C o n t r o l Systems

Lecture /1/

Robotics and Intelligent Systems Department

Assistant Professor Isam Asaad
Objectives
 In this lecture, we lead you through a study of the basics of control
systems.
 After completing the chapter, you should be able to
 Understand the principles and purpose of control engineering
 Examine examples of control systems

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What is “Control”?
 Make some object (called system, or plant) behave as we desire.
 Imagine “control” around you!
 Room temperature control
 Car driving
 Voice volume control
 Balance of bank account
 Epidemics control
 “Control” (move) the position of the PC mouse pointer
 etc.

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What is “Automatic Control”?
 Not manual!
 Why do we need automatic control?
 Convenient (room temperature, laundry machine)
 Dangerous (hot/cold places, space)
 Impossible for human (nanometer scale precision positioning, work inside the
small space that human cannot enter like ICs manufacturing process).
 It exists in nature (human body temperature control)
 High efficiency (engine control)
 Many examples of automatic control around us
 Applications:
 Robotic systems, Medical tools, Aircraft, Industrial processes, Automobiles.

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Definitions.
 System - A system is a combination of components
( H a r d w a r e / S o f t w a r e ) that act together and perform a certain
objective.

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Definitions.
Control System – An interconnection of components forming a system
configuration that will provide a desired response.

r(t) y(t)
Set point Controlled Variable
Reference input u(t) or Control Signal
or Control Command

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Definitions.

Plant/Process – A plant may be a piece of equipment, perhaps just

a set of machine parts functioning together, or the device, or system
under control. The input and output relationship represents the
cause-and-effect relationship of the process.

Input Output
Process

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Definitions.
 Disturbance - A disturbance is a signal that tends to adversely affect
the value of the output of a system. If a disturbance is generated within
the system, it is called internal, while an external disturbance is
generated outside the system and it is treated as an input.
 Controlled Variable – is the quantity or condition that is measured and
controlled. the controlled variable is the output of the system.
Actuator – Final control element that receives the control signal u(t) and
gives an output (manipulated variable) to the process’s input.
 The Manipulated Variable – is the quantity or condition that is varied by
the Actuator so as to affect the value of the controlled variable.

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Definitions.
 Control - means measuring the value of the output variable of the
system and applying the manipulated variable to the system to correct or
limit deviation of the measured value from a desired value.
 Feedback Control - Feedback control refers to an operation that tends
to reduce the difference between the output of a system and some
reference input, and that does so on the basis of this difference.
Transducer – a device used to measure the magnitude of the controlled
variable y(t).
Error signal e(t) – Difference between set point and measured controlled
variable.

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Control Objectives

Tracking: controller must make the

controlled variable go from a value to
another desired value.

Regulation: controlled Variable is at

the desired value, but it is affected by
some disturbance, and the controller
must take it back to the desired value.

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Classification of control systems:
Depending on the control strategy
1. Manual v/s automatic
2. Open loop v/s closed loop
3. Feed back v/s feed forward

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Manual Liquid-level control system

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.

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Automatic Liquid-level control system 17
 Automatic Liquid-level control system
Manipulated
Controlled variable
Control Signal/Command variable

Desired Plant Actual

Level Pneumatic Level
controller Water Tank
Valve

Reference input

Feedback Signal
Float

Feedback Element

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Open-loop control systems
Those systems in which the output has no effect on the control action are called
open-loop control systems.
 In other words, in an open-loop control system the output is neither measured
nor fed back for comparison with the input.
 In the presence of disturbances, an open-loop control system will not perform the
desired task.
 Open-loop control can be used, in practice, only if the relationship between
the input and output is known and if there are neither internal nor external
disturbances.

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Open-loop control systems

Disturbance

Plant output or
input or controlled
reference Control Signal variable
Controller Actuator Process

An open-loop system

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Examples:
TV Remote Control.
Electric Hand Drier.

Timer Based Systems:

Traffic lights
Automatic Water Faucet.
Washing machine.
Electric Bulb.

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Example: laundry machine

 A laundry machine washes clothes, by setting a program.

 A laundry machine does not measure how clean the clothes become.
 Control without measuring devices (sensors) are called open-loop
control.

Program setting Laundry Washed clothes

(Input) Machine (Output)

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Open-loop control systems
Advantages:
 Simple construction, ease of maintenance, and less expensive.
 There is no stability concern.
 Convenient when output is hard to measure or measuring the output precisely
is economically not feasible. (For example, in the washer system, it would be
quite expensive to provide a device to measure the quality of the washer's output,
cleanliness of the clothes).

Disadvantages:
 Disturbances cause errors, and the output may be different from what is desired.
 Recalibration is necessary from time to time.

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Closed-loop control systems
Feedback control systems are often referred to as closed-loop control systems.
 In practice, the terms feedback control and closed-loop control are used
interchangeably.
 In a closed-loop control system the actuating error signal, which is the
difference between the input signal and the feedback signal , is fed to the
controller so as to reduce the error and bring the output of the system to a
desired value.

