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Lecture 01 PFC August 21 Fall 2023

The document outlines the course on Principles of Feedback Control, covering system modeling, analysis, and design of control systems. It includes grading procedures, major textbooks, and learning outcomes focused on system behavior and controller design. Additionally, it distinguishes between open-loop and closed-loop control systems, explaining their functionalities and applications in various fields.

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Ammar Jaffri
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12 views31 pages

Lecture 01 PFC August 21 Fall 2023

The document outlines the course on Principles of Feedback Control, covering system modeling, analysis, and design of control systems. It includes grading procedures, major textbooks, and learning outcomes focused on system behavior and controller design. Additionally, it distinguishes between open-loop and closed-loop control systems, explaining their functionalities and applications in various fields.

Uploaded by

Ammar Jaffri
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Principles of Feedback Control

Major Course Content: Lecture 1:


Introduction
• Modelling (a system mathematically)
• Analysis (of the given system) • Dynamic Systems
• Design (to control the system) • Control Systems

Grading Procedure
Homework 15%
SEL + Quiz 15%
Midterm I A+B 20%
Midterm II A+B 20%
Final Exam 30% Dr. Shafayat Abrar, Habib University
[email protected]
Major / Reference Textbooks
Major Text: Nise, N.S., "Control Systems Engineering", 7th Ed., Wiley, 2015.
2nd Major Text: Dorf, R.C., "Modern Control Systems", 13th Ed., Pearson, 2016.

Reference Texts:
Kuo, B.C., "Automatic Control Systems", 10th Ed., McGraw-Hill, 2017.
Ogata, K., "Modern Control Engineering", 5th Ed., Pearson, 2009.
Franklin, G.F., "Feedback Control of Dynamic Systems", 7th Ed., Pearson, 2014.
Course Learning Outcomes
CLO1: Model the behavior of the given (dynamic) system
* Block diagram representation
* Ordinary differential equations
CLO2: Analyze the behavior of the system
* Steady-state behavior
* Transient behavior
* Stability (and Sensitivity)
CLO3: Modify the behavior of the system to meet given specifications
* Design controllers

So, the course is all about:

1. Analyze the behavior of the system (by modelling and analysis).


2. Modify the behavior of the given system by designing a suitable
controller to meet some user specifications.
System (or Process or Plant):
System is a combination of components acting together to perform a
specified objective. The components or interacting elements have an
input-output (cause-and-effect) relationships.
The input is the stimulus, excitation or command applied to a system.
The output is the response produced by the input.

Example: A direct-current
(DC) motor where an
input electric voltage
causes output angular
torque delivered to the
mechanical load attached
to the motor’s shaft.
Bicycle is a System
Toaster is a System
Stabilizing Feeding Spoon is a System
Abbasi, Mahdi, and Aref Afsharfard. "Modeling and experimental
study of a hand tremor suppression system." Mechanism and
Machine Theory 126 (2018): 189-200.
Motivational Videos

Athletic robots
https://www.youtube.com/watch?v=fRj34o4hN4I

Drones/Quadcopters
https://www.youtube.com/watch?v=w2itwFJCgFQ

Autonomous driving
https://www.youtube.com/watch?v=cdgQpa1pUUE

Surgical robots
https://www.youtube.com/watch?v=0XdC1HUp-rU
Control Systems
The word control is usually taken to mean regulate, direct, or
command.
A control system is an arrangement of physical components
connected or related in such a manner as to manage, command,
direct, or regulate a system in order to modify the behavior of
the original system.
Control Systems
in Electrical Engineering
• An electric switch is the most fundamental control system,
controlling the flow of electricity. By definition, the apparatus
or person nipping the switch is not a part of this control
system. Flipping the switch on or off may be considered as the
input. That is, the input can be in one of two states, on or off.
The output is the flow or non-flow (two states) of electricity.

