Control Systems Engineering

INTRODUCTION
 Definition of Terms

 A system is an arrangement of physical components

connected or related in such a manner as to act as an
entire unit.
 Control means to command, direct or regulate.
Control System is an arrangement of physical
components connected or related is such a manner as
to command, direct or regulate itself or another system
to act as one or as an entire unit.

(a) system concept

(b) detailed layout
(c) functional block diagram
Control System is an arrangement of physical
components connected or related is such a manner as
to command, direct or regulate itself or another system
to act as one or as an entire unit.
 Simplified Description
of a Control System

Input- input is the stimulus, excitation or

command applied to the control system.
Output- output is the actual response
obtained from the control system.
Example (Elevator Response)
 Reasons of building Control System

 Power amplification
 Remote control
 Convenience of input form
 Compensation for disturbance
 System Configurations

 Open-loop System
 Closed-loop Systems
 System Configurations

 Open-loop System

 Input transducer converts the input to a form used by the

controller.
 The controller drives a process or a plant.
 The input is sometimes called the reference and the output can be
called the controlled variable.
 System Configurations

 Open-loop System

 Open loop system cannot compensate for the disturbance and

cannot correct any error at the output.
 The input and output are not related.
 Open loop systems are simply commanded by the input.
 Examples: oven toaster, gas oven, washing machine, burglar alarm
 Example of Open-loop System

 Burglar Alarm System

 System Configurations

 Closed-loop (Feedback Control) System

 Input transducer converts the input to a form used by the

controller.
 Output transducer measures the output response and converts
to a form used by the controller
 The controller drives a process or a plant.
 System Configurations

 Closed-loop (Feedback Control) System

 The closed-loop system compensates for the disturbances,

thereby, correcting error at the output.
 Example is the antenna control system.
 Closed loop system has greater accuracy than open loop.
 Less sensitive to noise,disturbance, and change in environment
Antenna Azimuth Position Control System
Antenna Azimuth Position Control System
Lesson 2. Control System
Analysis and Design
Manual and automatic control system
Manual Control System rely on human actions. Some disadvantages of this type
are lower accuracy and the continuous involvement of operators. It possess the
following functions:
 Measurement – estimate of the process being controlled which may be achieved by the
hand of the operator
 Comparison – examination of the measured and desired values. This is carried out by the
brain of the operator
 Computation – calculation of the difference between the measured and desired values. The
operator will do the calculation.
 Correction – materialization of adjustments which may be implemented by the operator’s
hands following the order from the brain.
Automatic Control System rely on computerized (electronic ) actions. This contain the
following hardware:
 Sensor – this serves as the signal source. It is a device that measure system variables.
 Controller – device to perform comparison and computation.
 Control Element – device to perform the control action or to exert direct influence on the process.
It receives signal from the controller
Manual and automatic control system
Example.
1)Manual hot and cold shower – To start the heating process, the valve in the hot water line is
opened. The operator determines the temperature using his right hand. If the water is too
hot, the valve should be closed a little or even turn it off. If the water is not hot enough,
then, the valve is left open or open just a little wider.
2)Automatic hot/cold shower –
-Temperature measuring device (this replaces the right hand of the operator
-Electronic Control valve to replace manual valve (this replaces the left hand of the operator)
-Temperature Controller do the comparison and computation and give order to the control
valve. This replaces the brain of the operator
-Signal connections such cables to interconnect the temperature measuring device, control
valve, and controller. This replaces the nerve system of the operator.
The desired course is compared with a measurement of the actual course in order to
generate a measure of the error. This measurement is obtained by visual and body
movement (Feedback sensor) as provided by the feel of the steering wheel by the hand.
The figure is a manually controlled closed-loop system for regulating the level of fluid in a tank.
Input – reference level of fluid that must be maintained (it is memorized by the operator
Power Amplifier – Operator
Sensor – Eyes
Actuator - Valve
The operator compares the actual level with the desired level and opens or closes the valve and adjusting the fluid flow
out to maintain the desired level
Robot
 A robot is a computer controlled machine and
involves technology related to automation.
Industrial robots is designed to substitute for
human labor, thus, robots possess certain human-
like characteristics such as mechanical human
arms, wrists, and hands.

