ELL225: Control Engineering-I
Operate a fan, Illumination in a room
Manual control
Air-conditioning
•Set the temperature
•Variation in ambient temparature, occupancy of the
room
Bicycle
•Convenient, environmental
friendly, and efficient
transportation devices
• Difficult to explain how bicycles
work
•Good illustration of many issues in
control
•How to change speed, course,
avoids obstacle …
•What are the roles of our brain, eyes
..?
Amplifier
Telephone Calls Over Long Distances
The Problem: How to Increase Signal Strength?
The Solution: The Feedback Amplifier
Patented by H. S. Black
Strong Development of Theory and Design Methods
• Nyquist, Bode
Sensitivity of system to parameter variations
•System will have inevitable uncertainties such as
changing environment , aging , and other factors that
affect a control process.
•All these uncertainties in open-loop system will result in
inaccurate output or low performance.
• A closed-loop system can overcome this disadvantage.
Open loop system
Controller Actuator Process
(Motor) (Arm)
Electronic Motor
Control Unit
30o
Example of robot arm Arm 0o
Closed loop system
+
Set Point Controller Actuator
(Motor)
Process
(Arm) Position
-
Error
Sensor
(Potentiometer)
+ Error Motor
- 30o
Arm 0o
Example
Desired speed
+
CONTROLLER
Actual speed
SPEED
TRANSDUCER
Sensors+ Computation + Actuation = Control
Key concept: Feedback
1. Compare actual result with desired one
2. Take corrective action based on the difference between the
two
Feedback is the key concept in control
Feedback is the key ingredient in most
engineering systems
Feedback is ubiquitous in nature in the
biological world
Why feedback
Reduce the effects of disturbance and component
variations
Make sure that measurement noise (Sensor noise) has small
effects
Stabilize unstable system
Follow command signals: Make a system behave as desired
Ensure the performance in the presence of system uncertainty
The roles of feedback
Benefits:
Reduce error (eliminating the error)
Reduce sensitivity or Enhance robustness
Disturbance rejection or elimination
Improve dynamic performance or adjust the transient response
The cost of feedback :
Increase of complexity
Loss of gain
Instability
Application Areas
Robotics (High accuracy, Hazaradous ..)
Aerospace control and navigation systems ( Landing, UAV ..)
Power plant control
Chemical process control
Automotive control
Noise and vibration control
Intelligent vehicle highway systems
Network Control
Biomedical
Process Scheduling (in Computers)
Financial market !
Feedback Control System
Reference Value Disturbance
e(t ) r (t ) b(t ) n(t )
r (t )
+
e(t ) u(t ) y(t )
6 Controller Plant
–
b(t )
Transducer
Goals of the course
Develop fundamentals of control systems theory
Understand where control is useful and how?
Learn basics of analysis & synthesis of feedback controller
for dynamical systems
Continious linear time-invariant system
Single- input single-output system
how to guide feedback control design.
Mathematical language & techniques
System Models
Linear vs. non-linear (differential eqns)
eg, a1 y& a 0 y b2 &x& b0 x
Principle of superposition
Time-invariant vs. Time-varying
Are coefficients functions of time?
Continuous-time vs. Discrete-time
t R vs k Z
Energy efficient control for
AC system
Controlling an AC system in such a manner that its
energy consumption is minimum and desired level of
thermal comfort achieved simultaneously.
Schematic of AC system
Thermal comfort variables
• Temperature
• Relative humidity.
• Relative air velocity.
• Mean radiant temperature.
• Clothing insulation.
• Metabolic rate.
Existing control scheme of an AC system
Proposed control scheme of an AC system
