Introduction to Control Systems

A control system consisting of interconnected

components is designed to achieve a desired purpose.
To understand the purpose of a control system, it is
useful to study examples of control systems through
the course of history. These early systems
incorporated many of the same ideas of feedback that
are in use today.
Modern control engineering practice includes the use
of control design strategies for improving
manufacturing processes, the efficiency of energy use,
advanced automobile control, including rapid transit,
among others.

Introduction

System An interconnection of elements and devices for a desired purpose.

Control System An interconnection of components forming a system configuration

that will provide a desired response.

Process The device, plant, or system

under control. The input and output
relationship represents the cause-andeffect relationship of the process.

Definition of System
System: An aggregation or assembly of things so combined by man or nature to
form an integral and complex whole.
From engineering point of view, a system is defined as an interconnection of
many components or functional units act together to perform a certain objective,
e.g., automobile, machine tool, robot, aircraft, etc.

System Variables
To every system there corresponds three sets of variables:
Input variables originate outside the system and are not affected by what happens in
the system
Output variables are the internal variables that are used to monitor or regulate the
system. They result from the interaction of the system with its environment and are
influenced by the input variables

u
System

Introduction
Open-Loop Control Systems
utilize a controller or control
actuator to obtain the desired
response.

Closed-Loop Control Systems

utilizes feedback to compare
the actual output to the
desired output response.

Multivariable Control System

Linear Systems

Linear system
A system is said to be linear in terms of the system input
x(t) and the system output y(t) if it satisfies the following
two properties of superposition and homogeneity.

Superposition
y1 (t )

x1 (t )
x1 (t ) x2 (t )

y2 (t )

x2 (t )
y1 (t ) y2 (t )

Homogeneity

x1 (t )

y1 (t )

ax1 (t )

ay1 (t )

Example

x(t )

let

y(t ) x(t ) x(t 1)

y (t )

x(t ) x1 (t )

y1 (t ) x1 (t ) x1 (t 1)
let

x(t ) ax1 (t )

y (t ) ax1 (t )ax1 (t 1) a 2 x1 (t ) x1 (t 1) a 2 y1 (t )

y(t ) ay1 (t )

Non linear system

example
The system is governed by a linear ordinary differential equation (ODE)

y(t ) 2 y(t ) y(t ) x(t ) 3x(t )

x(t )

Linear time
invariant system

y (t )

y1(t ) 2 y1 (t ) y1 (t ) x1 (t ) 3x1 (t )
y2(t ) 2 y2 (t ) y2 (t ) x2 (t ) 3x2 (t )
[ax1 (t ) bx2 (t )] 3[ax1 (t ) bx2 (t )] ax1 (t ) bx2 (t ) a3x1 (t ) b3x2 (t )
a[ x1 (t ) 3x1 (t )] b[ x2 (t ) 3x2 (t )]
a[ y1(t ) 2 y1 (t ) y1 (t )] b[ y2(t ) 2 y2 (t ) y2 (t )]
[ay1 (t ) by2 (t )] 2[ay1 (t ) by2 (t )] [ay1 (t ) by2 (t )]

linearity

History
Greece (BC) Float regulator mechanism
Holland (16th Century) Temperature regulator

Watts Flyball Governor

(18th century)

History

1868
1877
1892
1895
1932
1945
1947
1948
1949
1955
1956

First article of control on governors by Maxwell

Routh stability criterion
Liapunov stability condition
Hurwitz stability condition
Nyquist
Bode
Nichols
Root locus
Wiener optimal control research
Kalman filter and controlbility observability analysis
Artificial Intelligence

1957 Bellman optimal and adaptive control

1962 Pontryagin optimal control
1965 Fuzzy set
1972 Vidyasagar multi-variable optimal
control and Robust control
1981 Doyle Robust control theory
1990 Neuro-Fuzzy

Three eras of control

Classical control : 1950 before
Transfer function based methods
Time-domain design & analysis
Frequency-domain design & analysis

Modern control : 1950~1960

State-space-based methods
Optimal control
Adaptive control

Post modern control : 1980 after

H control
Robust control (uncertain system)

Control system analysis and design

Step1: Modeling
By physical laws
By identification methods

Step2: Analysis
Stability, controllability and observability

Step3: Control law design

Classical, modern and post-modern control

Step4: Analysis
Step5: Simulation
Matlab, Fortran, simulink etc.

Step6: Implement

Signal Classification
Continuous signal

Discrete signal

System classification
Finite-dimensional system (lumped-parameters
system described by differential equations)

Linear systems and nonlinear systems

Continuous time and discrete time systems
Time-invariant and time varying systems

Infinite-dimensional system (distributed parameters

system described by partial differential equations)

Power transmission line

Antennas
Heat conduction
Optical fiber etc.

Examples of Control Systems

(a) Automobile
steering control
system.
(b) The driver uses
the difference
between the actual
and the desired
direction of travel
to generate a
controlled adjustment
of the steering wheel.

(c) Typical directionof-travel response.

Examples of Control Systems

Examples of Control Systems

Examples of Control Systems

Examples of Control Systems

Examples of Control Systems

Some examples of linear system

Electrical circuits with constant values of circuit
passive elements
Linear OPA circuits
Mechanical system with constant values of k,m,b
etc
Heartbeat dynamic
Eye movement
Commercial aircraft

The Future of Control Systems

Control System Design