MCE 514 : Modern Control Systems

Course Overview
Engr. Jibril Abdullahi Bala
Department of Mechatronics Engineering,
School of Electrical Engineering and Technology,
Federal University of Technology Minna.
About the Lecturer

 Area of Specialisation
 Intelligent Control Systems
 Autonomous Vehicles
 Machine Learning
 Computer Vision
 Embedded Systems

 Contact Info
 Office: Room 1, Mechatronics Engineering Wing, School of Information and
Communication Technology Complex.
 Preferred Meeting Hours: Tuesdays 10am to 1pm
 Email: [email protected]

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Course Details

 Course Name: Modern Control Systems

 Course Code: MCE 514
 Time: Tuesdays 2pm to 4 pm
 Venue: NE LRM 110
 Evaluation Methods:
 Assessment (40%) : Comprising of Quizzes, Assignments, Projects, and Mid-
Semester Examination.
 Examination (60%) : Final Examination

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Course Outline

 Review of classical control systems: Control system performance and stability, root
locus analysis and design, frequency response analysis and design.
 Advanced Classical Control Method: PID control tuning using Ziegler-Nichols rule,
Modified PID controller, Two-DOF control, Robust PID control, robust internal model
control, the pseudo-quantitative feedback system.
 Full State Feedback Control Design: Controllability and observability, controller design of
regular system via pole placement, Ackerman's formula, and pole placement design of
servo system.
 State Observer: Full-order observer, pole placement design of system with full-order
observer, reduced-order observer, pole-placement design of system with reduced-order
observer.
 Optimal Control: Types of optimal control problems, selection of performance index, linear
quadratic optimal regular.
 Introduction to Nonlinear Control: Common nonlinearities in mechatronics system,
describing function, Lyapunov stability, Feedback linearization.

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Recommended Texts

 Norman S. Nise (2011): Control Systems Engineering : John Wiley and

Sons.
 W. Bolton (2003): Mechatronics: Electronic Control Systems in
Mechanical and Electrical Engineering: Prentice Hall.
 Katsuhiko Ogata (2010): Modern Control Engineering: Prentice Hall.
 Derek Atherton (2009): Control Engineering: An introduction with the
use of MATLAB. Derek Atherton and Ventus Publishing ApS.

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Control Systems

 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).

Input error
+ Controller Process Output
-

Feedback

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 Types 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

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Types of Control Systems

 Natural Control System

 Universe
 Human Body

 Manmade Control System

 Vehicles
 Aeroplanes

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Types of Control Systems

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

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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

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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.

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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

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Closed Loop Control Systems

 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
closed loop control system.
 An example is a Servo System (or
servomechanism), which is a
feedback control system in which Antenna Positioning System
the output is some mechanical
position, velocity or acceleration.
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Linear Control Systems
• 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
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u(t) 14
Linear Control Systems

• Linear control System Does not exist in practice.

• Linear control systems are idealized models fabricated by the
analyst purely for the simplicity of analysis and design.
• When the magnitude of signals in a control system are limited
to range in which system components exhibit linear
characteristics the system is essentially linear.

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Linear Control Systems

 A linear system exhibits the additivity property:

𝑥1 → 𝑦1 and 𝑥2 → 𝑦2 then 𝑥1 + 𝑥2 → 𝑦1 + 𝑦2
 It also must satisfy the scaling or homogeneity property:

𝑥 → 𝑦 then 𝑘𝑥 → 𝑘𝑦
 These can be combined into the superposition theorem

𝑥1 → 𝑦1 and 𝑥2 → 𝑦2 then 𝑘1 𝑥1 + 𝑘2 𝑥2 → 𝑘1 𝑦1 + 𝑘2 𝑦2

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Nonlinear Control Systems

 When the input and output has nonlinear relationship the

system is said to be nonlinear.
 These systems do not obey the superposition principle
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
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Time Variant vs Time Invariant Systems

• When the characteristics of the system do not depend upon

time itself then the system is said to time invariant control
system.

y (t )  2u (t )  1
• Time varying control system is a system in which one or more
parameters vary with time.

y(t )  2u(t )  3t

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Other Types of Control Systems

 Deterministic and Stochastic Control Systems

 Continuous and Discrete Control Systems
 Classical and Modern Control Systems
 Robust Control Systems
 Intelligent Control Systems
 Adaptive Control Systems
 Predictive Control Systems
 Optimal Control Systems
 Multi Agent Control Systems

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