EEE 326 Control Systems I

INTRODUCTION

Lecture Notes 1
 Feedback Control Systems

Textbook and Syllabus

Textbook:
Gene F. Franklin, J. David Powell, Abbas
Emami-Naeini, “Feedback Control of Dynamic
Systems”, 6th Edition, Pearson International
Edition.

Other Important Reference Books

• Katsuhiko Ogata, Modern Control Engineering,
5th Edition, Prentice Hall
• Norman S. Nise, Control System Engineering,
6th Edition, John Wiley & Sons, Inc.
 Feedback Control Systems

Weekly Plan
 Week 1: Introduction
 Week 2: Review of Laplace Transform
 Week 3: System Modelling
 Week 4: Block Diagrams
 Week 5: Dynamic Response of Systems
 Week 6: Stability
 Week 7: Steady-State Errors and PID Controller
 Week 8: Midterm Exam
 Week 9: Root-Locus Analysis
 Week 10: Design by using Root-Locus method
 Week 11: Phase Lead/Lag Controller Design
 Week 12: Bode Plots and Design by Bode Plots
 Week 13: Nyquist Plot and Design by Nyquist plot
 Week 14: Overview
 Grading Policy

Total
Numbers Week # Weighting
(%)
Midterm
2 8, 12 2x40 = 80
Exams
Design
1 11 20
Project
Percent of
In-term 60
Studies (%)
Percentage
of Final
Exam to 40
Total Score
(%)
 What you should know going in

 Linear ordinary differential equations

 Basics of Laplace transform
 How to model simple mechanical and electrical,
systems
 What you should know going out
 Concepts of state space and transfer function models of a linear
system.
 How linear systems behave: input-output dynamics
 The meaning of poles & zeros
 The frequency transfer function and Bode Plots
 Block diagram manipulation
 How linear systems behave: state dynamics
 Eigenvalues & eigenvectors,
 Modal analysis and similarity transformations.
 Root Locus design
 Stability and Routh table
 PID controller design
 The use of Bode and Nyquist diagrams in control Systems
analysis and design
 Basic ability to use MATLAB and Simulink
 What you should know going out
 Understand why automatic control is useful for an
electrical engineer
 Recognize the value of integrated control and
process design
 Understand the key concepts of control system
design
 Be able to solve simple control problems
 Recognize difficult control problems
 Know relevant mathematical theory
 Have competence in using computational tools
 Specific Goals
 Introduce time domain (state space) and transform domain
(transfer function) models of linear dynamical systems.
 Develop the general process of deriving state pace models from
physical principles.
 Introduce the methods of deriving transfer functions from state
space models and vice versa.
 Introduce the basics of transform domain analysis: poles &
zeros, the frequency transfer function, Bode Plots and working
with block diagrams.
 Introduce the basics of time domain analysis: eigenvalues &
eigenvectors, state transition matrix and the “variation of
parameters formula, modal analysis and similarity
transformations.
 Develop concept of stability and tools for parametric stability
analysis.
 Provide a comprehensive introduction to the control system
computations using MATLAB.
 Specific Goals
 Define the control system design problem and develop a
preliminary appreciation of the tradeoffs involved and
requirements for robust stability and performance.
 Develop concepts and tools for ultimate state error analysis.
 Develop the relationship between time domain and frequency
domain performance specifications, e.g, rise time, overshoot,
settling time, sensitivity function and bandwidth.
 Develop frequency domain design methods, including: the root
locus method, Nyquist& Bode methods, and stability margins.
 Provide an introduction to state space design: controllability and
observability, pole placement, design via the separation
principle (time permitting).
 Emphasize computational methods using MATLAB.
 Chapter 1 Introduction

Introduction to Control Systems

 Control is a series of actions directed for making a system
variable adheres to a reference value (can be either constant
or variable).
 A control system is basically an interconnection of
components that provide a desired system response

 The reference value when performing control is the desired

output variable.

 Process, as it is used and understood by control engineers,

means the component to be controlled.
 Fundamental structures of control are classified based on the
information used along the control process:
1. Open-loop control / Feedforward control
2. Closed-loop control / Feedback control
 Chapter 1 Introduction

Some Terminology
 The plant/process is the system being controlled.
 The sensors measure the quantity that is subject to control.
 The actuators act on the plant.
 The controller processes the sensor signals and drives the
actuators.
 The control law is the rule for mapping sensor signals to
actuator signals.

