ME 3001

SYSTEM DYNAMICS AND CONTROL

 AIM OF THE COURSE
The aim of the course is to help students to understand how control might be
used to analyze, design and implement control functions for technical systems.
Furthermore, to widen the student’s perspective on technical systems by
understanding how mechanics, electronics, computers, and control interact.
This insight gives a system perspective, which might be used to improve and
develop new products and systems that offer new functionality, increased
performance, and is more environmentally friendly.
CONTENT OF THE COURSE
Introduction: Examples of control problems, dynamic systems, open and closed
loop control.
Mathematical principles of construction of dynamic models for technical
systems. Laplace transforms.
Dynamic models: Transfer functions, block diagrams, transient and frequency
analysis.
Analysis of feedback systems: Stability, Performance and accuracy, transient and
stationary responses.
Design of control systems: Fundamental principles of controller design.
Design of basic controllers (PID) , cascade and feedforward control.
Textbooks and References
Textbooks

1. R. Dorf et al., Modern Control Systems, Pearson.

2. K. Ogata, Modern Control Engineering, Pearson.

3. İ. Yüksel, Otomatik Kontrol: Sistem Dinamiği ve Denetim

Sistemleri, Vipaş.
References

1. Franklin et al., Feedback Control of Dynamic Systems, Pearson.

2. N. Nise, Control Systems Engineering, John Wiley & Sons.

3. B. Kuo, Automatic Control Systems, John Wiley & Sons.

4. B. Kuo, Otomatik Kontrol Sistemleri, Literatür (Çeviri: Atilla Bir)

Lecture 1: Introduction to Control Systems

The main objectives of this chapter are:

1. To define a control system.

2. To explain why control systems are important.
3. To introduce the basic components of a control system.
4. To give some examples of control-system applications.
5. To explain why feedback is incorporated into most control
systems.
6. To introduce types of control systems
1.1 What is System? What is a Control System?
➢System is a set of things working together as parts of a mechanism or
an interconnecting network; a complex whole.
➢ Our environment is surrounded by systems (Mechanical, Electrical,
Thermal, Fluid, Biological, Economic, and/or combinations) which are
needed to exhibit some desired response.

➢ A control system is an interconnection of components forming a

system configuration that will provide the desired system response.

Desired response Actual response

Command, Reference, r(t) Dynamic Controlled variable, c(t)
(input) System (output)

Fig 1.1. Basic components of a control system

1.1 What is a Control System?
- How the system
behaves if the inputs of
one system change; so
INPUTS Dynamic system OUTPUTS how do the outputs
change?
-What changes can be
made to the system to
improve its output
properties?

Command, Reference, r(t) Dynamic Controlled variable, c(t)

(input) System (output)

Figure 1.1 A simple control system

1.1 What is a Control System? (continued)

Automation:

➢ Automation can be defined as a technology that uses programmed

commands to operate a given process, combined with feedback of information
to determine that the commands have been properly executed.

➢ Automation is often used for processes that were previously operated by humans.

➢ When automated, the process can operate without human assistance or interference.

➢ In fact, most automated systems are capable of performing their functions with greater
accuracy and precision, and in less time, than humans are able to do.

➢ Some processes such as automobile assembly lines requires a combination of human

and automation systems. These are called Semi-automated systems.
 1.1 What is a Control System? (continued)

Systems can be controlled mainly in two ways

Manual Control: Automatic Control:

1. Human controlling the speed of an 1. Cruise control systems
automobile by regulating the gas supply to the
engine by using the gas pedal. 2. Robotic assembly lines
2. Assembling machine parts by hand done by
workers 3. Missile guidance systems
3. A soldier using a bazooka to hit a target.
4. Opening a valve by hand to adjust the 4. Automatic water level control systems
desired water level.
5. Opening or closing of a window for 5. Residential heating and air-
regulating air temperature or air quality, conditioning systems controlled by a
thermostat
* Try to figure out more examples yourselves !!!

* In this course, we are concerned with Automatic Control Systems.

Why do we need automation or control systems?
•Energy consumption
•Improve product or service quality
•Reduce product costs
Minimum requirements from the control system

• Minimal or zero error: (Permanent-state correctness or permissible

error): The difference between the input and output in the control
system is required to be kept at zero or negligible values.

• ii) Fast response: A control system is required to respond to the

stimulus applied to it as soon as possible.

