Feedback Control System

(MODULE 1)
Introduction and Definition of
Control System
 I. Basic Concepts of Control(5)
CONTROL means the specific actions to influence a process
in order to start it, to appropriately maintain it, and to stop
it.
Control is based on information obtained from the process
and its environment through measurements. Measuring
instruments are needed to measure the different physical
quantities involved in the control.
Based on the knowledge of the control’s aim and on the
information obtained from the process and its environment,
a decision is made about the appropriate manipulation of
the process input.
Control can be performed manually or automatically

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I. Basic Concepts of Control(5)

Figure 1.1 Level Control by Hand Figure 1.2 Automatic Level Control
(Manual Control) in a Water Tank
(Automatic Control)

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 II. Basic Elements of a Control Process(5)
• SENSING refers to gaining information about the process
to be controlled and its environment.(5)
• DECISION MAKING refers to processing of information and
based on the aim of the control, will take the decisions
about the necessary manipulations.(5)
• DISPOSITION refers to giving a command for
manipulation.(5)
• SIGNAL PROCESSING determines the characteristics of
intervention or action.(5)
• INTERVENTION /ACTION refers to the modification of the
process input according to the disposition.(5)

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 II. Basic Elements of a Control Process(5)
The individual operations are executed by the appropriate
functional units as shown in Figure 1.3 below

Disturbance
Control Goal Manipulated
Process
Input Controlled
Decision or Variable
Information Actuator PROCESS
Processing

Sensing or
Information
Figure 1.3 Functional Diagram of a
Gathering
Control System

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 III. Signals and their Classification(5)
To control a process, it is required to measure its changes.
Changes of the process occur as consequences of external
and internal effects. The features of the process which
manifest its motion, and also the external and internal
effects, are represented by signals

Signals are classified into four aspects:

1. Temporal Evolution
2. Set of Value
3. Representation of Information
4. Definiteness of the Signal Value

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 III. Signals and their Classification(5)
Classification according to Temporal Evolution:
a. CONTINUOUS, Refers to a signal if it is continuously
maintained without interruption over a given range of
time.
b. DISCRETE-TIME or SAMPLED. Refers to a signal if it
provides information only at determined points in time
in a given duration of time

Classification according to its Set of Values:

a. CONTIGUOUS, Refers to a signal if its set of values is
contiguous.
b. FRACTIONAL. Refers to a signal if its set of value is non-
contiguous and can take only definite values.

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 III. Signals and their Classification(5)
Classification according to Form of Representation of
Information:
a. ANALOG, Refers to a signal if the value of the signal
carrier directly represents the information involved.
b. DIGITAL. Refers to a signal if the information is
represented by digits which are the coded digital values
of the signal carrier.

Classification according to Definiteness of the Signal Value:

a. DETERMINISTIC, Refers to a signal if its if its value can
definitely be given by a function of time.
b. STOCHASTIC. Refers to a signal if its evolution is
probabilistic, which can be described using statistical
methods.

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 IV. History of Control
Control engineering even today is a developing discipline.
New facilities and new techniques raise new theoretical
questions and open up the way to novel applications.
Applying negative feedback is not a new principle, however:
the ancient Greeks already used it. Looking back at the
history of control engineering, some tendencies can be
observed. (5)
The first feedback system to be invented in modern Europe
was the temperature regulator of Cornelis Drebbel (1572–
1633) of Holland [1]. Dennis Papin [1647–1712] invented
the first pressure regulator for steam boilers in 1681.
Papin’s pressure regulator was a form of safety regulator
similar to a pressure-cooker valve.(6)

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 IV. History of Control
Aside from the development of such inventions, Table 1.1
summarized some selected historical developments Control
Systems(6)
Table 1.4.1 Selected Historical Developments of Control Systems
James Watt’s steam engine and governor developed. The “Watt steam
engine” is often used to mark the beginning of the Industrial Revolution in
1769
Great Britain. During the Industrial Revolution, great strides were made in
the development of mechanization, a technology preceding automation.
Eli Whitney’s concept of interchangeable parts manufacturing
1800 demonstrated in the production of muskets. Whitney’s development is
often considered to be the beginning of mass production.
J. C. Maxwell formulates a mathematical model for a governor control of a
1868
steam engine.
Henry Ford’s mechanized assembly machine introduced for automobile
1913
production.

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 IV. History of Control
Table 1.4.1 Selected Historical Developments of Control Systems
1927 H.W. Bode analyzes feedback amplifiers.
1932 H. Nyquist develops a method for analyzing the stability of systems.
Numerical control (NC) developed at Massachusetts Institute of
1952
Technology for control of machine-tool axes.
George Devol develops “programmed article transfer,” considered to be
1954
the first industrial robot design.
First Unimate robot introduced, based on Devol’s designs. Unimate
1960
installed in 1961 for tending die-casting machines.
1970 State-variable models and optimal control developed.
1980 Robust control system design widely studied.
1990 Export-oriented manufacturing companies emphasize automation.
Feedback control widely used in automobiles. Reliable, robust systems
1994
demanded in manufacturing.

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 IV. History of Control
Table 1.4.1 Selected Historical Developments of Control Systems
First ever autonomous rover vehicle, known as Sojourner, explores the
1997
Martian surface.
1998
Advances in micro- and nanotechnology. First intelligent micromachines
to
are developed and functioning nanomachines are created.
2003

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 V. Control Systems(6)
A control system is an interconnection of components
forming a system configuration that will provide a desired
system response.
The basis for analysis of a system is the foundation
provided by linear system theory, which assumes a cause–
effect relationship for the components of a system.
Because of this, a component or process to be controlled
can be represented by a block.
The input–output relationship represents the cause-and-
effect relationship of the process, which in turn represents
a processing of the input signal to provide an output signal
variable, often with a power amplification

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 V. Control Systems
There are two types of Control System:
1. Open Loop Control System
2. Closed Loop Control System

OPEN LOOP CONTROL SYSTEM(7)

An Open Loop Control System is one in which the control action is
independent of the output.
Features of an Open Loop Control System:
1. Their ability to perform accurately is determined by their
calibration. To calibrate means to establish or reestablish the
input-output relation to obtain a desired system accuracy
2. They are not usually troubled with problems of instability.

