Control Systems

Engineering

Lecture 1
1

Kristina Badec ECE Dept, CEA

2 Introduction to
Control Systems
 Course Outline
 Textbooks
 Prerequisites of the subject
 Basic Definitions
 Types of Control Systems
 Examples
Modern Control
3 State Space Modelling
Eigenvalue Analysis
Observability and Controllability
Solution of State Equations (state
Transition Matrix)
State Space to Transfer Function
Classical Control Transfer Function to State Space
System Modelling Direct Decomposition of Transfer Function
Transfer Function, LTI Systems Cascade Decomposition of Transfer
FunctionParallel Decomposition of
Poles and zeros
Transfer Function
Block Diagrams State Space Design Techniques
Signal Flow Graphs
System Analysis
Time Domain Analysis –steady
state errors, sensitivity, root locus
Frequency Response Analysis
Bode Plots, Nyquist Plots,
Nichol’s Chart
System Design
Compensation Techniques
PID Control
Digital Control –z transform
Textbooks
4

1. Control Systems Engineering, (6th Edition)

By: Norman S. Nise. (Professor Emeritus)
Electrical and Computer Engineering Department

California State Polytechnic University

2. Modern Control Systems, (12th Edition)

By: Richard C. Dorf and Robert H. Bishop.
Reference Books
5

1. Modern Control Systems, (5th Edition)

By: Katsuhiko Ogata (Prof Emeritus)
Mechanical Engineering
University of Minnesota, USA

2. Automatic Control Systems, (9th Edition)

By: Golnaraghi and B. C. Kuo.
6

CONTROL ?
FEEDBACK?
7

CONTROL
The process of causing a system variable to
conform to some desired value, called reference
value.

FEEDBACK
The process of measuring the controlled variable and
using that information to influence the value of the
controlled variable. It takes care of uncertainties.
8 Prerequisites
 For Classical Control Theory
 Differential Equations
 Laplace Transform
 Basic Physics
 Ordinary and Semi-logarithmic graph papers

 For Modern Control theory

 above &
 Linear Algebra
 Matrices
9 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

10 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.
11 Definitions
Manipulated Variable

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

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.
12 Types of Control System

 Natural Control System

 Universe
 Human Body
13 Types of Control System
 Man-made Control System
 Aeroplanes
 Chemical Process
14 Types of Control System
 Manual Control Systems
 Room Temperature regulation
Via Electric Fan
 Water Level Control

 Automatic Control System

 Home Water Heating Systems (Geysers)
 Room Temperature regulation Via A.C
 Human Body Temperature Control
15 Types of Control System
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

Input Output
Controller Process

Examples: Washing Machine, Toaster, Electric Fan,

microwave oven, e.t.c
16 Types of Control System
Open-Loop Control Systems

• Since in open loop control systems reference input is not

compared with measured output, for each reference input
there is fixed operating condition. Therefore, the accuracy of
the system depends on calibration.

• The performance of open loop system is severely affected by

the presence of disturbances, or variation in operating/
environmental conditions.
17 Types of Control System
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

18 Types of Control System
Multivariable Control System
Outputs
Temp
Humidity Comparator Controller Process
Pressure

Measurements
19 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.

20 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)

21 Types of Control System
Linear Vs Non-Linear 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 ) = 3u(t ) + 5
y(t ) = −2u(t ) + 1
y=3*u(t)+5
y=-2*u(t)+1 35
5
30
0
25
-5
y(t)
20
y(t)

-10
15

-15 10

-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t) u(t)
22 Types of Control System
Linear Vs Non-Linear 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
23 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
24 Types of Control System
Continuous Data Vs Discrete Data System
• In continuous data control system all system variables are functio
of a continuous time t.

x(t)

• A discrete time control system involves one or more variables th

are known only at discrete time intervals.
X[n]

n
25 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
Classification of
26 Control Systems

Control Systems

Natural Man-made

Manual Automatic

Open-loop Closed-loop

Non-linear linear
Non-linear linear

Time variantTime invariant

Time variant Time invariant
27 Examples of Control Systems
Water-level float regulator
28 Examples of Control Systems
29 Examples of Modern Control Systems
30 Examples of Control Systems

The block diagram identifies the major components of the

system, and omits unnecessary details. It also highlights the
information/energy flows

Plett & Trimboli, 2013

31 A more abstract block diagram

■ The detail in the prior block diagram is helpful to identify

the physical components of the particular system of
interest.
■ However, we can abstract the ideas from the prior
diagram to arrive at a more general block diagram that is
applicable to most scenarios of interest:

Plett & Trimboli, 2013

32
An even more abstract block diagram

■ Finally, by assuming the presence of (perfect) sensors and

actuators (absorbed into the plant), we can make an even
more abstract block diagram.

▪ This is the picture of a feedback control system that you

should have in mind for the remainder of this course.

Plett & Trimboli, 2013

33
End of Lecture-1