Control Systems

EENG 435

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 CONTROL SYSTEMS ENGINEERING
What is Control Systems? Automatic Control Systems
Art of making a system abide Systems operating without
to the desired behavior human intervention

Application Domains:
• Power Systems
• Robotic Systems
• Spacecraft Systems
• Military Applications
• Autopilot & Navigation
• Biomedical Engineering
• Modern Manufacturing
• Process Control (Cruise Control, Tracking …)
 EXAMPLES OF CONTROL SYSTEMS

 Spacecraft Systems

Columbia Spacecraft Crew Exploration Vehicle

 EXAMPLES OF CONTROL SYSTEMS

 Space Station Systems

International Space Station MIR Space Station

 EXAMPLES OF CONTROL SYSTEMS

 Robotic Systems

Spirit Rover on Mars Planet (2005) ASIMO Robot (Honda)

 EXAMPLES OF CONTROL SYSTEMS

 Satellite Control Systems

Satellite Air Traffic Control Satellite Tracking System

 EXAMPLES OF CONTROL SYSTEMS
 Military Control Systems

Tomahawk Guided Missile

B2 Spirit Aircraft

S300 Automatic Defense System

 EXAMPLES OF CONTROL SYSTEMS

 Biomedical Control Systems

Robot Assisted Surgery Automatic Blood

Pressure Meter
 EXAMPLES OF CONTROL SYSTEMS

 Other Examples

Power Plant Control Room Modern Manufacturing

 EXAMPLES OF CONTROL SYSTEMS

 Other Examples

Autopilot MAGLEV Train

Cruise and Security Distance Control

Autopilot Aircraft
 EXAMPLES OF CONTROL SYSTEMS
 Other Examples

Petroleum Refineries
 EXAMPLES OF CONTROL SYSTEMS

 Other Examples

Automatic Car Parking Systems

Elevators
Fields that use control engineering

• Electrical Engineering
• Mechanical Engineering
• Chemical Engineering
• Petroleum Engineering
• Biomedical Engineering
• Industrial Engineering
• Economics
•…

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 The Purpose of a Control System

• To remotely control a plant or a process

System Control

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Blocks of an Automatic Control System

Unity Feedback System

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Drug Delivery Digital Control

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 System’s Response

Three Measures:
• Transient Response
• Steady-State Error
• Stability

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 The Control System Performance Measures
• Transient Response
• Steady-State Error Total Response = Transient Response + Steady-State Response
C(t) = ctr(t) + css(t)
• Stability

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 Design This Control System

• 1o accuracy
• 6 o/s
• any time
• any weather situation

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 Design using Open Loop Control

Note that most open loop control systems operate on time basis.
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 Design using Open Loop Control
We actually designed an
Did we account for
Open Loop Control System
Disturbances? No
Wind OLCS

Noise
Open Loop Control: Advantages/ Disadvantages
• No Disturbance Rejection
• Prone to Steady State Error

Cold gears • No Stability Issues

• Simple Construction
• Low Cost of Construction and
Maintenance

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Design using Open Loop Control

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 System Configurations
• Open-Loop Control Systems (OLCS)

The mathematical
• Closed-Loop (Feedback) Control Systems (CLCS) relationship between
input and output has
Error or changed
actuating
signal

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 Design using Closed Loop Control

• Feedback Control
• Automatic Control
• Closed-Loop Control

CLCS
Error or
actuating
signal

A Closed Loop Control System

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 Feedback Control Advantages /Disadvantages
• Disturbance Rejection
• Desirable Transient Response
• Elimination of Steady State Error

• May Create Stability Issues

• Cost
Error or
actuating
signal

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Desirable Transient Response
Compensator Design

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Engineering Schematic of Our Design

Electro-Mechanical Model

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Engineering Schematic

Electro-Mechanical Model

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Block Diagram

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 Block Diagram of a (SISO) Control System

SISO: Single-input single-output system

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 Feedback (Closed Loop) Control Engineering
• After adding feedback, the closed loop system has new dynamics,
different than the open loop ones.
• We have to analyze the new dynamical behavior of the system.
• Given desired response (as stated in the specs), we will design a
suitable controller in order to achieve this desired response.
• The controller alters the dynamical behavior of the system.

Error or
actuating
signal

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 Feedback (Closed Loop) Control Engineering

Feedback control systems are not limited to engineering but can

be found in various nonengineering fields as well. The human
body, for instance, is a highly advanced feedback control system.
Both body temperature and blood pressure are kept constant by
means of physiological feedback. In fact, feedback performs a
vital function: It makes the human body relatively insensitive to
external disturbances, thus enabling it to function properly in a
changing environment.

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Open-Loop Control

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Feedback (Closed Loop) Control Engineering
Speed Control System

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 Feedback (Closed Loop) Control Engineering
Drug Delivery Digital Control System
Reference Regulated Drug
Blood Level or Nutrient
Drug
Computer DAC Patient
Pump

Blood
ADC
Sensor

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Control System Examples

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 Definitions in Control Engineering
Controlled Variable and Control Signal or Manipulated Variable. The controlled variable is the quantity or condition that is measured and
controlled. The control signal or manipulated variable is the quantity or condition that is varied by the controller so as to affect the value of the
controlled variable. Normally, the controlled variable is the output of the system. Control means measuring the value of the controlled variable
of the system and applying the control signal to the system to correct or limit deviation of the measured value from a desired value. In studying
control engineering, we need to define additional terms that are necessary to describe control systems.

Plants. A plant may be a piece of equipment, perhaps just a set of machine parts functioning together, the purpose of which is to perform a
particular operation. In this book, we shall call any physical object to be controlled (such as a mechanical device, a heating furnace, a
chemical reactor, or a spacecraft) a plant.

Processes. The Merriam–Webster Dictionary defines a process to be a natural, progressively continuing operation or development marked by
a series of gradual changes that succeed one another in a relatively fixed way and lead toward a particular result or end; or an artificial or
voluntary, progressively continuing operation that consists of a series of controlled actions or movements systematically directed toward a
particular result or end. In this book we shall call any operation to be controlled a process. Examples are chemical, economic, and biological
processes.

Systems. A system is a combination of components that act together and perform a certain objective. A system need not be physical. The
concept of the system can be applied to abstract, dynamic phenomena such as those encountered in economics. The word system should,
therefore, be interpreted to imply physical, biological, economic, and the like, systems.

Disturbances. A disturbance is a signal that tends to adversely affect the value of the output of a system. If a disturbance is generated within
the system, it is called internal, while an external disturbance is generated outside the system and is an input.

Feedback Control. Feedback control refers to an operation that, in the presence of disturbances, tends to reduce the difference between the
output of a system and some reference input and does so on the basis of this difference. Here only unpredictable disturbances are so
specified, since predictable or known disturbances can always be compensated for within the system. 38
 What to Come

• Laplace Transform
• Mathematical Modeling
• Block Diagram Manipulation
• PID Controllers
• Transient Response Analysis
• Stability Analysis
• Steady State Error Analysis
• Root Locus Analysis
• Frequency Response Analysis
• Compensators Design

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