• In electronics and electrical systems, where the desired value


of the controlled outputs is more or less fixed and the main
problem is to reject disturbance and other undesirable inputs,
the control system is referred to as regulator or stabilizer. The
desired output of regulator is called set-point.
Control Systems in
Industries and Military
• In industries (chemicals, petroleum, medicine, metallurgy, fuel,
etc.), we need to control humidity, temperature, pressure, flow
rate, liquid level, chemical composition, etc. Control mechanisms
are usually referred to as Process Control.
• In military, control systems are usually referred to as servo-
mechanism which primarily aims at controlling position, velocity or
acceleration of moving or stationed bodies. Servo means Servant.
• Auto-pilot airplanes, gun-positioning systems, rocket control,
space station, radar-antenna based tracking are servo-mechanism.
Servo-mechanism is a command following system wherein the
controlled attribute of the system is required to follow a given
command.
Open-Loop and Closed-Loop
Control Systems

Control systems are classified into two general categories:


open-loop and closed-loop systems.

• An open-loop control system is one in which the control


action is independent of the output.
• A closed-loop control system is one in which the control
action is somehow dependent on (or aware of) the output.
Open-Loop Control System
Closed-Loop Control System
Open-Loop Control Systems

• An Open-loop control system is a sort of non-feedback


system, where the output has no influence or effect on the
control action of the input signal.
• In other words, in an open-loop control system the output is
neither “measured” nor “fed back” for comparison with the
input. Therefore, an open-loop system is expected to faithfully
follow its input command or set point regardless of the final
result.
• A disadvantage of open-loop systems is that they are poorly
equipped to handle disturbances or changes in the conditions
which may reduce its ability to complete the desired task.
Example of an Open-Loop Control System
Many modern devices employ a rotating disk held at a constant speed. To obtain
disk rotation, we select a DC motor as the actuator because it provides a speed
proportional to the applied motor voltage. For the input voltage to the motor, we
select an amplifier that can provide the required power. An open-loop operation
is shown below:
Closed Loop Control Systems
• A Closed-loop Control System uses the concept of an open loop
system as its forward path but has one or more feedback loops or
paths between its output and its input. The reference to
“feedback”, simply means that some portion of the output is
returned “back” to the input to form part of the systems excitation.
• Closed-loop systems are designed to automatically achieve and
maintain the desired output condition by comparing it with the
actual condition. It does this by generating an error signal which is
the difference between the output and the reference input. In
other words, a “closed-loop system” is a fully automatic control
system in which its control action being dependent on the output in
some way.
Closed-Loop Control System

The controller generates manipulated variable by usually taking


difference of command input and feedback signal. Appropriate scaling
may be required before subtraction so that the command input and the
feedback signal are similar in dimension. The difference is sometime
done by explicit arithmetic subtraction in digital format or may be done
in analog circuits by using op-amp based subtractor.

Note that due to feedback mechanism, controller is somehow aware of


the presence of disturbance and the actual state of system output.
Closed-Loop Speed Control of Rotating Disk
Generic Configuration of
Feedback Control System
GA is the actuator part of the plant GP which controller D has access to.
Suppose plant is a radar, and the controller is supposed to rotate the radar
at the desired angular position, the actuator GA is the motor whose shaft
is connected to the platform on which radar is sitting upon.

The final block Z is sometime required. Like in the control of motors, if the
angular position of the shaft is the desired output q, while the controller is
adjusting the corresponding angular speed (because the tachometer is
giving the angular speed), then the block Z must contain an integrator to
convert the angular speed into angular position.
Flush Tank: A Feedback Control System
• Flush tank is a regulator system that maintains the water level H
(output) at a preset height (input).
• Water level is thus the controlled variable and is clearly affected by the
disturbance - the outflowing water stream.
• The manipulated variable is the inflowing water stream.
• The controller is responsible to minimize the error ( ).
• The main principle of controller is to make the manipulated variable
dependent on the error in a closed-loop fashion.
Terms and Concepts

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