POWE342

Control Systems I

Open and closed- Mathematical Feedback System Stability Root locus PID Working with MATLAB
loop systems Model

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Course Overview
Introduction to control systems, control system components, transfer
function, block diagram, signal flow graph, time domain analysis of control
systems, Routh-Hurwitz stability criteria, relative stability of feedback,
control system, root locus analysis, root locus design, frequency response
analysis, Nyquist criterion of stability. MATLAB / SIMULINK is used in class
assignment and lab to simulate and analyze feedback control systems.

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1st Chapter
Expected Duration: 1hr5
General Introduction
• Open-loop system
• Closed-loop system
• Sensors, actuators, process
• Realizing few design examples

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Chapter 01

Control Engineering
Control Engineering is based on the foundations of feedback theory and linear system analysis, and it generates the
concepts of network theory and communication theory. Accordingly, control engineering is not limited to any
engineering discipline but is applicable to computer, chemical, mechanical, environmental, civil, and electrical
engineering.

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Chapter 01

Control System
A Control System is an interconnection of components forming a system configuration that will provide a desired
system response. The basis for analysis of a system is the foundation provided by linear system, which assumes a
cause effect relationship for the components of a system. A component or process to be controlled can be
represented by a block as shown:

Input (u) Process Output (y)

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Chapter 01

Open-loop System
An open-loop control system utilizes a controller or control actuator to obtain the desired response as shown in the
figure bellow.
In open-loop control systems, the output has no effect on the control action. An example of an open-loop control
system is a juice mixer.

Input (u) Actuator Process Output (y)

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Chapter 01

Close-loop System
A closed-loop control system (Figure 3) utilizes an additional measure of the actual output to compare the actual
output with the desired output response
The measure of the output is called the feedback signal
A feedback control system is a control system that tends to maintain a relationship of one system variable to another
by comparing functions of these variables and using the difference as a means of control

Desired
Controller Actuator Process Actual
Output (u)
Output (y)

Sensor
Feedback
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Chapter 01

Close-loop System
An example of closed-loop control system is a person steering an automobile by looking at the auto’s location on the
road and making the appropriate adjustments
The driver uses the difference between the actual and the desired direction of travel to generate a controlled
adjustment of the steering wheel

Desired Steering Actual

Driver Vehicle
direction (u) Wheel direction (y)

Eyes

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Chapter 01

Example I: Rotating disk speed control

Open-loop system
Application: DVD player

Desired DC Rotating Actual

Amplifier
speed (u) motor disk speed (y)

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Chapter 01

Example I: Rotating disk speed control

Closed-loop system
Application: DVD player

Desired DC Rotating Actual

Amplifier
speed (u) motor disk speed (y)

Tacho

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Chapter 01

Example II: Insulin delivery control

Open-loop system
Application: Biomedical

Desired Pump, Actual

Driver Blood
Glucose level (u) valve Glucose level (y)

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Chapter 01

Example II: Insulin delivery control

Closed-loop system
Application: Biomedical

Desired Pump, Actual

Driver Blood
Insulin level (u) valve Insulin level (y)

Glucose
sensor

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Chapter 01

Textbook exercises: E1.1

Closed-loop system
A precise optical signal source can control the output power level to within 1%. A laser is controlled by an input current to yield
the output power. A microprocessor controls the input current to the laser. The microprocessor compares the desired power
level with a measured signal proportional to the laser power output obtained from a sensor. Draw the block diagram
representing the closed-loop control system.

Desired i/p Actual

uC Laser
Power (u) Current Power (y)

Power
sensor

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Chapter 01

Textbook exercises: E1.2

Closed-loop system
An automobile driver uses to control a vehicle to maintain the speed of the car at a prescribed level. Sketch a block diagram to
illustrate this feedback system.

Desired Gas, brake Actual

Driver Vehicle
Speed (u) pedals Speed (y)

Speedometer

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Chapter 01

Textbook exercises: E1.6

Closed-loop system
Modern automated highways are being implemented around the world. Consider two highway lanes merging into a single lane.
Describe a feedback control system carried on the automobile trailing the lead automobile that ensures that the vehicles merge
with a prescribed gap between the two vehicles.

Gas, brake
Desired Actual
Computer pedals, Vehicle
Gap (u) steering Gap (y)

GPS

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Chapter 01

Textbook exercises: E1.7

Closed-loop system
An automobile driver uses to maintain the speed of the motorcycle at a prescribed level. Sketch a block diagram to illustrate this
feedback system.

Desired Throttle, Actual

Driver Motorcycle
Speed (u) brake Speed (y)

Speedometer

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Chapter 01

Textbook exercises: E1.11

Closed-loop system
Consider the inverted pendulum shown in Figure. Sketch the block diagram of a feedback control system.

Desired Actual
Controller Motor Pendulum
angle (u) angle (y)

Optical encoder

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Chapter 01

Textbook exercises: E1.12

Closed-loop system
Describe the block diagram of a person playing a video game. Suppose that the input device is a joystick, and the game is being
played on a desktop computer.

Desired Video Actual

Player Joystick
Game Objective (u) Game Game objective (y)

Eyes

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Chapter 01

Textbook exercises: P1.1

Closed-loop system
Many luxury automobiles have thermostatically controlled air-conditioning systems for the comfort of the passengers. Sketch a
block diagram of an air conditioning system where the driver sets the desired interior temperature on a dashboard panel.
Identify the function of each element of the thermostatically controlled cooling system.

Desired Thermostat, Vehicle Actual

Compressor
Temp (u) A/C unit Cabin Temp (y)

Temp
Sensor

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Chapter 01

Textbook exercises: P1.2

Closed-loop system
In the past, control systems used a human operator as part of a closed-loop control system. Sketch the block diagram of the
valve control system shown in Figure.

Desired Actual
Human Valve Tank
Fluid Output (u) Fluid output (y)

Meter

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Chapter 02

References
Modern Control Systems, Bishop, 12th edition

Textbook Link

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Q&A
Slide BREAK
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