CHAPTER 1

INTRODUCTION TO CONTROL SYSTEM

Control System

• A system is a collection of components which are coordinated together to perform a

function.
• A system interact with their environment through a controlled boundary.
• A physical interconnection of components (parts) that gathers various amounts of
information together.
• Process that transforms one signal into another so as to give the desired system
response.
• Consists of an input, a process, and an output with the input variable to the system and
the output variable from the system both being signals.

Figure 1.1 : Control system

Different types of systems

All our tools and machines need appropriate control to work, otherwise it will be difficult to
finish their designated tasks accurately. Therefore, we need control systems to guide, instruct
and regulate our tools and machines. Common control systems include mechanical, electronic,
pneumatic and computer aided. A system usually contains three main parts: input, process and
output.

How to represent control system?

 schematically : a series of interconnected blocks and signals with each
block having its own set of inputs and outputs.
Example :

Process :
Conversion of sound
Input : wave to electrical Output :
microphone signal to amplify Loud speaker

Figure 1.2 : Interconnected block and signals

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(a) Mechanical system

A mechanical system is a device made up of various mechanical parts. The input is provided
by an effort. The process that going through the output can set off the motion to move a load.
The force applied to the load is the output of the process.

Examples :

Figure 1.3 : Can opener Figure 1.4 : Cockscrew

(b) Electronic system

An electronic system is a system that employs electronic signals to control devices. The input
of an electronic system is provided by electronic signals. After they are processed, they can
generate output signals, which control the operation of various devices, such as amplifiers and
LCD. Electronic systems can carry out many different tasks, such as generating sound,
transmitting information, displaying video, measuring, memorising, calculating, etc. Common
examples of electronic devices include semi-conducting diode, transistors, and capacitors that
they are usually welded onto electronic circuit boards.

Examples:

Figure 1.5 : Computer Figure 1.6 : Electronic circuit board

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(c) Computer control system

A computer control system uses a computer to control its output devices according to different
input signals. Its function is similar to that of an electronic system. Yet a computer control
system can use high speed calculation to process large volume of input signals within a very
short time, and then generates appropriate outputs with the help of preset programs.

Examples:

Figure 1.7 : Computer numerical control

Figure 1.8 : Computer controlled railway systems

(d) Pneumatic system

A pneumatic system is a system that uses compressed air to transport and control energy. Air
is first pressurized to give energy in the cylinder. The input from signals to the system is
through the use of switches. Air is then transferred through sealed pipes to the pneumatic parts
for processing. Finally, the force produced by the pneumatic parts is utilized to finish the
designated task. The use of pneumatic systems is very extensive, for example, in controlling
the movement of train doors, the operation of automatic production lines and mechanical
clamps.

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HISTORY OF CONTROL SYSTEM

Table 1 : History of Control System

Control System Invention Year

Liquid level control Ktesibios : water clock 300 BC

Philon : oil lamp

Steam pressure and Denis Papin : safety valve 1681

temperature controls
Cornelis Drebel : temperature control

Speed Control Edmund Lee and William Cubitt : windmill 1745

James Watt : Flyball Governor

Stability, stabilization and Maxwell, Routh and Lyapunov : Stability of 19th century
steering motion

Henry Bessemer : Steering and stabilization of

ships

20th century developments Nicholas Minorsky : Automatic Control 20th century

Systems

Bode, Nyquist and Evans : Linear Control

Systems Analysis & control theory

Contemporary applications Digital computer

Compound application

Why do we need control systems?

• Convenient (room temperature control, laundry machine)
• Dangerous (hot/cold places, bomb removal)
• Impossible for human (nanometer scale precision positioning, work inside small space that
human cannot enter)
• Exist in nature (human body temperature control)

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CONTROL SYSTEM EXAMPLES

Control System In Human System

• Pancreas: regulate blood sugar.

• Adrenalin – automatically generated to increase heart-rate and oxygen intake.
• Eyes – able to follow a moving object.
• Hand: able to pick up an object and place it at a predetermined location
• Temperature regulator: maintain 36-37°C

Transportation: Car & Driver

• Objective function: to control the direction and speed of the car.

• Outputs: Actual direction and speed of the car.
• Control Inputs: road markings and speed signs.
• Disturbances: road surface and grade, wind, obstacles.
• Possible subsystems: the car, power steering system, braking system, etc.

CLASSIFICATION OF CONTROL SYSTEM

There are basically two types of control system: the open loop system and the closed loop
system. A block diagram uses blocks to represent processes, while arrows are used to connect
different input, process and output parts.

OPEN LOOP SYSTEM

• A type of continuous control system and referred to as non-feedback system

• The output has no influence or effect on the control action of the input signal.
• The operation is very simple, when the input signal directs the control element to respond,
an output will be produced.
• A block diagram for an open loop system is as below:

Desired Output Actuating Process Output

Response device

Figure 1.9 : Block diagram of an open loop control system

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Examples of open loop system

(a) Electric Hand Drier

Hot air (output) comes out as long as you keep your hand under the machine, irrespective of
how much your hand is dried.

