Chapter 1 Introduction To Control System
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chineduChapter 1 Introduction To Control System
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chineduAl-Hussein Bin Talal University Department of Computer Engineering
Course: Control Systems Dr. Haitham Alasha’ary
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Chapter 1: Introduction to Control Systems
1.1 Introduction
A system consists of three main components that are interconnected to achieve a desired response or goal:
- Input(s)
- Output(s)
- Process or plant (to be controlled)
Figure 1.1: A process to be controlled
A control system is a system in which the process is controlled and the desired response/output is
achieved using additional means
Two types of control systems:
- Open-loop: a system that uses an actuator to control the process and to obtain the desired output
directly without using feedback
Figure 1.2: An open-loop control system (without feedback)
- Closed-loop (feedback): a system that uses a measurement of the output using a sensor and feedback
of this signal to compare it with the desired output to control the process
Figure 1.3: A closed-loop feedback control system (with feedback)
The closed-loop feedback control system shown in Figure 1.3 is called “negative feedback” control
system, why?
In a feedback control system the actual output is measured and compared to the desired output (also
called reference or command output), the measured output is called “feedback signal”
The difference between the measured output and the desired output is called the “error signal” which
should be minimized by the controller.
Prepared by Dr. Haitham Alasha'ary 1
Al-Hussein Bin Talal University Department of Computer Engineering
Course: Control Systems Dr. Haitham Alasha’ary
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The output of the controller (control signal) causes the actuator to activate in order to reduce the error.
More complex control systems may contain multiple inputs and outputs such as the one shown in Figure
1.4:
Figure 1.4: A multivariable control system
Achieving an improved design of a given control system may be accomplished at the expense of some
features of the system, i.e. trade-off.
Examples: Speed ↔ Cost
Performance ↔ Complexity
1.3 Examples of Control Systems
- Automobile steering control system (Figure 1.5)
Figure 1.5: (a) Automobile steering control system. (b) The driver uses the difference between the
actual and the desired direction of travel to generate a controlled adjustment of the steering wheel. (c)
Typical direction-of-travel response
Prepared by Dr. Haitham Alasha'ary 2
Al-Hussein Bin Talal University Department of Computer Engineering
Course: Control Systems Dr. Haitham Alasha’ary
╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗
- Tank fluid level control system (Figure 1.6)
Figure 1.6: A manual control system for regulating the level of fluid in a tank by adjusting the output
valve. The operator views the level of fluid through a port in the side of the tank
- Robot control system (Figure 1.7)
Figure 1.7: The Honda P3 humanoid robot. P3 walks, climbs stairs, and turns corners
Prepared by Dr. Haitham Alasha'ary 3
Al-Hussein Bin Talal University Department of Computer Engineering
Course: Control Systems Dr. Haitham Alasha’ary
╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗╔╗
1.4 Engineering Design
The design process requires both creativity and analysis skills.
Some design concepts:
Design: is the process of conceiving or inventing the forms, parts, and details of a system to achieve a
specified purpose
Specifications: are the set of statements that describe the ultimate features and functions of the proposed
device or product
Design complexity: results from the wide range of tools, issues, and knowledge to be used in the process.
The more factors to be considered, the more complex the design is
Trade-off: the result of making efficient compromise between desirable but conflicting criteria
Optimization: is the adjustment of the parameters of a given system to achieve the most favorable or
advantageous design
1.5 Control System Design
Steps of control system design (Figure 1.8):
1. Establishment of goals and variables to be controlled, and definition of specifications
- Establishment of control goals
- Identification of the variables to be controlled
- Write the specifications
2. System definition and modeling
- Establishment of the system configuration
- Obtaining a model of the process, the actuator and the sensor
3. Control system design and integrated system simulation and analysis
- Description of a controller and selection of key parameters to be adjusted
- Optimization of the parameters and analysis of the performance
Prepared by Dr. Haitham Alasha'ary 4
Al-Hussein Bin Talal University Department of Computer Engineering
Course: Control Systems Dr. Haitham Alasha’ary
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