CHAPTER 1

INTRODUCTION TO CONTROL SYSTEM

DFE 3223
FEEDBACK CONTROL SYSTEM
LEARNING OBJECTIVES

The objectives of this unit are to:

explain how the control systems are
classified.
describe the advantages offered by control
systems.
describe the steps involved in the design of
control system.
impart to student the concept of transfer
function in control system.
LEARNING OUTCOMES
After completing the unit, students should be
able to:
interpret the classifications of control
systems based on three different
characteristics.
identify the advantages of control systems.
describe six steps involved in the design of
control system.
interpret components and sub-components
in control systems using transfer function.
 1.1 INTRODUCTION
A control system is a system which
provides an output or response for a given
input or stimulus. It consists of a controlled
variable normally determines the input and
output of a control system.

LIST OUT EXAMPLE

OF CONTROL SYSTEM
1.1 INTRODUCTION

MAN MADE CONTROL SYSTEM

CD player, radio antenna, rockets/missiles,

robots, oven, and room air conditioner
1.1 INTRODUCTION
NATURAL WITHIN HUMAN BODY

pancreas, which regulate our blood sugar. In time of

fight or flight, our adrenalin increases along with
our heart rate, causing more oxygen to be delivered
to our cell. Our eyes follow the moving object to
keep it in view. Our hand grasp an object and place it
precisely at predetermine location.

Malfunction of control systems can lead to accidents

(e.g.: alcohol), difficulties (e.g.: water toilet pumps).
1.1 INTORODUCTION
NON PHYSICAL WORLD

automatic control of a student

performance

The input to the model is the student available

study time
output is the grade
A model can be developed to predict the time
required for the grade to rise if the sudden
increase in study time available.
1.2CLASSIFICATION OF CONTROL
SYSTEMS

1. Classification based on type of

signals used

2. Classification based on the

mathematical model of the
system

3. Classification based on groups

Classification based on type of
signals used

1. Continuous control systems:

signals that are used in
subsystems and components in
the control system is in time
domain, t.

2. Discrete type control systems:

signals that are used in
subsystems and components in
Classification based on the
mathematical model of the system
1. Linear control systems
i. An ideal system
ii. Is always used during the analysis and design phase
iii. Several tool/techniques can be used to solve the control
problems
iv. Example: DC motor

2. Non-linear control systems

i. Systems that normally exist in the real world and difficult
to analyze
ii. No general method to find the control solution
iii. Approximations are normally made so that the system
behaves like a linear system to allow analysis and design
iv. Example: AC motor, inverted pendulum
Classification based on groups
1. Kinetic (tracking) control systems
i. Control variables: displacement/position, speed,
acceleration
ii. Fast system response with small delay time
iii. Input may be fixed or changing
iv. Normally involves electrical or hydraulic manipulators

2. Process (regulating) control systems

i. Control variables: temperature, flow, level, pressure
ii. Slow system response with large delay time
iii. System responds to a fixed set point
iv. Examples of manipulators include pneumatic
manipulators and heating elements
1.3ADVANTAGES OF CONTROL
SYSTEMS

PARALYZED WOMEN MOVES ROBOT WITH H

ER MIND
1.3ADVANTAGES OF CONTROL
SYSTEMS

1. Power amplification

2. Remote control

3. Convenience of input form

4. Compensation for disturbances

1.3ADVANTAGES OF CONTROL
SYSTEMS
1. Power amplification
Input :rotation of a knob
-Required large power for
rotation
 1.3ADVANTAGES OF CONTROL
SYSTEMS
2. Remote control
compensate for human disabilities.
useful in remote or dangerous
locations- remote control robot arm
for use in radioactive environment

Convenience of input form

Exoskeleton
Prototype 3 (EXO-
UL3)
1.3ADVANTAGES OF CONTROL SYSTEMS

3. Convenience of input form

Ex: Thermostat
1.3ADVANTAGES OF CONTROL
SYSTEMS

4. Compensation for disturbances

Temperature - thermal system
Position and velocity
mechanical system: wind forces
antenna to reposition
Voltage / current / frequency
electrical system
 1.4CONTROL SYSTEMS: ANALYSIS
AND DESIGN OBJECTIVES

BASIC CONTROL SYSTEM

Control System: Subsystem + Process

1.4CONTROL SYSTEMS: ANALYSIS
AND DESIGN OBJECTIVES

Furnace
oInput: Desired heat
oControl System: Fuel valves
and actuator
oOutput: Actual heat

Automative engine (plant)

o Input: fuel rate & pump rate
o Output: shaft speed
1.4CONTROL SYSTEMS: ANALYSIS
AND DESIGN OBJECTIVES
ELEVATOR
Input : Elevator Button & desired
level
Output: Actual
1 level
4

3 follow natural
response of
the elevator
1.4CONTROL SYSTEMS: ANALYSIS
AND DESIGN OBJECTIVES
3 main objective in designing control
system
Transient response within specification.
Too long: boring
Very fast : uncomfortable
Stability consistent output : may cause
injury
Steady State Response
steady state error has to be small
Only exist in stable system
What happen if elevator doesnt stop at the
same level at the floor?
1.4CONTROL SYSTEMS: ANALYSIS
AND DESIGN OBJECTIVES

Step 7: The development of systems

prototyped.
1.4CONTROL SYSTEMS: ANALYSIS
AND DESIGN OBJECTIVES
Step 1: Transforming the requirements into
physical system and design specifications
desire to position the antenna from a remote
location
features as weight and physical dimensions.
design specification such as the desired
transient response and steady-state accuracy
1.4CONTROL SYSTEMS: ANALYSIS
AND DESIGN OBJECTIVES
1.4CONTROL SYSTEMS: ANALYSIS
AND DESIGN OBJECTIVES
Step 2: Draw functional block diagram
Interconnect interconnect the relation
between system components, such as
electrical components and mechanical
components
1.4CONTROL SYSTEMS: ANALYSIS
AND DESIGN OBJECTIVES
Step 3: transform the physical system into
schematic diagram
1.4CONTROL SYSTEMS: ANALYSIS
AND DESIGN OBJECTIVES

Step 4: development of a mathematical

modelling.