• iii) Stable operation: A control system (or any engineering system)

should be designed to be stable before anything else. When the
control system is determined to be stable, it means that the system
gives a limited output value against a limited input value.
1. Basic System Examples

INPUT OUTPUT
MOTOR
Electric Turning
Power

INPUT OUTPUT
THERMOMETER
Temperature Value on
the scale

INPUT OUTPUT
CENTRAL HEATING
Desired Scaled Temperature
Temperature
1.1.1. History of Control Systems
➢ In ancient Egypt, automated water clock, and automatic controlled water
levels in aqueducts are developed.

➢ The significant work in automatic control is James Watt’s centrifugal

governor for the speed control of a steam engine in the eighteenth century.

➢ In 1922, Minorsky worked on automatic controllers for steering ships and

worked on stability.

➢In 1932, Nyquist developed asimple procedure for determining the stability
of closed loop systems .

➢In 1934, Hazen developed the servomechanisms for position control systems.

➢In 1940s, frequency response methods, Bode diagram and the Ziegler-Nichols
rules are introduced.

➢Around 1960, modern control theory has evolved due to digital computers.
Optimal control of both deterministic and stochastic systems are investigated.

➢From 1980s to 1990s, robust control and related topics are searched.
 1.2. Classification of Control Systems
Automatic control systems may be classified in a number of ways, depending upon the purpose
of the classification. For instance, according to the effect of the output on the control action,
control systems are classified as open-loop control systems and closed-loop control systems.
There are many other ways of classifying control systems:

Control Systems

SISO
Continuous (Single Input –
Open-loop Linear Time- Centralized
time Deterministic Single Output)
invariant

Closed-loop Non-linear Discrete Time- Decentralized Stochastic MIMO

time varying
(Multi Input-
Multi Output)
Distributed

•Control Systems can also be classified based on the control design strategy such as
Intelligent Control, Adaptive Control, Robust Control, Optimal Control, etc.
1.2.1. Open-Loop and Closed-Loop Control
A. Open-loop control systems

Fig. 1.2. Basic open-loop control system: control action is independent of the
output. No measurement is fed back !!
Systems in which the output quantity has no effect upon the input quantity are
called open loop control systems.

➢ For a given input, the system produces a certain output.

➢ If there are any disturbances, the output changes and there is no adjustment
of the input to bring back the output to the original value.

➢ A perfect calibration is required to get good accuracy and the system should
be free from any external disturbances.

➢No measurements are made at the output to validate if it is desired quantity.

A. Open-loop control systems (cont’d):

Fig. 1.3. Elements of an open - loop control system.

Examples:

➢A traffic control system is a good example of an open loop system.

The signals change according to a preset time and are not affected by the
density of traffic on any road.

➢A washing machine is another example of an open loop control system. The

quality of wash is not measured; every cycle like wash, rinse and dry cycle goes
according to a preset timing.
B. Closed-loop (Feedback) control systems:

Fig. 1.4. Basic closed-loop control system

➢ A system which maintains a prescribed relationship between the controlled

variable and the reference input, and uses the difference between them as a signal to
activate the control, is known as a feedback control system.

➢ The output or the controlled variable is measured and compared with the
reference input and an error signal is generated. This is the activating signal to the
controller which, by its action, tries to reduce the error. Thus the controlled variable
is continuously fed back and compared with the input signal. If the error is reduced to
zero, the output is the desired output and is equal to the reference input signal.

* Feedback Control is the focus subject of this course !!!

B. Closed-loop (Feedback) control systems (cont’d):

Fig. 1.5. Elements of a closed-loop control system.

Closed loop systems

➢ are more complex,
➢ Use more number of elements to build and are costly.
➢ are insensitive to external disturbances and variations in parameters.
➢ maintenance is more difficult than open loop systems.
 1.3. Examples of Control Systems
Feedback control systems are used extensively in industrial applications. Examples:

1.3.1. Speed Control System:

➢ The first significant work in automatic control was James Watt's centrifugal governor
(Watt’s flyball) for the speed control of a steam engine in the eighteenth century.

➢ In Watt’s flyball governor, the aim is to make steam engine run at a constant speed
(Fig. 1.6).
Working Principle: The amount of steam admitted to the turbine is adjusted according
to the difference between the desired and the actual engine speeds.
The speed governor is adjusted such that, at the desired speed, no pressurized oil will
flow into either side of the power cylinder. If the actual speed drops below the desired
value due to disturbance or loading, then the decrease in the centrifugal force of the
speed governor causes the piston of the pilot cylinder go downwards resulting the
control valve to move upwards, supplying more steam. Then, the speed of the engine
increases causing the pilot cylinder’s piston move upwards until the desired value is
reached. When the desired turbine speed is obtained, the pilot cylinder’s piston closes
the ports of the power cylinder. On the other hand, if the speed of the engine increases
above the desired value, then the increase in the centrifugal force of the governor causes
the control valve to move downwards. This decreases the supply of steam, and the
speed of the engine decreases until the desired value is reached.
Fig. 1.6. Watt’s Flyball Governor
1.3.2. Temperature Control System (Temperature control of an
electric furnace):

Fig 1.7. Temperature control system for an electric furnace.

