Chapter 1: Introduction

Spring, 2025

Ohmin Kwon
School of Electrical Engineering
Chungbuk National University
Republic of KOREA

Homepage: http://cel.cbnu.ac.kr
E-mail: [email protected]
©2025 All rights reserved.

0-1PREVIEW
0-1.1 Automatic control
 System: A combination of components acting together to perform a certain objective

 Control: Applying inputs to the system to correct or limit deviation of the output values from
desired values
 Automatic control is the application of control theory for regulation of processes without direct
human intervention. In the simplest type of an automatic control loop, a controller compares a
measured value of a process with a desired set value, and processes the resulting error signal to
change some input to the process, in such a way that the process stays at its set point despite
disturbances. This closed-loop control is an application of negative feedback to a system. The
mathematical basis of control theory was begun in the 18th century, and advanced rapidly in the
20th.

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0-1.2 Linear versus nonlinear control theory

What is linear system?

Without real implementation, we can predict the system output of desired value if we
know the exact mathematical model.

 Linear control theory

- This applies to systems made of devices which obey the superposition principle, which
means roughly that the output is proportional to the input. They are governed by linear
differential equations. A major subclass is systems which in addition have parameters which
do not change with time, called linear time invariant (LTI) systems. These systems are
amenable to powerful frequency domain mathematical techniques of great generality, such
as the Laplace transform, Fourier transform, Z transform, Bode plot, root locus, and Nyquist
stability criterion. These lead to a description of the system using terms like bandwidth,
frequency response, eigenvalues, gain, resonant frequencies, poles, and zeros, which give
solutions for system response and design techniques for most systems of interest
 Nonlinear control
- This covers a wider class of systems that do not obey the superposition principle, and applies
to more real-world systems, because all real control systems are nonlinear. These systems
are often governed by nonlinear differential equations. The few mathematical techniques
which have been developed to handle them are more difficult and much less general, often
applying only to narrow categories of systems. These include limit cycle theory, Lyapunov
stability theorem, and describing functions. Nonlinear systems are often analyzed using
numerical methods on computers, for example by simulating their operation using a
simulation language. If only solutions near a stable point are of interest, nonlinear systems
can often be linearized by approximating them by a linear system using perturbation theory,
and linear techniques can be used.

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0-1.3 Frequency domain versus time domain
 Frequency domain
- In this type the values of the state variables, the mathematical variables representing the
system's input, output and feedback are represented as functions of frequency. The input
signal and the system's transfer function are converted from time functions to functions of
frequency by a transform such as the Fourier transform, Laplace transform, or Z transform.
The advantage of this technique is that it results in a simplification of the mathematics; the
differential equations that represent the system are replaced by algebraic equations in the
frequency domain which are much simpler to solve. However, frequency domain techniques
can only be used with linear systems, as mentioned above.
 Time-domain state space representation
- In this type the values of the state variables are represented as functions of time. With this
model the system being analyzed is represented by one or more differential equations. Since
frequency domain techniques are limited to linear systems, time domain is widely used to
analyze real-world nonlinear systems. Although these are more difficult to solve, modern
computer simulation techniques such as simulation languages have made their analysis
routine.

1 INTRODUCTION
 Goal of this course: Analysis and design of closed-loop physical systems
- Closed-loop system: is one in which certain system forcing functions(input) are
determined by the response (output) of the system. That is, the input is a function of
the output.

 Some subjects:
- What a control system is
→(automatic assembly line, machine-tool control, weapon systems, computer
control, ship stabilization, transportation system)
- Why control systems are important
- What the basic components of a control system are
- Some examples of control system applications
→(Automatic vehicle, ship, robot, chemical process, roll milling, networked control
system, home appliance, ···)
- Why feedback is incorporated into most control systems
- Type of control systems

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1-1 BASIN COMPONENTS OF A CONTROL SYSTEM
- Objectives of control: stability, performance (transient response, steady-state error,
overshoot etc)
- Rise time / delay time / settling time / Maximum overshoot / steady-state error

-
- Control-system components
- Results or outputs

<Figure 1-1> Basic components of a control system

 The objective of the control system is to control the outputs in some prescribed manner
by the inputs through the elements of the control system.

1-2 EXAMPLES OF CONTROL-SYSTEM APPLICATIONS

- Smart transportation systems: maximum levels of comfort, safety, fuel efficiency,

intelligence (climate control(실내 온도 조절 장치), cruise control, antilock brake
systems, active suspension etc)
- Intelligent systems
- Control in virtual prototyping and hardware in the loop(H): using MATLAB,
SIMULINK
- Steering control of automobile: control variables/output: direction of the two front

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wheels, input: the direction of the steering wheel MIMO(multi-input multi-output)
system: inputs: steering, accelerator, outputs: heading, speed
- Idle-speed control of automobile: maintain the engine idle speed at a relatively low
value for fuel economy regardless of the applied engine loads (transmission, power
steering, air conditioning, power brake, etc)

<Figure 1-2> Idle-speed control system

- Sun-tracking control of solar collectors: the collector dish must track the sun
accurately

