Automatic Control Systems

Lecture
Introduction to Automatic Control System

Dr. Ma’moun Al-Smadi

email: [email protected]
 What is Control System?
• A system Controlling the operation of another
system.
• A system that can regulate itself and another
system.
• A control System is a device, or set of devices
to manage, command, direct or regulate the
behaviour of other device(s) or system(s).
 Definitions

System – An interconnection of elements and devices for a desired purpose.

Control System – An interconnection of components forming a system

configuration that will provide a desired response.

Process – The device, plant, or system under control. The input and
output relationship represents the cause-and-effect relationship of the
process.

Input Process Output

Definitions

Controlled Variable– It is the quantity or condition that is measured

and Controlled. Normally controlled variable is the output of the
control system.

Manipulated Variable– It is the quantity of the condition that is varied

by the controller so as to affect the value of controlled variable.

Control – Control means measuring the value of controlled variable of

the system and applying the manipulated variable to the system to
correct or limit the deviation of the measured value from a desired
value.
 Definitions
Manipulated Variable

Input
or Output
Set point Controller Process Or
or Controlled Variable
reference

Disturbances– A disturbance is a signal that tends to adversely affect

the value of the system. It is an unwanted input of the system.
• If a disturbance is generated within the system, it is called
internal disturbance. While an external disturbance is generated
outside the system.
Automatic Control Systems

Lecture- 2
Introduction to Automatic Control Systems

Dr. Ma’moun Al-Smadi

email: [email protected]
 Types of Control System
• Natural Control System
– Universe
– Human Body
• Manmade Control System
– Vehicles
– Aeroplanes
 Types of Control System
• Manual Control Systems
– Room Temperature regulation Via Electric Fan
– Water Level Control

• Automatic Control System

– Room Temperature regulation Via A.C
– Human Body Temperature Control
 Types of Control System
Open-Loop Control Systems
Open-Loop Control Systems utilize a controller or control actuator to
obtain the desired response.
• Output has no effect on the control action.
• In other words output is neither measured nor fed back.

Input Output
Controller Process

Examples:- Washing Machine, Toaster, Electric Fan

 Types of Control System
Open-Loop Control Systems

• Since in open loop control systems reference input is not

compared with measured output, for each reference input there
is fixed operating condition.

• Therefore, the accuracy of the system depends on calibration.

• The performance of open loop system is severely affected by the

presence of disturbances, or variation in operating/
environmental conditions.
 Types of Control System
Closed-Loop Control Systems

Closed-Loop Control Systems utilizes feedback to compare the actual

output to the desired output response.

Input Output
Comparator Controller Process

Measurement

Examples:- Refrigerator, Iron

 Types of Control System
Multivariable Control System

Temp Outputs
Humidity Comparator Controller Process
Pressure

Measurements
 Types of Control System
Feedback Control System

• A system that maintains a prescribed relationship between the output

and some reference input by comparing them and using the difference
(i.e. error) as a means of control is called a feedback control system.

Input + error Output

Controller Process
-

Feedback

• Feedback can be positive or negative.

 Types of Control System
Linear Vs Nonlinear Control System

• A Control System in which output varies linearly with the input is called a
linear control system.

u(t) Process y(t)

y(t ) = −2u(t ) + 1 y(t ) = 3u(t ) + 5

y=3*u(t)+5
y=-2*u(t)+1
35
5

30
0
25
-5

y(t)
y(t)

20
-10
15

-15
10

-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t)
u(t)
 Types of Control System
Linear Vs Nonlinear Control System

• When the input and output has nonlinear relationship the system is said
to be nonlinear.

Adhesion Characteristics of Road

0.4
Adhesion Coefficient

0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08
Creep
 Types of Control System
Linear Vs Nonlinear Control System
• Linear control System Does not
exist in practice. Adhesion Characteristics of Road

0.4
• Linear control systems are

Adhesion Coefficient
idealized models fabricated by
0.3
the analyst purely for the
simplicity of analysis and design. 0.2

• When the magnitude of signals 0.1

in a control system are limited to
range in which system 0
0 0.02 0.04 0.06 0.08
components exhibit linear Creep
characteristics the system is
essentially linear.
 Types of Control System
Linear Vs Nonlinear Control System
• Temperature control of petroleum product in a distillation column.

°C

Temperature
500°C

Valve Position

0% 25% 100%
% Open
 Types of Control System
Time invariant vs Time variant

• When the characteristics of the system do not depend upon time

itself then the system is said to time invariant control system.
‫ﻋﻨﺪﻣﺎ ﻻ ﺗﻌﺘﻤﺪ ﺧﺼﺎﺋﺺ اﻟﻨﻈﺎم ﻋ� اﻟﻮﻗﺖ‬
�
‫ﻋﻨﺪﺋﺬ ُ�ﻘﺎل إن اﻟﻨﻈﺎم ﻫﻮ ﻧﻈﺎم ﺗﺤ�ﻢ ﺛﺎ�ﺖ زﻣﻨ�ﺎ‬
ٍ ،‫ﻧﻔﺴﻬﺎ‬.
y(t ) = −2u(t ) + 1

• Time varying control system is a system in which one or more

parameters vary with time.
‫ﻧﻈﺎم اﻟﺘﺤﻜﻢ اﻟﻤﺘﻐﯿﺮ زﻣﻨﯿًﺎ ھﻮ ﻧﻈﺎم ﺗﺨﺘﻠﻒ ﻓﯿﮫ ﻣﻌﻠﻤﺔ أو أﻛﺜﺮ‬
y(t ) = 2u(t ) − 3t ‫ﻣﻊ ﻣﺮور اﻟﻮﻗﺖ‬.
 Types of Control System
Continuous Data Vs Discrete Data System

• In continuous data control system all system variables are function of a

continuous time t.
x(t)

• A discrete time control system involves one or more variables that are
known only at discrete time intervals.
X[n]

n
 Classification of Control Systems
Control Systems

Natural Man-made

Manual Automatic

Open-loop Closed-loop

Non-linear linear
Non-linear linear

Time variant Time invariant

Time variant Time invariant
Examples of Control Systems
Water-level float regulator
Examples of Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems