Mekelle University

Ethiopian Institute of Technology-Mekelle

School of Mechanical and Industrial Engineering

Regulations and Control Engineering

(MEng 4162)

Chapter -1
Introduction to Control Systems

Prepared by : Zina G.
(M.Sc. in Mechanical System Design)

1
Course Objective
• Introduce students the fundamental theories
of control engineering, which have a wide
application in industries.
• The course mainly covers the classical control
theories that are still the foundation in control
systems of electrical and mechanical systems.

2
Classical Control Modern Control
• System Modelling • State Space Modelling
• Transfer Function • Eigenvalue Analysis
• Block Diagrams • Observability and Controllability
• Signal Flow Graphs • Solution of State Equations (state Transition Matrix)
• System Analysis • State Space to Transfer Function
• Time Domain Analysis • Transfer Function to State Space
• Frequency Domain Analysis • Direct Decomposition of Transfer Function
• Bode Plots, Nyquist Plots, Nichol’s Chart • Cascade Decomposition of Transfer Function
• Root Locus • Parallel Decomposition of Transfer Function
• System Design • State Space Design Techniques
• Compensation Techniques
• PID Control

3
What is Control System?
• A system Controlling the operation of another
system.
• A system that can regulate itself and another
system.
• A control System is a device, or set of devices to
manage, command, direct or regulate the
behaviour of other device(s) or system(s).

4
Definitions

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-and-effect relationship of the
process.

Input Process Output

5
Definitions

Controlled Variable– It is the quantity or condition that is measured

and Controlled. Normally controlled variable is the output of the control
system.

Manipulated Variable– It is the quantity of the condition that is varied

by the controller so as to affect the value of controlled variable.

Control – Control means measuring the value of controlled variable of

the system and applying the manipulated variable to the system to
correct or limit the deviation of the measured value from a desired
value.

6
Definitions
Manipulated Variable

Input
or Output
Set point Controller Process Or
or Controlled Variable
reference

Disturbances– A disturbance is a signal that tends to adversely affect

the value of the system. It is an unwanted input of the system.
• If a disturbance is generated within the system, it is called
internal disturbance. While an external disturbance is generated
outside the system.

7
Types of Control System
• Natural Control System
– Universe
– Human Body

8
Types of Control System
• Manmade Control System
– Aeroplanes
– Chemical Process

9
Types of Control System
• Manual Control Systems
– Room Temperature regulation Via Electric Fan
– Water Level Control

• Automatic Control System

– Home Water Heating Systems
– Room Temperature regulation Via A.C
– Human Body Temperature Control

10
Types of Control System
Open-Loop Control Systems
Open-Loop Control Systems utilize a controller or control actuator to
obtain the desired response.
• Output has no effect on the control action.
• In other words output is neither measured nor fed back.
• An input is chosen on the basis of experience of such a system
to give the value of the required output.

Input Output
Controller Process

Examples:- Washing Machine, Electric Fan, microwave oven

11
Features of an open loop Control System
 +ve feature
 Relatively simple hence low cost with
generally good reliability
 Inherently Stable

 -ve feature
 Often inaccurate since there is no error
correction
 More sensitive to changes in component
characteristics
 More sensitive to disturbances

12
Types of Control System
Closed-Loop Control Systems

Closed-Loop Control Systems utilizes feedback to compare the actual

output to the desired output response.

Input Output
Comparator Controller Process

Measurement

Examples:- Refrigerator, Electric Iron, Air conditioner

13
Types of Control System
Feedback Control System

• A system that maintains a prescribed relationship between the output

and some reference input by comparing them and using the difference
(i.e. error) as a means of control is called a feedback control system.

Input + error Output

Controller Process
-

Feedback

• Feedback can be positive or negative.

14
Features of Closed-loop Control Systems
 +ve features
 Ability to match the actual to the required value since there is
continuous error correction
 Less sensitivity to disturbances
 Less sensitivity to changes in component characteristics
 Increased speed of response and hence increased band
width
 -ve features
 Instability because of time delays when transferring
corrective action
 More complex than open-loop and so more costly with a
greater chance of break down as a result of greater number of
components
 Loss in Gain due to reduced transfer function G  G
1  GH
15
Components
• Any Control System consists of a number of basic sub-systems or
elements. The basic elements are:
1. Comparison Element:
Compares the reference value of the variable being controlled with
the measured value of the actual output and produces an error
signal.
2. Control Element:
Decides what action to be taken after it gets an error signal.
3. Correction Element (actuator):
Used to produce a change in the process in order to avoid the error.
4. Process Element (Plant):
The system of which a variable is being controlled
5. Measurement Element:
Produces a Signal related to the actual output and provides a
feedback signal to the comparison element.
• Those elements could appear separate or integrated as a single entity.
16
Open-Loop

Input Output
Control Correction Process
Signal Element Element Controlled
Variable

Controller

Closed-Loop
Controller

Input + e Control Correction Output

Process
Reference - Element Element Controlled
Value Variable

Comparison Measurement
element feedback Element

17
Design Example

This system uses a battery source to provide a voltage that is

proportional to the desired speed.
This voltage is amplified and applied to the motor.
Design Example

To obtain a feedback system we need to select a sensor.

One useful sensor is a tachometer that provides an output voltage
proportional to the speed of its shaft.
The error voltage is generated by the difference between the input
voltage and the tachometer voltage.
Types of Control System
Servo System

• A Servo System (or servomechanism) is a feedback control system in

which the output is some mechanical position, velocity or acceleration.

Antenna Positioning System Modular Servo System (MS150)

20
Types of Control System
Linear Vs Nonlinear Control System

• A Control System in which output varies linearly with the input is called a
linear control system.

u(t) Process y(t)

y(t )  2u(t )  1 y(t )  3u(t )  5

y=3*u(t)+5
y=-2*u(t)+1
35
5

30
0
25
-5

y(t)
y(t)

20
-10
15

-15
10

-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t)
u(t)
21
Types of Control System
Linear Vs Nonlinear Control System

• When the input and output has nonlinear relationship the system is said
to be nonlinear.

Adhesion Characteristics of Road

0.4
Adhesion Coefficient

0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08
Creep

22
Types of Control System
Time invariant vs Time variant

• When the characteristics of the system do not depend upon time

itself then the system is said to time invariant control system.

y(t )  2u(t )  1

• Time varying control system is a system in which one or more

parameters vary with time.

y(t )  2u(t )  3t

23
Types of Control System
Continuous Data Vs Discrete Data System

• In continuous data control system all system variables are function of a

continuous time t.
x(t)

• A discrete time control system involves one or more variables that are
known only at discrete time intervals.
X[n]

n
24
Types of Control System
Deterministic vs Stochastic Control System

• A control System is deterministic if the response to input is predictable

and repeatable.
x(t) y(t)

t t

• If not, the control system is a stochastic control system

z(t)

t
25
Classification of Control Systems
Control Systems

Natural Man-made

Manual Automatic

Open-loop Closed-loop

Non-linear linear
Non-linear linear

Time variant Time invariant

Time variant Time invariant
26
Examples of Control Systems

Manual Fluid-level regulator

27
Examples of Control Systems
Water-level float regulator

28
Examples of Control Systems
Missile Launching & Guidance

29
Examples of Control Systems
Paper Reeling

30