We need to recognize that, automatic machine

such as a robot, is suited to some tasks, and that
there are other tasks that are best carried out
by humans.
This system uses specific motor
to drive each axis to the
desired position in the x-y-z-
axis. The movement of each
axis must be smooth and
accurate. Automatic control
system is important.
Analysis and Design
Analysis is the process by which a system’s performance is determined. For
example, we evaluate the transient response and steady-state error to
determine if they meet the desired specifications.
Design is the process by which a system’s performance is created or
changed. For example, if a system’s transient response and steady-state
error are analyzed and found not to meet the specifications, then we change
parameters or add additional components to meet the specifications.

Transient response is a temporary change in the way that a system

behaves due to an external excitation (turning on or off a switch), that
will disappear with time.
The steady state error indicates the accuracy of the steady state.
Primary Objectives of Control System
Analysis and Design
Producing the desired transient response.
Reducing steady-state errors.
Achieving stability.
 Review of
Laplace Transform
Laplace Transform ℒ 𝑓 𝑡 ,𝐿 𝑓 𝑡 ,𝐹 𝑠
• If 𝑓(𝑡) represents some expression in 𝑡 defined for 𝑡 ≥ 0 , the Laplace
transform of 𝑓 𝑡 is mathematically defined as
∞ −𝑠𝑡
𝐿𝑓 𝑡 = ‫׬‬0 𝑒 𝑓 𝑡 𝑑𝑡

• The function 𝑓(𝑡) must be piecewise continuous.

Basic Transforms
𝑎 𝑖𝑠 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑎
1) 𝑓 𝑡 =𝑎 ℒ𝑎 =
𝑠

1
2) 𝑓 𝑡 = 𝑒 𝑎𝑡 ℒ 𝑒 𝑎𝑡 =
𝑠−𝑎

𝑛!
3) 𝑓 𝑡 = 𝑡𝑛 𝑛 = 1,2,3, … ℒ 𝑡𝑛 =
𝑠 𝑛+1

𝑎
4) 𝑓 𝑡 = sin(𝑎𝑡) ℒ sin(𝑎𝑡) =
𝑠 2 +𝑎2

𝑠
5) 𝑓 𝑡 = cos(𝑎𝑡) ℒ 𝑐𝑜𝑠(𝑎𝑡) =
𝑠 2 +𝑎2

𝑎
6) 𝑓 𝑡 = sinh(𝑎𝑡) ℒ sinh(𝑎𝑡) =
𝑠 2 −𝑎2

𝑠
7) 𝑓 𝑡 = cosh(𝑎𝑡) ℒ cosh(𝑎𝑡) =
𝑠 2 −𝑎2
Review on how Laplace Transform is obtained
by Integration:
 𝑎𝑡
1
ℒ𝑒 =
𝑠−𝑎
Basic Theorems of
Laplace Transform
Linearity Theorem
𝓛 𝒂𝒇 𝒕 + 𝒃𝒈(𝒕) = 𝒂𝓛 𝒇(𝒕) + 𝒃𝓛 𝒈(𝒕)
Example:
3 𝑠 6+5𝑠
1) ℒ 2sin(3𝑡) + 5cos(3𝑡) = 2 +5 =
𝑠 2 +9 𝑠2 +9 𝑠2 +9
First Shifting or s – Shifting Theorem
If 𝓛 𝒇(𝒕) = 𝑭 𝒔 , then, 𝓛 𝒆𝒂𝒕 𝒇(𝒕) = 𝑭(𝒔 − 𝒂)
Example:
1) ℒ 𝑒 𝑎𝑡 cos(𝜔𝑡)