(b) Automatic Washing Machine

This machine runs according to the pre-set time irrespective of washing is completed or not.
Power

Input time Washing/ Spraying/

Washing (preset Timer Drying Discharging Output
Machine time) procedures controller

Figure 1.10 : Block diagram of automatic washing machine

(c) Bread toaster

This machine runs as per adjusted time irrespective of toasting is completed or not.
Objective: make bread golden browned and crisp.
A toaster does not measure the colour of bread during toasting process.

Setting of Toaster Toaster bread

timer

Figure 1.11 : Block diagram of bread toaster

(d) Rotating disk speed control

This system uses a battery source to provide a voltage that is proportional to the desired speed.
The voltage is amplified and applied to the motor.

Figure 1.12 : Open loop control of the rotating disk speed control

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 Figure 1.13 : Block diagram of rotating disk speed control

(e) Car speed

Apply pressure on throttle paddle, will command the engine and vehicle to increase the speed.

Desired Actual
Throttle Engine Vehicle
speed speed

Figure 1.14 : Block diagram of car speed

Advantages of Open Loop Control System

1. Simple in construction & design.

2. Economical.
3. Easy to maintain.
4. Generally stable.
5. Convenient to use as output is difficult to measure.

Disadvantages of Open Loop Control System

1. They are inaccurate.

2. They are unreliable.
3. Any change in output cannot be corrected automatically.

CLOSED-LOOP CONTROL SYSTEMS

Closed-loop systems are designed to automatically achieve and maintain the desired output
condition by comparing it with the actual condition. It does this by generating an error signal
which is the difference between the output and the reference input. In other words, a closed-
loop system is a fully automatic control system in which its control action being dependent on
the output in some way. In closed loop system, it uses measurement of the output and the
feedback of the output signal compare with the desired output or reference. The closed-loop
system can improved the performance and stability.

Desired
Output Comparison Controller Process Output
Response

Measurement

Figure 1.15 : Block diagram of an closed loop control system

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Examples of closed-loop system

(a) Rotating disk speed control

To obtain a feedback system, the sensor is selected – tachometer. Tachometer provides an

output voltage proportional to the speed of its shaft. The error voltage is generated by the
difference between the input voltage and the tachometer voltage.

Figure 1.16 : Closed loop control of the rotating disk speed control

Figure 1.17 : Block diagram of rotating disk speed control

(b) Automobile steering control system

The driver uses the difference between the actual and the desired direction of travel to generate
a controlled adjustment of the steering wheel

Desired
course of Driver
Controller
travel Steering
Driver Vehicle Actual course
mechanism

Measurement, visual
and tactile

Figure 1.18 : Block diagram of automobile steering control system

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Advantages Closed Loop Control System

1. Closed loop control systems are more accurate even in the presence of non-linearity.
2. Highly accurate as any error arising is corrected due to presence of feedback signal.
3. Bandwidth range is large.
4. Facilitates automation.
5. The sensitivity of system may be made small to make system more stable.
6. This system is less affected by noise.

Disadvantages Of Closed Loop Control System

1. More cost
2. Complicated to design
3. Required more maintenance
4. Feedback leads to oscillatory response
5. Overall gain is reduced due to presence of feedback

Comparison Open Loop & Closed Loop System

Open loop Closed loop

The feedback element is absent. The feedback element is always present.
An error detector is not present. An error detector is always present.
It is stable one. It may become unstable.
Easy to construct. Complicated construction.
It is an economical. It is costly.
Having small bandwidth. Having large bandwidth.
Less maintenance. More maintenance.

CONTROL SYSTEM DESIGN PROCESS

Step 1 : transform requirements into a physical system

 Design specifications are determined.

Step 2 : Draw a functional block diagram

 Functional diagram describes the component part of the systems and show their
interconnection.

Step 3 : Create a schematic

 A control system consists of electrical, mechanical and electromechanical components.
 The control designer can begin with the physical description to derive a schematic.

Step 4 : Develop a mathematical model (block diagram)

 Once the schematic is drawn, the designer uses physical laws such as Kirchhoff’s Law
for electrical and Newton’s Law for mechanical systems.
 Kirchhoff’s and Newton’s laws lead to mathematical models.

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  Example of the model is such as linear, time-invariant differential equation, the transfer
function and state-space representation.

Step 5 : Reduce the block diagram

 Subsystem models are interconnected to form block diagrams of larger systems.
 The systems need to be reduce this large system into a single block with a mathematical
description that represent the system from its input to its output.

Step 6 : Analyze and design

 The system is analyzed to see if the response specifications and performance
requirements can be met by simple adjustments of system parameters.
 Test input signals are used to verify the design.

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