1

Liu, Quan
Division of Bioengineering, SCBE
6316-8748
N1.3-B2-10
quanliu@ntu.edu.sg
www.ntu.edu.sg/home/quanliu/

BG 3102
Control in BioSystems

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Textbook:
Modern Control Engineering
Katsuhiko Ogata
Prentice Hall

References:
Physiological Control Systems
Michael C.K. Khoo
IEEE Press Series in Biomedical Engineering
Control systems engineering
Norman S. Nise
Wiley, 6
th
edition, 2011
Books
3
1. Introduction to control systems and Laplace transform
2. Mathematical modeling
3. Time-domain analysis of control systems
4. State-space analysis of control systems
5. PID controller design and applications
6. Design of control systems in state space
7. Identification of physiological systems
8. Frequency analysis and steady-state responses to
sinusoidal inputs
9. Bode and Nyquist plots
10. Stability Analysis
11. System design in frequency domain
Topics covered in the Course
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Course information
My lectures: 12:30-2:30pm in Week 1 through Week 7 on
Thursdays
Quiz: 12:30-1:00 pm on Sep. 11 (Thursday).

My tutorials: once a week in Weeks 2 thru 8. I will be also
available by personal appointments for long questions or walk-in
visits for short questions.
Continuous assessment: 30% (one quiz for my chapters)
Final Exam: 70%

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CA Policy
Only 3 types of acceptable leaves for CA waiver
without penalty:

1. Sick Leave (MC)
2. Compassionate Leave
3. Representing NTU in sports etc.
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CA policy sick leave (MC)
1. Need MC from a registered medical
practitioner

2. MC must cover the quiz date

3. Valid MC


7
CA policy compassionate leave
1. Can be granted only for the passing away of
immediate members of the family
Parents
Siblings
Grandparents

2. Need to submit death certificate

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Study tips
How to get most out of your learning experience?

Make sure you understand concepts
Dont just blindly memorize answers
Practice
Be consistent
Students who cram are less likely to do well
When in doubt, ASK
Dont save all your questions for the day before
the exam
Form study groups

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What is a control system?

A collection of interconnected components that is
made to achieve a desired response in the presence
of external disturbances.


Introduction to control systems
Reading materials:
Chapter 1 in Ogatas book
Chapter 1 in Khoos book

10
Temperature control system

The temperature in the electric furnace is measured by a thermometer
The analog temperature is converted to a digital temperature by an A/D
converter.
Example of an Engineering control system
11
Temperature control system

The digital temperature is fed to a controller through an interface.
This digital temperature is compared with the programmed input
temperature, and if there is any discrepancy (error), the controller sends
out a signal to the heater, through an interface, amplifier, and relay, to
bring the furnace temperature to a desired value.
Example of a Engineering control system
12
Knee Jerk
A sharp tap to the patellar tendon in the knee leads to an abrupt
stretching of the extensor muscle in the thigh.
This activates the muscle spindle.
Neural impulses are sent along afferent nerve fibers to the spinal
cord.

Example of a Physiological Control System
13
Knee Jerk
The motorneurons then get activated which in turn send efferent
neural impulses back to the same thigh muscle.
These produce a contraction of the muscle, which acts to
straighten the lower leg.
Example of a Physiological Control System
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Why is the study of control systems important?

Physiological
To provide a rigorous and quantitative framework in the study of
control mechanisms in living systems.
To attain understanding of regulatory processes that contribute to
its natural operating characteristics in living systems, and create
control systems to improve medical diagnostics and treatment.
Engineering
To design a control system to relieve the monotony of routine and
repetitive operations
To overcome limitations of manual operation because of
hazardous conditions, power and/or speed limitations.
Introduction
15
A control system can operate in two fundamental
ways

Open-loop control System
Output has no effect on the control action (i.e. the output is
not measured/sensed and fed back for comparison with
input)
Closed-loop control System
Make use of output information for feedback

Modes of Control Systems
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What is Open loop Control?