2) ℒ 3.8𝑡𝑒 2.4𝑡

3) ℒ 𝑒 −𝑘𝑡 𝑎 cos 𝑡 + 𝑏 sin 𝑡

Multiplication by 𝑡 𝑛
𝒏
𝒏 𝒏 𝒅
If 𝓛 𝒇(𝒕) = 𝑭 𝒔 , then, 𝓛 𝒕 𝒇(𝒕) = −𝟏 𝑭 𝒔 𝒏 = 𝟏, 𝟐, 𝟑, …
𝒅𝒔𝒏
Example:
1) ℒ 𝑡 sin(2𝑡)
Multiplication by 𝑡 𝑛
𝒏
If 𝓛 𝒇(𝒕) = 𝑭 𝒔 , then, 𝓛 𝒕𝒏 𝒇(𝒕) = −𝟏 𝒏 𝒅 𝑭 𝒔 𝒏 = 𝟏, 𝟐, 𝟑, …
𝒅𝒔𝒏
Example:
2) ℒ 𝑡 2 sin(𝑡)
Derivative Theorem
𝓛 𝒇′(𝒕) = 𝒔𝑭 𝒔 − 𝒇(𝟎)
𝓛 𝒇′′(𝒕) = 𝒔𝟐 𝑭 𝒔 − 𝒔𝒇 𝟎 − 𝒇′ 𝟎
𝓛 𝒇(𝟑) (𝒕) = 𝒔𝟑 𝑭 𝒔 − 𝒔𝟐 𝒇 𝟎 − 𝒔𝒇′ 𝟎 − 𝒇′′ 𝟎
Example:
𝑑𝑥
1) Determine the Laplace Transform of − 2𝑥 = 4 given that x(0)=1
𝑑𝑡
Derivative Theorem
𝓛 𝒇′(𝒕) = 𝒔𝑭 𝒔 − 𝒇(𝟎)
𝓛 𝒇′′(𝒕) = 𝒔𝟐 𝑭 𝒔 − 𝒔𝒇 𝟎 − 𝒇′ 𝟎
𝓛 𝒇(𝟑) (𝒕) = 𝒔𝟑 𝑭 𝒔 − 𝒔𝟐 𝒇 𝟎 − 𝒔𝒇′ 𝟎 − 𝒇′′ 𝟎
Example:
2) Determine the Laplace Transform of 𝑦 ′′′ + 4𝑦 ′′ − 5𝑦 ′ = 0
given the initial values y(0)=4 , y’(0)=-7 and y’’(0)=23
Derivative Theorem
𝓛 𝒇′(𝒕) = 𝒔𝑭 𝒔 − 𝒇(𝟎)
𝓛 𝒇′′(𝒕) = 𝒔𝟐 𝑭 𝒔 − 𝒔𝒇 𝟎 − 𝒇′ 𝟎
𝓛 𝒇(𝟑) (𝒕) = 𝒔𝟑 𝑭 𝒔 − 𝒔𝟐 𝒇 𝟎 − 𝒔𝒇′ 𝟎 − 𝒇′′ 𝟎
Exercise:
3) Determine the Laplace Transform of 𝑦 ′′ − 2𝑦 ′ + 2𝑦 = cos(t)
given the initial values y(0)=1 , y’(0)=0
Other Laplace Transform Solution
Using Appropriate Identities
Some Trigonometric Identities

cos 𝐴 − 𝐵 + cos(𝐴 + 𝐵)
𝑐𝑜𝑠𝐴𝑐𝑜𝑠𝐵 =
2

cos 𝐴 − 𝐵 − cos(𝐴 + 𝐵)
𝑠𝑖𝑛𝐴𝑠𝑖𝑛𝐵 =
2

sin 𝐴 + 𝐵 − sin(𝐴 − 𝐵)
𝑐𝑜𝑠𝐴𝑠𝑖𝑛𝐵 =
2

sin 𝐴 + 𝐵 + sin(𝐴 − 𝐵)
𝑠𝑖𝑛𝐴𝑐𝑜𝑠𝐵 =
2
 cos 𝐴 − 𝐵 + cos(𝐴 + 𝐵)
𝑐𝑜𝑠𝐴𝑐𝑜𝑠𝐵 =
2

Example:
Example:
Exercise:

3) ℒ[𝑐𝑜𝑠 2 𝑡]
Inverse
Laplace
• Inverse Laplace is the reverse process, that is, given the Laplace Transform,
we have to find the function of t to which it belongs. Below are the basic
examples:
1
1) ℒ −1 =
𝑠−2

−1 𝑠
2) ℒ 𝑠2 +25
=

−1 4
3) ℒ
𝑠
=

12
4) ℒ −1 =
𝑠2 −9

1
5) ℒ −1 =
𝑠−2 2
Inverse Laplace by Partial Fraction Expansion
• Case I. Linear non-repeating factors of the characteristic equation.
𝟑𝒔+𝟏
Example. ℒ −𝟏 =
𝒔𝟐 −𝒔−𝟔
Inverse Laplace by Partial Fraction Expansion
• Case II. Linear repeating factors of the characteristic equation.
𝒔𝟐 −𝟏𝟓𝒔+𝟒𝟏
Example. ℒ −𝟏 =
𝒔+𝟐 𝒔−𝟑 𝟐
Inverse Laplace by Partial Fraction Expansion
• Case III. Characteristic equation with non-repeating quadratic factor .
𝟒𝒔𝟐 −𝟓𝒔+𝟔
Example. ℒ −𝟏 =
𝒔+𝟏 𝒔𝟐 +𝟒
Solve for A, B, and C …
Inverse Laplace by Partial Fraction Expansion
• Case IV. Characteristic equation with repeating quadratic factor .
Other Inverse Laplace Solution
Example:
−1 6𝑠−5
1) ℒ
𝑠 2 +7
=

𝑠
2) ℒ −1 =
𝑠 2 +2𝑠+2
Other Inverse Laplace Solution
Example:
1−3𝑠
3) ℒ −1 =
𝑠 2 +8𝑠+21
Solving the function in 𝑡 of a Differential Equation
Example:
𝑑𝑥
1) Given the differential equation − 2𝑥 = 4 and x(0)=1 , determine 𝑥(𝑡) using
𝑑𝑡
Laplace and Inverse Laplace transform.
Solution:
Transfer Function
Transfer
Function
Transfer Function
 Transfer functions are commonly used to characterize the input—output
relationships of components or systems that can be described by linear,
time-invariant (LTI), differential equations.
 The transfer function of a linear, time-invariant, system is defined as “the
ratio of the Laplace transform of the output (response function) to the
Laplace transform of the input (driving function) under the assumption
that all initial conditions are zero.

 Transfer function is a useful tool in analyzing a system, as it enables the

study of system’s behavior using simpler equations that can be solved by
algebraic methods instead of differential formulas.
Time-Invariant Differential Equation
 Time-invariance is determined by the factors with which x(t) and y(t) and
their derivatives are multiplied. If they are constant, and, consequently, not
functions of t, then the equation can describe a time-invariant system. From
the example, all the coefficients are constants.
( ) ( )
 Example: 5 +4 + 3𝑦 𝑡 = 2𝑥(𝑡)

This example can also be written as 5 +4 + 3𝑦 = 2𝑥

 If the coefficients of a differential equation are functions of time, then the
system is time-varying or Time-Variant. From the example, the first and
second terms made the system differential equation time-varying.
( ) ( )
 Example: 5𝑡 + 4𝑡 + 3𝑦 𝑡 = 2𝑥(𝑡)

This example can also be written as 5𝑡 + 4𝑡 + 3𝑦 = 2𝑥

Linear Differential Equation
 Consider the function 𝑥(𝑡), 𝑥 is the dependent variable and 𝑡 is the independent
variable.
 A linear term is one which is first degree in the dependent variable and its derivatives.
 If any term of a differential equation contains higher powers, products, or
transcendental functions (logarithms, trigonometric and hyperbolic functions) of the
dependent variable, it is non-linear.
 Examples of Non-linear differential equation:
1) 𝑦 +𝑦 =0 Here, y is the dependent variable. The D.E. is non-linear because it contains
product of the dependent variable and its derivative 𝑦
2) +𝑦 =0 Non-linear because it contains higher power of the dependent variable

