TM 141352 – Introduction to Auto Control

Introduction to System Dynamics and

Automatic Control

Several Questions?

 Why modeling ? Engineer to understand dynamic

systems
 Why do we need to learn automatic control ?
 What are the objectives of learning automatic control ?
 Give examples of the applications of automatic control
in real-life !

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TM 141352 – Introduction to Auto Control

Expectations
After you finish this course you should….

 Be able to model dynamic systems,

 Have a general understanding of the basic concepts

of control systems,

 Be able to apply mathematical tools as they relate to

the design of control systems,

 Be able to apply the control design techniques to real

world problems.

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Outline
 Automatic control in practice
 Definition of basic principles system, control,
signal, etc
 Classification of control
 Fundamental principle of control: feedback

Automatic control
 Makes ”impossible” problems solvable
 Often called the ”hidden technology”
 Central for modern technology companies
 Many interesting applications!
 A lot of interesting math

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TM 141352 – Introduction to Auto Control

Control examples

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TM 141352 – Introduction to Auto Control

Control examples

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TM 141352 – Introduction to Auto Control

Control examples

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 TM 141352 – Introduction to Auto Control

Control examples

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TM 141352 – Introduction to Auto Control

Terminology
 Control is a series of actions directed for making a
variable system adheres to a reference value (that
might be either constant or variable).

 The desired reference value when performing control

is the desired output variable (that might deviate
from actual output)

 Process, as it is used and understood by control

engineers, means the component to be controlled

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 Controlled variables - these are the variables

which quantify the performance or quality of the
final product, which are also called output variables.
 Manipulated variables - these input variables are
adjusted dynamically to keep the controlled
variables at their set-points.
 Disturbance variables - these are also called
"load" variables and represent input variables that
can cause the controlled variables to deviate from
their respective set points.

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TM 141352 – Introduction to Auto Control

System  is any collection of interaction elements for which

there are cause and effect relationships among the variables.

What is a dynamic system ?

What is a static system ?
 relation between outputs
and inputs

Control systems consists of subsystems and processes (plants)

assembled for the purposes of controlling the output of the
processes

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TM 141352 – Introduction to Auto Control

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 TM 141352 – Introduction to Auto Control

Control examples

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TM 141352 – Introduction to Auto Control

Types of Control Systems

 Position/Speed
 Pressure
 Flow
 Temperature
 Liquid-Level
 Moisture
 Strain
 Part Quality
 Surface Appearance
 and many others

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 TM 141352 – Introduction to Auto Control

Controls are classified with respect to:

 technique involved to perform control (i.e.

human/machines):
manual/automatic control

 time dependence of output variable (i.e.

constant/changing):
regulator/servo,
(also known as regulating/tracking control)

 fundamental structure of the control (i.e. the information

used for computing the control):
open-loop/feedback control,
(also known as open-loop/closed-loop control)
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TM 141352 – Introduction to Auto Control

Manual/Automatic Controls - Examples

A system that involves:
 a person controlling a
machine is called
manual control.

 machines only is called

a automatic control.

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 TM 141352 – Introduction to Auto Control

Servo/Regulator Controls - Examples

An automatic control system designed to:
 follow a changing reference is called
tracking control or a servo.
Ex: Remote control car
 to force some parameter to vary in a
specific manner

 maintain an output fixed (regardless of the disturbances

present) is called a regulating control or a regulator.
Ex: Cruise control
 regulate the value of some quantity

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TM 141352 – Introduction to Auto Control

Open-Loop Control /Feedback control

In an open-loop control, the system does NOT measure
the actual output and there is no correction to make that
output conform to the desired output.

In a closed loop control the system includes a sensor to

measure the output and uses feedback of the sensed
value to influence the control input variable.

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a. Open loop control of speed of turntable, b. block diagram model

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TM 141352 – Introduction to Auto Control

a. Closed-loop control of speed of turntable, b. block diagram model

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Closed loop (feedback) system

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Pros & Cons of Open-Loop Control

 Generally simpler than closed-loop control,

 Does not require a sensor to measure the output,
 Does not, of itself, introduce stability problems;

BUT

 Has lower performance than closed-loop to match

the desired output well.

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Problems with Feedback Control

 More complex than open-loop
control
 May have steady state error
 Depends on accuracy with which
you can measure the output
 May cause stability problems

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TM 141352 – Introduction to Auto Control

Advantages of Feedback Control

 System with well designed feedback control can
respond to unforeseen events.

 Eliminates need for human adjustment of control

variable

 Reduces human workload

 Gives much better performance than it is

possible with open-loop

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Basic element of a closed-loop system

• Comparison unit  computes the difference between the desired and

actual output variables  measure of the system error
• Control element  computes the desired control input variable
• Correction element device that can influence the control input
variable of the process (ak: actuator)
• Process element  component whose the output is to be controlled
• Measurement element  measures the actual output variable

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TM 141352 – Introduction to Auto Control

Example: Draw and describe the block diagram of the speed control
system of a motorcycle with human driver. Identify the output, input
and measured variables and the control devices.

Solution: Using the speedometer, the driver calculates the difference

between the measured speed and the desired speed. The driver
throttles knob or the brakes as necessary to adjust the speed. If the
current speed is not too much over the desired speed, the driver may
let friction and gravity slow the motorcycle down.
Process
Controller
Actual
Desired + Error Throttle or motorcycle
Motorcycle
speed Driver brakes speed
-

Visual indication Speedometer

of speed

Measurement

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SISO - DC Motor

MIMO – Temp control

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TM 141352 – Introduction to Auto Control

But what is a controller, really?

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Summary of this lecture:

 Automatic control is everywhere
 We use differential equation to create models of
systems
 Feedback system allow better performance than it is
possible with open-loop
 We still haven’t achieved perfect control, better
design is needed

Automatic control: “Making things behave as we want”.

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