<Figure 1-3> Solar Collector Field

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<Figure 1-5> Important components of the sun-tracking control system
i) Original system : the Dish Collector(D.C.) with electric motor drive system
ii) Control objective : to adjust the position of D.C. in a desired reference position
iii) Control inputs : driving motor voltages
iv) Outputs : the elevation and azimuth of the D.C.
v) Disturbance : wind, rain, snow, cloud

1-3 OPEN-LOOP CONTROL SYSTEMS (NONLFEEDBACK

SYSTEMS)
Open-Loop systems are economical but usually inaccurate. (noncritical application)

Ex. Conventional electric washing machine,

<Figure 1-6> Elements of an open-loop control system

1-4 CLOSED-LOOP CONTROL SYSTEMS (FEEDBACK CONTROL

SYSTEMS)
To obtain more accurate control, the controlled signal y should be fed back and compared with

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the reference input, and an actuating signal proportional to the difference of the input and the
output must be sent through the system to correct the error.
Closed-loop systems have many advantages over open-loop systems.

<Figure 1-7> Block diagram of a closed-loop idle-speed control system

<Figure 1-8> (a) Typical response of the open-loop idle-speed control system. (b) Typical
response of the closed-loop idle-speed control system

<Ex1>

<Block diagram representation of a general control system>

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<Ex2>

<Component Block diagram of automobile cruise control>

<Ex3>

<Temperature Control System>

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<Procedure for designing a control system>

1-5 WHAT IS FEEDBACK, AND WHAT ARE ITS EFFECTS?

 Stability → said to be unstable if its outputs is out of control
 Bandwidth
 Overall gain
 Impedance
 Sensitivity

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<EX.3>

1-5-1 Effect of feedback on overall gain

<Figure 1-9> Feedback System

y G
♣ Input-output relation: M (1-1)
r 1  GH
 Nonfeedback Gain ( H  0 : G )
 Feedback Gain: Eq. (1)
Feedback could increase the gain of a system in one frequency range but decrease it in
another.

1-5-2 Effect of feedback on stability

♣ Stability: A system is said to be unstable if its output is out of control.
♣ Feedback can improve stability or be harmful to stability.
♣ A method for stabilization of unstable system:

<Figure 1-10> Feedback system with two feedback loops

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y G
 (1-2)
r 1  GH  GF

♣ Effect of feedback on sensitivity(F=0)

 Output:
Gr
y  Mr.
1  GH
 Sensitivity function: 시스템 파라미터 변동에 대한 시스템 전달함수 변동에 영향을 주는
정도.

M / M M G 1  GH  GH 1  GH 1
S    G   (1-4)
G / G G M (1  GH ) 2
G 1  GH
 Sensitivity of open-loop system:
M / M G / G
S0    1.
G / G G / G
♣ Feedback can increase or decrease the sensitivity of a system.
However, in general, since GH  1 , the sensitivity function has small value.

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1-5-3 Effect of feedback on external disturbance or noise

<Figure 1-11> Feedback system with a noise signal

 Output by noise signal:

Open-loop: y  G2 n (1-5)

G2
Closed-loop: y  n (1-6)
1  G1G2 H

♣ The noise component in the output of is reduced by the factor 1  G1G2 H if the latter is
greater than unity and the system is kept stable.

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1-6 TYPES OF FEEDBACK CONTROL SYSTEMS

Linear / nonlinear, time-varying / invariant, continuous / discrete, deterministic / stochastic

1-7 LINEAR VERSUS NONLINEAR CONTROL SYSTEMS

 Linear versus
- LS: superposition principle
- Most systems can mathematically model as nonlinear systems but the general
method for analyzing the dynamic behavior cannot be easily found.
- The analysis of linear system can be easily analyzed comparing with nonlinear
system.
- Since linear system satisfies superposition principle, one can predict many behaviors
without checking some specific inputs.
 Nonlinear System
- Nonlinearity: backlash, dead play, friction
- There are no general methods for solving a wide class of nonlinear system.

1-8 TIME-INVARIANT VERSUS TIME-VARYING SYSTEMS

 Time-invariant System: The parameters of the system do not be changed as time
increases
 Time-varying versus: The parameters of the system are changed as time increases
Ex. Missile system

1-9 CONTINUOUS DATA CONTROL SYSTEMS

 Continuous systems: The output y(t) can be determined in all time t.
 The mathematical model can be represented by differential equation
- Continuous: ac, dc control system

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<Figure 1-12> Schematic diagram of a typical dc closed-loop system

<Figure 1-13> Schematic diagram of a typical ac closed-loop system

1-10 DISCRETE-DATA CONTROL SYSEMS

 The output y(k) can be determined in some specific time k (sampling time)
 Note that all the practical systems are continuous system.
 Discrete system can be used when digital controller is applied
- Discrete: sampled-data(pulse-data), digital
Digital control systems are usually less susceptible to noise.

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<Figure 1-14> Block diagram of a sampled-data control system

<Figure 1-15> Digital autopilot system for a guided missile

<Classification of control system>

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