Physical laws such as Kirchhoffs laws for

electrical networks, Newtons laws for
mechanical systems, along with simplifying
assumptions, are used to model
Modelling the system
of electrical system
Modelling of Translational
mathematically. System
Modelling of rotational system
Modelling of Electromechanical
System
Modelling of liquid level
Modelling of thermal system
1.4CONTROL SYSTEMS: ANALYSIS
AND DESIGN OBJECTIVES
Step 5: Block diagram reduction

Normally, a practical system has complex

structure. Hence, the block diagram algebra
is used to simplify the block diagram
structure of the system.

Input Outpu
Components /
t
Subsystems
Desire Actual
d respon
respon se
1.4CONTROL SYSTEMS: ANALYSIS
AND DESIGN OBJECTIVES

Step 6: Analysis and design.

At this stage, the designer has to analyze

and evaluate the system specification. In
some cases, a simple gain adjustment would
solve the problem of getting the required
performance. On the other hand, in most
cases, controllers and compensator in many
forms need to be designed.
1.4CONTROL SYSTEMS: ANALYSIS
AND DESIGN OBJECTIVES

Step 7: The development of systems

prototyped.

For a real system, which might be expensive

to build, a small systems prototyped could
be built to analyze on its practical aspects.
The real system can be build once any
problems encountered are solved.
1.5OPEN-LOOP AND CLOSED-
LOOP CONTROL SYSTEMS
Open Loop

OPEN LOOP CONTROL SYSTEM

P.A System
Transducer: convert a signal in one form
energy to another form of energy
Controller: Electronic amplifier
1.5OPEN-LOOP AND CLOSED-
LOOP CONTROL SYSTEMS
Open Loop

Toaster

Controlled variable: colour of the toast

Disturbance : rye, white, sourdough, thickness
VIDEO
OPEN LOOP VS CLOSED LOOP
SHOW STEP 1, 2, 3 and 5
1.5OPEN-LOOP AND CLOSED-
LOOP CONTROL SYSTEMS
Open Loop

Mechanical system (mass, spring & damper with constant force positioning the
mass).
The greater the force, the greater the
displacement
Disturbance: additional force
1.5OPEN-LOOP AND CLOSED-
LOOP CONTROL SYSTEMS

Open Loop

Amount of time need to study for

examination
Input: three chapters
Output: Result
Disturbance : fourth chapter
Controller: Study time
1.5OPEN-LOOP AND CLOSED-
LOOP CONTROL SYSTEMS

Open Loop

Other examples:
Light switch - light
Water faucet water flow amount
Temperature setting for the stovetop --> heat
to cook food
TV remote control
1.5OPEN-LOOP AND CLOSED-
LOOP CONTROL SYSTEMS

Closed Loop

Furnace
Input Transducer: potentiometer
Sensor: Thermistor
Controller: fuel valves actuator
1.5OPEN-LOOP AND CLOSED-
LOOP CONTROL SYSTEMS
Thermostat --> furnace (constant
temperature)
Toaster setting (light/dark) --> toast (IF the
toaster has heat sensors)
Refrigerator cold/hot setting --> refrigerator
inside temperature (constant)
Temperatue setting for oven (not stovetop)
--> oven temperature constant
Clothes dryer with moisture sensor
Washing machine water level
1.5OPEN-LOOP AND CLOSED-
LOOP CONTROL SYSTEMS
Open Loop

Closed Loop
1.5OPEN-LOOP AND CLOSED-
LOOP CONTROL SYSTEMS
OPEN LOOP
sensitivity to disturbances
inability to correct for these
disturbances
Simply commanded by the input
CLOSED LOOP
compensates for disturbances by
measuring the output response,
feeding that measurement back
through a feedback path, and
comparing that response to the input
at the summing junction.
less sensitive to noise, disturbances,
and changes in the environment.
Transient response and steady-state
error can be controlled more
conveniently and with greater
flexibility
complex and expensive
TRANSFER DESIGN TO BLOCK
DIAGRAM
Air conditioning system in an
automobile
Laser system
Motorcycles radio volume
Rate of student admission
Economic Activity
 EXAMPLE 1

Many luxury automobiles have

thermostatically controlled air-conditioning
systems for the comfort of the passengers.
Sketch a block diagram of an air-
conditioning system where the driver sets
the desired interior temperature on a
dashboard panel.
 EXAMPLE 2
A precise optical signal source can control
the output power level to within 1%. A
laser is controlled by an input current to
yield the output power. A microprocessor
controls the input current to the laser. The
microprocessor compares the desired
power level with a measured signal
proportional to the laser power output
obtained from a sensor. Draw the block
diagram representing the closed-loop
control system.
SUMMARY
Definition of control system
Examples of man made, natural and non-
physical control system
Classification of control system based on
signal, mathematical model and groups.
Four main advantages of control system:
amplification, convenience of input form,
remote control and compensation for
disturbance
SUMMARY
Three main objectives of designing control
system: Transient response, stability and
steady state response.
7 design step for a control system
Open loop Vs Closed Loop
Transfer design to block diagram