Centrifugal governor, invented

by James Watt, to control the
speed of steam engine
 Chapter 1 Introduction

Process or System
Reference
Disturbance Measurement
noise

Performance

Input
Measurement
 Chapter 1 Introduction

Open-loop vs. Feedback Control

The difference:
 In open-loop control, the system does not measure the
actual output and there is no correction to make the actual
output to be conformed with the reference value.

 In feedback control, the system includes a sensor to

measure the actual output and uses its feedback to
influence the control process.
 Chapter 1 Introduction

Examples
Open-loop control Feedback control
Example: an electric toaster, Example: Speed control of
a standard gas stove. induction motor or DC motor

 The controller is constructed  The output is fed back for

based on knowledge or control computation.
experience.
 The process output is not
used in control computation.
 Chapter 1 Introduction

Plus-Minus of Open-loop Control

+ Generally simpler than closed-loop control

+ Does not require sensor to measure the output
+ Does not, of itself, introduce stability problem
– Has lower performance to match the desired output
compared to closed-loop control
 Chapter 1 Introduction

The Magic of Feedback

 The adjustment of system inputs based on the observation

of its outputs
 Feedback is a universal strategy to cope with uncertainty
 In engineering we use feedback:
 To cause a system to behave as desired
 To keep some variables constant
 To stabilize an unstable system
 To reduce effects of disturbances
 To minimize the effect of component variations
 As another alternative for designers
 Chapter 1 Introduction

Plus-Minus of Feedback Control

– More complex than open-loop control
– May have steady-state error
– Depends on the accuracy of the sensor
– May have stability problem

+ Process controlled by well designed feedback control can

respond to unforeseen events, such as: disturbance, change
of process due to aging, wear, etc.
+ Eliminates the need of human to adjust the control variable
 reduce human workload
+ Gives much better performance than what is possibly given
by open loop control: ability to meet transient response
objectives and steady-state error objectives
 Chapter 1 Introduction

Classification of Control Systems

 Regulator Systems (Process Control):

 The controlled variable or output is required to be held as
close as possible to a usually constant desired value or
input despite any disturbaces
 Servomechanism (Tracking Control):
 The input varies amd the output is requierd to follow or
track it as closely as possible
 Chapter 1 Introduction

Analysis and Design (Synthesis)

 Analysis :
 What is the performance of a given system in Response
to the changes on the input or external disturbances

 Design :
 If the performance is unsatisfactory how can it be
improved ? (Best if it can be done without changing the
process, actuator and the power amplification blocks)
 Chapter 1 Introduction

Performance
 Improve transient response
 Reduce steady state errors
 Reduce the effects of external disturbance
 Chapter 1 Introduction

Control All Around Us: The Thermostat

 Chapter 1 Introduction

Control All Around Us: The Thermostat

 Chapter 1 Introduction

Feedback Control: Some History

 Chapter 1 Introduction

Feedback Control: Some History

 Chapter 1 Introduction

Feedback Control: Some History

 Chapter 1 Introduction

Industrial Process Control

 Chapter 1 Introduction

Insights from Flight Control

 Chapter 1 Introduction

The Benefits of Negative Feedback: The Op Amp

 Chapter 1 Introduction

Control at Bell Labs: Frequency-Domain Methods

 Chapter 1 Introduction

Feedback Control after 1940

 Chapter 1 Introduction

Evolution of the Control Discipline

 Chapter 1 Introduction

Contemporary Applications
 These days, control systems are everywhere:
 home comfort (Roomba, thermostats, smart homes, ...)
 communication networks (routing, congestion control, ...)
 automotive and aerospace industry (safety-critical systems,
 autopilots, cruise control, autonomous vehicles, ...)
 biology and medicine (cardiac assist devices, anesthesia
delivery, systems biology ...)
 ... but the basic analysis and design techniques are still
the same as in the early days:
 block diagrams (flow of information)
 Laplace transforms and transfer functions
 graphical techniques: root locus, Bode and Nyquist plots
 state-space methods (linear algebra)
Examples
Active Control in Automobiles
Key Technology Trends
Feedback Control in Five Minutes
Feedback Control in Five Minutes
Feedback Control in Five Minutes