The temperature in the electric furnace is measured by a thermometer, which is

constructed from a thermocouple. A thermocouple is a junction between two different
metals that produces a voltage (milivolt) related to a temperature difference. This
analog temperature is converted to a digital temperature by an A/D converter. The
digital temperature is fed to a controller through an interface. This digital temperature
is compared with the programmed input temperature, and if there is any discrepancy
(error), the controller sends out a signal to the heater, through an interface, D/A
converter, amplifier, and relay, to bring the furnace temperature to a desired value.
1.3.3. Position Control

Fig. 1.8. Three axis control system

The system uses a specific motor to drive each axis to the desired position in the
x,y,z axis, respectively.
 1.3.4. More Control Systems Examples
➢ Aerospace and Military Applications:
➢ Flights (Autopilot Control Applications ,Take off and Landing control),
➢ Space Shuttles (Orbit Tracking Control Applications, Take off and Landing, etc.),
➢ Unmanned vehicles,
➢ Missile guidance and control, etc.

➢ Noise and Active Vibration Control:

➢ Earthquake protection using active or semi-active vibration control,
➢ Vibration suppression in aero plane wings and helicopter blades,
➢ Automobile suspensions,
➢ Noise canceling headphones.

➢ Computer systems:
➢Position control systems for printers , CD/DVD drives and Hard drives.
➢ Network and Internet traffic control.

➢ Robotic Systems:
➢ Position, speed and force control for Assembly robots,
➢ Balancing and motion control of humanoid robots ,
➢ Precision control of Robots for Medical operations,
➢ Mobile robots
 1.3.4. More Control Systems Examples (continued):
➢ Biological systems :
➢Insulin delivery control systems,
➢ Tumor growth control, etc.
➢Artificial limbs, prosthetics,etc..

➢ Automobile industry :
➢Anti-lock brake system,
➢ Automatic car parking assistance,
➢ Cruise control, etc.

➢ Manufacturing systems:
➢ CNCs,
➢ Automatic packing machines,
➢ Assembly lines.

➢ Process control :
➢ Chemical processes,
➢ Nuclear power plants,
➢ Complex manufacturing processes

➢ Power systems control:

➢ Voltage regulation in power networks for safe electricity delivery.
 1.4. Definitions of standard terminology

Comparison unit
(Error detector)

Forward path Disturbances w(t)

Reference r(t) + Error e(t)

Control Control force u(t)
System
Controlled c(t)
input
-
e(t)=r(t) + b(t)
element
D
Manipulated variable
(Controlled Process)
G
variable
m(t)
-
+
b(t)

Feedback
element
H

Feedback path
1.4. Definitions of standard terminology (continued)
Plant or Process, G: The system to be controlled. A plant may be a piece of equipment,
perhaps just a set of machine parts functioning together, the purpose of which is to
perform a particular operation such as a mechanical device, a heating furnace, a
chemical reactor, or a spacecraft. Since a system is a combination of components that
act together and perform a certain objective, the word of system is not limited to
physical ones. The concept of the system can be interpreted to imply physical,
biological, economic, and the like dynamic phenomena.
•We need to have a mathematical model describing the plant.

Reference input, r: Also known as the set-point or desired output, is an external signal
applied in order to indicate a desired steady value for the plant output.

System output, c: Also known as the controlled output, is the signal obtained from the
plant which we wish to measure and control. Normally, the controlled variable is the
output of the system.
Error detection element or comparison unit compares the value of the controlled
variable to the desired value, and then signals an error if a deviation exists between
the actual and desired values. The error signal, e, is the difference between the
reference input r and the feedback signal b. ( i.e. )

Controller, D, is the element which ensures that the appropriate control signal is
applied to the plant. In many cases it takes the error signal as its input and provides an
actuating signal as its output.

Control input, u, also known as the actuating signal, manipulated variable m(t)
(control action or control signal) is applied to the plant G and is provided by the
controller D operating on the error e. The manipulated variable is the quantity or
condition that is varied by the controller so as to affect the value of the controlled
variable. Note that computing the necessary controller action is based on controller
error, or the difference between the set point and the measured process variable, i.e.
e(t) = r(t) – b(t) (error = set point – measured process variable)
Forward path is the path from the error signal e to the output c, and includes D and
G.