In an open loop system, the response of the
system is determined ONLY by the controlling
input(s).
Open Loop Control
17
Overflow level
Lets consider filling up a tank with
water.

1. We wish to fill the tank till it reach the
overflow mark.
2. We turn on the tap and water flows at
a constant speed.
3. Unless the tap is turned off, the water
will continue to fill the tank until it
overflows.
Open Loop Control System
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Overflow level
Open Loop Control System
Lets consider filling up a tank with
water.

1. We wish to fill the tank till it reach the
overflow mark.
2. We turn on the tap and water flows at
a constant speed.
3. Unless the tap is turned off, the water
will continue to fill the tank until it
overflows.
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Over flow level
In our example of the water control,
makes the tap aware of changes in the
tank thereby allowing it to respond
accordingly.

One possible method is to measure the
water level, compare the measured
water level with the desired water level,
and turn off the tap when the desired
water level is reached.

This would be a closed loop system

Closed-loop systems use output
information for feedback
Closed Loop Control System
20
Controller Controlled system
Output
y
Disturbance
x
Controller
Action
u
Input
r
Block diagram that represents an open-loop system
Block Diagrams capture in a schematic form the
relationships among the variables and processes that
comprise the control system of interest.
Systems Analysis Fundamental Concepts
21
Controller
Plant
(Controlled system)
Output
y
Disturbance
x
Controller
Action
u
Input
r
Controller translates the input (r) into a controller action (u)
Controlled system is the process or plant that need to be controlled
and produces output (y)
Disturbance (x) would also affect the controlled system behaviour.
Block diagram that represents an open-loop system
Block Diagram - Explanation
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Controller
Plant
(Controlled system)
Output
y
Disturbance
x
Controller
Action
u Input
r
Feedback
Sensor
Feedback
Signal
z
Error
e
The change in water level Output (y) is now measured and
transduced into the feedback signal (z) by means of a feedback
sensor.
The feedback signal (z) is then subtracted from the reference
input (r) and the error signal (e) is used by the controller to change
the controller output.
Systems Analysis Fundamental Concepts
Block diagram that represents Closed-loop system
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Definition: Variables in the systems

Input (r):
r is the input to the system

Controller Action (u):
u is the output of the controller

Output (y):
y is the output of the Plant (Controlled System).

Feedback Signal:
z is the signal produced by the feedback sensor

Error:
e is equal to input (r) feedback Signal (z)

Disturbance:
x is the external disturbance that could affect the plant behavior.
Definition Summary
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Definition: Components in the system

Controller:
produces u from r

Plant (Controlled System):
u is the output of the controller

Feedback sensor:
produce feedback signal (z) from output (y)

Definition Summary
25
Negative feedbacks
changes in system output are compensated for by
changes in controller action in the opposite direction.
allows closed-loop control systems to act as
regulators.


Controller
Plant
(Controlled system)
Output
y
Disturbance
x
Controller
Action
u
Feedback
Sensor
Feedback
Signal
z
Error
e
Systems Analysis Fundamental Concepts
26
Positive feedbacks
changes in system output are amplified by changes in
controller action in the same direction.
runaway effect that can result from positive feedback.

Controller
Plant
(Controlled system)
Output
y
Disturbance
x
Controller
Action
u
Feedback
Sensor
Feedback
Signal
z
Error
e
Systems Analysis Fundamental Concepts
27
Negative/positive feedback?
28
Negative/positive feedback?
29