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 Closed-loop (feedback) control
error or
actuating signal
Disturbance

summing junction Plant

output or
input or or comparator
Control controlled
reference input filter +

Signal variable
Controller Actuator Process
(transducer)
_

sensor or
output transducer

sensor noise
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 Closed-loop (feedback) control [Real life]
error or
actuating signal
Disturbance

summing junction
Plant
output or
input or or comparator
Control controlled
reference input filter +

Signal variable
Controller Actuator Process
(transducer)
_

sensor or
output transducer

y(t)
sensor noise 14
Examples:
Thermostat Heater
Sun seeker solar system
Auto Engine
Robots/Quadcopter balance system
Automatic Clothes Iron
A human traveling on the road
Automatic voltage regulator (within generators)
Dental chair compressor

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Closed-loop control systems
Advantages:
 High accuracy
 Not sensitive to disturbance (less than open loop)
 Controllable transient response
 Controllable steady state error

Disadvantages:
 More Complex, and More Expensive.
 Possibility of instability.
 Need for output measurement.
 Recalibration is necessary from time to time.
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Case Study Antenna Azimuth Position Control System 32
Case Study Antenna Azimuth Position Control System 33
Case Study Antenna Azimuth Position Control System 34
Example1:
Water tank level control
e: actuating error
u: control signal

Water tank level control system

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Example2:
Blood Glucose Control in Diabetes Patients

Insulin Pump Control System (Open Loop VS. Closed Loop)

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 Example3:
Mean arterial pressure (MAP)

How do you manage mean arterial pressure? This is usually done with:
1- Intravenous fluids or blood transfusions to increase blood flow.
2- medications called “vasopressors” that tighten blood vessels, which can increase blood pressure and make the heart
beat faster or pump harder. 37
Example4:
Water tank level control

Water tank level control system

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Example5: Car control system (Direction)

Car control system (Direction) 39

Example6: Car control system (Speed)

Car control system (Speed)

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Example7: Car control system (Direction + Speed)

Car control system (Direction + Speed) 41

Example7: Car control system (Direction + Speed)
Car control system (Direction) or Car
control system (Speed) :
• Single-input single-output (SISO) control system.
• A single output is controlled according to a single input.
Car control system (Direction + Speed):
• Multi-input Multi-output (MIMO) control system.
• Multivariable system
• One of the inputs is intended to control a specific output.
• In fact, each input can affect more than one output, and this is called
coupling or interaction.
• The car's driving control system (Direction + Speed) can be divided into two
SISO systems for design purposes, neglecting mutual interaction.
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Example8: House automatic heating system:

Baby incubator
On-Off Egg incubator
Control Heat sterilizers
Heating/cooling devices

Parts of closed loop house automatic heating system

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Example8: House automatic heating system:

Parts of closed loop house automatic heating system

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Example8: House automatic heating system:

Closed loop house automatic heating system

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Example 9: DC motor speed control: Open-Loop
Examle10: CD player speed control: Closed-Loop 48
Examle11: Disturbance Rejection 49

https://www.youtube.com/watch?v=aSwCMK96NOw
Feed forward – Feed back Control
• The main limitation of the feed-back control system is the need for the controlled variable to
deviate from the desired value in order to be able to compensate for the disturbance.
• This is because feed-back control depends on the error between the set point and the controlled
variable.
• This means that once the process is exposed to a disturbance, it will spread through it and force
the controlled variable to deviate from the set point, so that the correction action occurs (noise is
measured only through its effect on the output).
• As for feed-forward control, disturbances are compensated before they affect the controlled
variable.
• As disturbances are measured before they enter the process, then the value of the operating
variable required to maintain the controlled variable at the desired value is determined.
• The success of feedforward control depends on:
• Measuring noise (this method does not work if the noise is not measurable).
• Estimating the effect of disturbances on the controlled variable so that the error can be compensated
appropriately.
• Accuracy of the mathematical model of the process to reduce the effect of uncertainty .

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Feed forward – Feed back control

Feed forward – feed back control system

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Feed forward – Feed back control Example:

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References

• Control Systems Course, professor Aniket Khandekar, Zeal

college of engineering and Research, Pune.
• Modern Control Systems, Prof. Amr E. Mohamed, University of
Helwan.
• Katsuhiko Ogata - System Dynamics (4th Edition) (2003,
Prentice Hall)
• Gopal, M. - Digital Control and State Variable Methods. Tata
McGraw Hill (2003).
• Gopal, M. - Control Systems_ Principles and Design 3rd edition-
Tata McGraw Hill Publishing Co. Ltd. (2008)
.2008 ،‫ جامعة تشرين‬،‫ بالل عبد الكريم شيحا‬.‫ د‬/1/ ‫• التحكم اآللي‬

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