No.

BENG 3153
Control Principles and System
Chapter 1 :
Introduction to Control System
 No. 2
Learning Outcomes

At the end of this session, students should be able to:

1. Define control system
2. State the advantages of control system
3. Describe the response characteristics
4. Find out the differences between open-loop and
closed loop systems
5. State the analysis and design objectives of control
system
 No. 3
Topic

Introduction
History of Automatic Control
Terms in control system
Definition of Control system
Advantages of Control System
Purpose of Control System
Response Characteristics and System Configurations
Open loop system
Closed loop system
Comparison between open and closed loop system
Analysis And Design Objectives
 No. 4
Introduction

What is system/control
system?
Why system/control system?
 How control can be applied in No. 5

our life?
Airplane
Airconditioner

Elevator
 No. 6

Introduction

• Control systems are an integral part of modern

society.
• Numerous applications are all around us. Eg : speed
control system, temperature control system
• The control systems also exist in human body such
as the pancreas, which regulates our blood sugar,
body temperature and blood pressure are kept
constant by means of physiological feedback.
 No. 7
History of Automatic Control

First work – James Watt’s centrifugal governor for the

speed control of a steam engine in the 18 century.
Other developments of control theory were due to
Minorsky, Hazen and Nyquist and many others.
1922 – Minorsky worked on automatic controllers for
steering ships.
1932 – Nyquist developed a relatively simple procedure
for determining the stability of closed-loop system on the
basis of open loop response to steady state sinusoaidal
inputs.
1934 – Hazen introduced the term servomechanism for
position control systems.
History of Automatic Control No. 8

(continue)

1940s – frequency response methods were introduced.

Especially Bode introduced Bode diagram methods.
End of 1940s – early 1950s : Evans was fully developed
root locus method.
1960 – time-domain analysis of complex systems, modern
control theory, based on time domain analysis and
synthesis using state variables has been developed.
1960 – 1980 : Optimal control and learning control of
complex systems were fully investigated.
1980 to present : Developments in modern control theory
around robust control, H∞ control and etc.
 No. 9
Terms in control system

• Controlled variable – quantity or condition than can

be measurable and controllable
• Manipulated variable - quantity or condition that is
varied by the controller, so it will affect the value of
controlled variable
• Plants – A piece of equipment/ a set of machine
parts / physical objects to be controlled. Eg:
mechanical device, a heating furnace, a chemical
reactor and etc.
• Processes – Continuing operation that consists of a
series of controlled actions or movements
systematically directed toward a particular result or
end.
Terms in control system No. 10

(continue)
• Systems - a combination of components that act
together and perform certain objective.
• Disturbances – signals that tends to adversely affect
the value of the output of a system. If a disturbances
is generated within the system, it is called internal,
while an external disturbance is generated outside
the system and is an input.
• Feedback control – Refer to an operation that
presence of disturbances, tends to reduce the
difference between the output of a system and some
reference input. Only unpredictable disturbances are
specified.
 No. 11

Definition of Control System

Control system:
• Consists of subsystems and processes (or plants)
assembled
• for the purpose of controlling the output of
processes.

In other word, a control system provides an output or response

for a given input or stimulus as shown in Figure 1.1.

Figure 1.1 : Simplified description of a control system

 No. 12

Advantages of Control System

 We can move large equipment with precision.

 We can point huge antennas toward the universe
to pick up faint radio signals.
 We can go from one place to another faster.
 We can climb high building without getting tired.
 No. 13

Response characteristics of system

 Response characteristic – input, output: transient

response, steady-state response and steady-state
error

 For example: setting temperature is 24 ̊C, but

actual temperature is 23 ̊C.

Response characteristic
of the control system
 No. 14

Response characteristics of system

 For example:
 setting temperature is 24 ̊C
 but actual temperature is 23 ̊C.

Figure 1.2 : Output response of control system

Response characteristics of No. 15

system
• Input/stimulus – the desired response
• Output – the actual response
• Transient response – a gradual change before the
steady-state response
• Steady-state response – after the transient response,
which is its approximation to the desired
response
• Steady-state error – the differences between input
and output
Response Characteristics And No. 16

System Configurations

Two major system configurations of control

systems:
1. Open Loop system
2. Closed Loop system
 No. 17
Open Loop System?
• Output has NO EFFECT on the control action.
• It consists of subsystems called an input transducer, controller
and process or plant.
• Input transducer: CONVERTS THE FORM OF THE
INPUT to that used by the controller.
• Controller: DRIVES a process or plant.
• Other signals, such as disturbances, are shown added to
the controller and process outputs via summing junctions.
• The open-loop system CANNOT CORRECT disturbances.
• Examples – toasters, washing machine (washing process)
Disturbances 1 Disturbances 2

+ +
input Process
Controller
Input = ref Transducer + Or Plant +
summing summing
junction junction
 No. 18
Open Loop System
Example of Open Loop System:
 No. 19
Closed Loop System (Feedback Control) ?
• A system that MAINTAINS A PRESCRIBED RELATIONSHIP between
the output and the reference input by COMPARING THEM and USING
THE DIFFERENCE as a MEANS OF CONTROL.
• An output transducer/ sensor, MEASURES the OUTPUT response and
converts into the form used by controller.
• The closed-loop systems measured the output response through a feedback
path, and COMPARING that response to the input at the summing
junction.
• If there is any difference between the two response, the system DRIVES the
plant, via the actuating signal, to make a correction. If there is no difference,
the system does not drive the plant.
• Examples – air conditioning, lift, washing machine (water level control)
Disturbances 1 Disturbances 2
Error

input + +
Process
Transducer Controller
+ + Or Plant +
- summing summing
summing
junction junction
junction Output
transducer
= sensor
 No. 20
Closed Loop System
We use closed loop control systems in many
applications of our day to day life.
• Water Level Controller– Water level in the
reservoirs decides the input water into it.
• Air Conditioner –Air conditioner automatically
adjusts its temperature depending on its room
temperature.
• In motor speed regulator using tachometer and/or
current sensor , sensor senses the speed and sends a
feedback to the system to regulate its speed.
 No. 21
Open Loop vs Close Loop

How do you handle the

shortcoming of open
loop control?
 Open Loop vs Closed Loop No. 22

system
Closed-Loop System Open-Loop System
Have the feedback path. Does not have the feedback
path.
Greater accuracy. Not accurate.
Less sensitive to noise, Sensitive to noise,
disturbances and changes in the disturbances and changes in
environment. the environment.
The system can compare the The system cannot correct the
output response with the input disturbances.
and make a correction if there
is any difference.
More complex and expensive. Simple and inexpensive.
 No. 23
Analysis And Design Objectives

Control systems are dynamic : they response to an

input by undergoing a transient response before
reaching steady-state response that generally
resembles the input.

3 MAJOR OBJECTIVES of system analysis and

design:-
Producing the DESIRED transient response
REDUCING steady-state error
ACHIEVING stability
 No. 24
Analysis And Design Objectives
(continue)
Other important considerations system analysis and
design:
 Factors affecting hardware selection – motor
sizing to fulfill power requirement, choice of sensors
for accuracy
 Finances – budget allocation and competitive
pricing
 Robust design – not sensitive to parameter changes
 Analysis And Design Objectives No. 25

(continue)
1. Transient Response
• Important in control system
• E.g. In the case of an elevator:
• a slow transient makes passenger impatient
• whereas an excessively rapid response makes them
uncomfortable
• too fast a transient response could cause permanent
physical damage.
• Therefore:
• we have to analyze the system for its existing transient
response.
• then, adjust parameters or design components to yield a
desired transient response.
 Analysis And Design Objectives No. 26

(continue)
2. Steady-State Response
This response resembles the input and usually what
remains after the transients have decayed to zero.
Here,
• we define steady-state errors quantitatively
• analyze a system’s steady-state error and
• design corrective action to reduce steady-state
error
 Analysis And Design Objectives No. 27

(continue)
3. Stablility
• Control systems MUST BE designed to be
STABLE
• Total response = Natural response + Forced response
• Stable : natural response must decay to zero as
time approaches to infinity or oscillate
• If the system is stable, the proper transient
response and steady-state error characteristics
can be designed.
 No. 28
The Design Process
The design of a control system follows these step: (draw
using block diagram)
1. Determine a physical system and specifications
from requirements.
2. Draw a functional block diagram.
3. Represent the physical system as a schematic.
4. Use the schematic to obtain mathematical model.
5. Reduce the block diagram.
6. Analyze and design the system to MEET
SPECIFIC REQUIREMENTS and
SPECIFICATIONS that include stability, transient
response and steady-state performance.
 No. 29
The Design Process

5.Reduce the
block diagram

6.Analyze and
design the
system
 No. 30
Computer Aided Design (CAD)

• Using computer, we can perform analysis, design

and simulation with one program.
• With the ability to simulate a design rapidly, we
can easily make changes and immediately test a
new design.
• In this subject, we use MATLAB for CAD.
 No. 31

Thank you for

your attention