Laplace Transform

30
The Laplace transform of f(t) is given by
dt e t f t f dt e s F t f L
st st !
" "
!
# #
= = =
0 0
) ( )] ( [ ) ( )] ( [
where f(t) = a function of time t such that f(t) = 0 for t < 0
s = a complex variable
L = an operational symbol indicating that the quantity that it prefixes
is to be transformed by the Laplace integral
F(s) = Laplace transform of f(t)
The Laplace Transform
dt e t f s F
st !
"
#
=
0
) ( ) (
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Typical methods require
calculus operation, which
is complex.
1. Solve for general
solution
2. Solve for particular
solution for the input
function r(t)
3. Plug in initial values to
find constants
Laplace transform
converts an initial value
problem to an algebraic
problem, which is much
simpler.
Convenient for input
functions with
discontinuities or short
impulses,
Why is Laplace transform useful?
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How to solve ODE with Laplace transforms?
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Analogy -- Logarithm
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Who is Laplace?
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Advantages of Using Laplace Transform

Laplace Transform is used for solving linear differential equations

Operations such as differentiation and integration can be replaced by
algebraic operations in the complex plane.
A linear differential equation with a variable t can be transformed into an
algebraic equation with a complex variable s.
Allows the use of graphical techniques for predicting the system
performance without actually solving the system of differential equations
When solving the differential equation, both the transient component
and steady-state component of the solution can be obtained
simultaneously.

The Laplace Transform
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Complex variable

A complex number has a real part and an imaginary part, both of which
are constant real numbers.
A complex variable is a complex number in which the real part and/or
imaginary part are variables.
In Laplace transformation we use the notation s as a complex variable
where ! is the real part, " is the imaginary part and j is the imaginary unit.
s =! + j"
The Laplace Transform
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Complex function

A complex function F(s), a function of s, has a real part and an imaginary
part or
y x
jF F s F + = ) (
quantities real are F and F where
y x
2 2
) (
y x
F F s F + =
Magnitude of F(s)
!
!
"
#
$
$
%
&
=
'
x
y
F
F
1
tan (
Angle of F(s)
Complex conjugate of F(s)
y x
jF F s F ! = ) (
The Laplace Transform
38
Eulers theorem
!
! !
j
e j = + sin cos
By using Euler theorem, we can express sine and cosine in terms of
exponential function.
! !
!
sin cos j e
j
+ =
! !
!
sin cos j e
j
" =
"
By adding and subtracting these two equations,
( )
! !
!
j j
e e
"
+ =
2
1
cos
( )
! !
!
j j
e e
j
"
" =
2
1
sin
The Laplace Transform
39
(1) Exponential function

Consider the exponential function
f (t) = 0, for t < 0
= Ae
!t
, for t ! 0
where A and ! are constants.

The Laplace transform of this exponential function can be
obtained as follows:
! !
"
+ #
"
# # #
+
= = =
0
) (
0
] [
$
$ $
s
A
dt e A dt e Ae Ae L
t s st t at
Laplace Transform of a few commonly encountered
functions
! +
=
"
s
A
Ae L
at
] [
40
(2) Step function

Consider the step function
0 for t , A
0 for , 0 ) (
> =
< = t t f
where A is constant. The step function is undefined at t = 0.

The Laplace transform of this exponential function can be obtained as
follows:
s
A
dt Ae A L
st
= =
!
"
#
0
] [
Laplace Transform of a few commonly encountered
functions
The step function whose height is unity is called unit-step function.
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(2) Step function (Cont)
The step function whose height is unity is called unit-step function.

The Laplace transform of the unit-step function, which is defined by
s
t u L
1
)] ( [ =
Laplace Transform of a few commonly encountered
functions
is
0 for t , 1
0 for , 0 ) (
> =
< = t t u
The unit-step function in which the step occurs at t = t
0
can be written as
u(t t
0
).
1
u(t)
t
0
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(3) Ramp function
Consider
Laplace Transform of a few commonly encountered
functions
0 for t ,
0 for , 0 ) (
> =
< =
At
t t f
Where A is a constant.

The Laplace Transform is
t
f(t)
t
0
At
0
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Preview of the next week
Laplace transform
Impulse function
Properties of Laplace transform
Mathematical modeling
Transfer functions
Block diagram