 6: Analysis and design. At this stage, the designer has to analyze and evaluate

the system specification. In some cases, a simple gain adjustment would solve the

problem of getting the required performance. On the other hand, in most cases,

controllers and compensator in many forms need to be designed.

- Step 7: The development of system’s prototyped. For a real system, which needs

might be expensive to build, a small system’s prototyped could be build to analyze

on its practical aspects. The real system can be build once any problems

encountered are satisfactorily solved. (return)

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Useful Website
http://homepage.mac.com/sami_ashhab/courses/control/lectures/lecture_notes.htm

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