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 V. Control Systems

Input Process Output

Figure 1.5.1 Typical Block Diagram of an Open Loop

Control System

Desired
Output Actuating Device Process Output
Response

Figure 1.5.2 Open Loop Control System whose input is a

by-product of a Desired Output Response
(without feedback)

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 V. Control Systems
CLOSED LOOP CONTROL SYSTEM(7)
A Closed Loop Control System is one in which the control
action is somehow dependent of the output. Closed Loop
Control Systems are more commonly called Feedback
Control Systems.

Comparison Controller Process

Input Output

Measurement

Figure 1.5.3 Closed Loop Control System

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 VI. Feedback(7)
FEEDBACK is that characteristic of closed loop control systems
which distinguishes them from open loop systems. It is the
property which permits the output (or some other controlled
variable) to be compared with the input to the system (or an input
to some other situated component or subsystem) so that the
appropriate control action may be formed as some function of the
output and input.

Characteristics of Feedback:
1. Increased Accuracy.
2. Tendency toward oscillation or instability.
3. Reduced sensitivity of the ratio of output to input to variations
in system parameters and other characteristics.
4. Reduced effects of nonlinearities.
5. Reduced effects of external disturbances or noise.
6. Increase bandwidth.

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 VII. Control Systems Engineering(7)
Control Systems Engineering consists of analysis and
design of control system configurations.
Analysis is the investigation of the properties of an existing
design.
Design problem is the choice and arrangement of system
components to perform a specific task,

There are two methods exist for design:

1. Design by Analysis. It is accomplished by modifying the
characteristics of an existing or standard system
configuration.
2. Design by Synthesis. It is defining the form of the system
directly from its specification.

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 VIII. Control Systems Models or Representations(7)

To solve a control systems problem, we must put the

specifications or description of the system configuration
and its components into a form amenable to analysis or
design.
Three basic representations (models) of components and
systems are extensively used in the study of control systems
which will be tackled in the succeeding modules:
1. Mathematical Models, in the form of differential
equations, difference equations and/or other
mathematical relations, for example, Laplace & Z-
transforms.
2. Block Diagrams.
3. Signal Flow Graphs

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 Appendix I. References
1) Nise, Norman., (2011) Control Systems Engineering, 6th Ed., John Wiley and
Sons Inc
2) Dorf, Richard C. and Bishop, Robert H. (2008) Modern Control Systems,
11th Ed., Prentice Hall
3) Philips, C. and Harbor R. (2007) Feedback Control System Prentice Hall
4) Nagrath I. J. and Gopal M. Control System Engineering, Tunbridge Well:
Anshan LTD
5) László Keviczky · Ruth Bars · Jenő Hetthéssy · Csilla Bányász Control
Engineering, Advanced Textbooks in Control and Signal, Springer
6) Karl Johan Åström and Richard M. Murray (Version v2.11b, 28 September
2012), Feedback Systems, An Introduction for Scientists & Engineers,
Princeton University Press
7) DiStefano III, Stubberud, Williams, Schaum’s Outline Theory & Problems of
Feedback and Control Systems (2nd Edition), McGraw Hill 1995

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 Appendix II. Definition of Terms
• BANDWIDTH The bandwidth of a system is a frequency
response measure of how well the system responds to (or
filters) variations (or frequencies) in the input signal.(7)
• CONTROL means the specific actions to influence a
process in order to start it, to appropriately maintain it,
and to stop it. It is based on information obtained from
the process and its environment through
measurements.(5)
• CONTROL VARIABLES (MANIPULATED VARIABLES) refers
to input signals which are supposed to be used as inputs
modifying the output of the process.(5)
• CONTROL SYSTEM is the joint system made up of
interconnected processes to be controlled as well as the
control equipment.(5)

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 Appendix II. Definition of Terms
• DISTURBANCES are other input variables.(5)
• FEEDBACK refers to a situation in which two (or more)
dynamical systems are connected such that each system
influences the other and their dynamics are thus strongly
coupled. The term dynamical system refers to a system
whose behavior changes over time.(6)
• INPUT is the stimulus, excitation, or command applied to
a control system, typically from an external source, usually
in order to produce a specified response from the control
system.(7)
• OUTPUT is the actual response obtained from a control
system. It may or may not be equal to the specified
response implied by the input.(7)

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 Appendix II. Definition of Terms
• SIGNAL it is a physical quantity, or a change in a physical
quantity which carries information. It can acquire,
transfer, as well as store information. Examples of
physical forms are current, voltage, & temperature. (5)

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 END OF PRESENTATION

ONE HEART.
ONE COMMITMENT.
ONE LIFE.
1719 – 2019
#300LaSalle

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The Lasallian Prayer

“I will continue, O my God,

to do all my actions for the love of Thee.”

Saint John Baptist de La Salle, pray for us.

Live Jesus in our hearts, forever.

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Ang Panalanging Lasalyano

“Ipagpapatuloy ko, O Diyos,

ang lahat ng aking gawain
upang Ikaw ay lalong pakaibigin.”

San Juan Bautista de La Salle, ipanalangin mo kami.

Hesus, manahan ka sa aming puso, magpakailanman.

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