Disturbance, w, or noise is a signal which enters the system at a point other than the
reference input and has the effect of undermining the normal system operation. 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 is an input.

Feedback element H can represent the characteristics of the measurement device.

Feedback signal, b, is the signal produced by the operation of H on the output c (t).

Feedback path is the path from the output c, through H.

Servo Systems: In feedback control, it applies only to systems where the feedback or
error-correction signals help control mechanical position, speed or other
parameters. The system reference input is variable and the output follows the
reference input.

Regulator Systems: A regulator or regulating system is a feedback control system in

which the reference input or command is constant for long periods of time, generally
for the entire time interval during which the system is operational. Such an input is
known as set point. The main objective is to maintain the actual output at the desired
value in the presence of disturbances.
 1.5. Control System Design Process

Determine the Specify the

Construct a
desired control method
mathematical
specifications (We will use
model for the
from the classical
physical system
requirements control)

Analyse, and Draw the

design the Simplify the Transform the model
block
controller and block/signal from time domain to
diagram
test it if the flow diagram frequency domain
and state
requirements if necessary (obtain the transfer
flow
are met. function)
diagram)
 1.6. Other Control Systems Classifications
Not: 1.6. kısmı sınava dahil değildir. Bilgilendirme amaçlı hazırlanmıştır.

Linear vs. Nonlinear Control Systems: Depending upon the differential equations
used to describe a control system, control systems are called either linear or nonlinear.

x (t ) = 3x(t ) + u (t ) x (t ) = x 2 (t ) + u (t )
Linear System Nonlinear System
(Transfer function can be obtained, (Transfer function cannot be obtained,
Both classical and State-space design can be used) State space design must be used)

x : State variable (position, velocity, temperature, etc.)

t: Time u: Control input
Linear Control design cannot be implemented on a nonlinear system unless the
nonlinear system is linearized.

x (t ) = 3x(t ) + u (t ) x = 3 x + u
1.6. Other Control Systems Classifications (continued)

Continuous-time vs. Discrete-time Control Systems: If a system is described by

differential equations / difference equations, then it is called a continuous-time/discrete-
time system.

x (t ) = 3x(t ) + u (t ) x(n + 1) = 3x(n) + u (n)

Continuous-time system Discrete-time system
(Differential Equation, also (Difference Equation,
called Analog Control systems) also called Digital control systems)

Numerical methods such as Euler method, Runge-Kutta method are used to

discretize differential equations into difference equations.
1.6. Other Control Systems Classifications (continued)

Time-invariant vs. Time varying Control Systems: If the parameters of a system do

not depend/depend explicitly on time, then it is called as a Time-invariant/ Time-varying
system .

x (t ) = 3x(t ) + u (t ) x (t ) = 3t + u (t )
Linear Time-invariant system Linear Time-varying system

x = 3x 2 + cos(x) + u x = 3x 2 + cos(t ) + u
Nonlinear Time-invariant Nonlinear Time-varying
(Autonomous system) (Non-Autonomous system)
1.6. Other Control Systems Classifications (continued)

Deterministic vs. Stochastic Control Systems: In deterministic systems, one can

precisely predict the future behavior of a system from the given initial conditions.
However, in stochastic systems (also called probabilistic systems), although the initial
conditions of the system are known, the future of the system can not be predicted
exactly.

Lumped parameter vs. Distributed parameter Control Systems:

If the system’s mathematical model is represented by Ordinary Differential Equations (ODEs),
it is called a lumped parameter system.
If the system’s mathematical model is represented by Partial Differential Equations (PDEs),
then it is called a distributed parameter system.
1.6. Other Control Systems Classifications (continued)

Centralized Control: In large scale systems, If the control action is governed from one
control centre.

Central
Controller

Subsystem Subsystem … Subsystem

1 2 n

A Large Scale System (LSS) composed of n subsystems.

1.6. Other Control Systems Classifications (continued)

Decentralized Control Systems: If control action is governed from several control

centers and there is no information exchange between controllers then it is called a
Decentralized Control System.

Controller Controller … Controller

1 2 n

Subsystem Subsystem … Subsystem

1 2 n

A Large Scale System (LSS) composed of n subsystems.

1.6. Other Control Systems Classifications (continued)

Distributed Control Systems: If control action is governed from several control

centers and the controllers exchange information between each others, then it is called a
distributed control system.

Controller Controller … Controller

1 2 n

Subsystem Subsystem … Subsystem

1 2 n

A Large Scale System (LSS) composed of n subsystems.