3) (cosy) + sin(2𝑦) = 0 Non-linear on both terms because of the transcendental function

of the dependent variable. cosy and sin2y

4) (cosx) + sin(2𝑥) = 0 Non-linear on both terms because of the transcendental function of

the dependent variable. Both x and y are dependent variables.
Linear Differential Equation

 Examples of Linear differential equation:

1) 𝑡 +𝑦 =0

2) +3 +𝑦 = + 2𝑥

3) (cost) + sin 2𝑡 𝑦 = 0
Examples on Transfer function:
( )
1) A system is described by the given D.E. Determine the transfer function
( )
𝑑𝑐(𝑡)
+ 2c t = r(t)
𝑑𝑡 Note:
The given D.E. can also
be written as:

+ 2𝑐 = 𝑟 or

𝑐 𝑡 + 2𝑐 𝑡 = 𝑟(𝑡) or

𝑐̇ + 2𝑐 = 𝑟
Examples on Transfer function:
( )
2) A system is described by the given D.E. Determine the transfer function
( )
𝑑 𝑦 𝑑 𝑦 𝑑𝑦 𝑑 𝑥 𝑑 𝑥 𝑑𝑥
+3 +5 +𝑦 = +4 +6 + 8𝑥
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
Examples on Transfer function:
( )
3) Find the D.E. corresponding to the transfer function 𝐺 𝑠 = =
( )
Examples on Transfer function:
( )
4) Given the transfer function 𝐺 𝑠 = = , find the system response, c(t), if the
( )
input is step function 𝑢(𝑡).
Poles and Zeros of
Transfer Function
 Poles are roots of the denominator of a transfer function (Values of 𝑠 such that transfer
function becomes infinite). The location of the Poles will tell the stability of a system. The
symbol for pole is x
 Zeros: are roots of the numerator of a Transfer Function (Values of 𝑠 such that transfer
function becomes 0). Location of the zeros will not affect the stability of a system. The
symbol for zero is circle.
 On Stability:
 A system is considered stable if all the poles of its transfer function lie in the left half of the complex
plane (LHP)
 A system is considered unstable when (1) there is at least one pole in the right half of the complex plane
(RHP), and (2) there are multiple poles (multiplicity 2 or more) on the vertical axis boundary.
 A system is considered marginally stable when there are poles, but no multiple poles, on the vertical axis.
There are to be no poles on the RHP.
Stable and Unstable System
Unstable System
Marginally Stable System
Examples on Poles and Zeros of a
Transfer Function
1) Determine the poles, zeros, and stability of the system described by the transfer
( )
function = . Plot the poles and zeros.
( )

Solution:
Poles: 𝑠 = −0.22
𝑠 = −1.39 ± 1.56𝑗
Zeros: 𝑠 = −2.88
𝑠 = −0.56 ± 1.57𝑗
Stability: Stable since all the poles are on the LHP
Examples on Poles and Zeros of a
Transfer Function
2) Determine the poles, zeros, and stability of the system described by the transfer
( )
function = . Plot the poles and zeros.
( )

Solution:
Poles: 𝑠 = ±2𝑗

Zeros: none

Stability: Marginally stable

Introduction to
Transfer Function of
Electric Network
Impedance is the effective resistance of an electric circuit or component to alternating current
Example #1a

Steps:

1) Redraw the original network

showing all time variables as Laplace
transforms.
2) Replace the component values
with their impedance values
Example #1b
 Referring to Example #1a, calculate the value
of C if the pole is to be at -3. Assume R = 1𝑀Ω
Example #2
Determine the Transfer Function
relating the capacitor voltage to
input voltage.