AUTOMATICS and

AUTOMATIC CONTROL
LECTURE 1

dr inż. Adam Kurnicki

Automation and Metrology Department
Room no 210A
 Lecture content
1.Introduction to automatics – short history, control system and related
nations, classification of control systems
2.System models – differential equations, state equations, Linearization of
models, Laplace transform, transfer function
3.Time responses – impulse and step response
4.Frequency responses – Nyquist plot, Bode plots
5.Basic dynamics elements – first order system, integrator, differentiator,
second order systems, systems with delay
6.Structure of control system – examples of control systems, description
of closed-loop systems
7.Closed loop system stability – Hurwitz criterion, Nyquist criterion
8.Quality of control – analyses of steady state, method based on roots
placement, method based on integral indices
9.Compensators and regulators - PID controller
10.PID controller parameters tuning – Ziegler-Nichols methods, Chien,
Hrones and Reswick methods
Introduction to Automatics
and automatic control
Automatics derives from Greek word automatos, "acting of
one's own will, self-acting, of itself," made up of two parts,
auto-, "self," and -matos, "willing,"

Automatics (offen called control or automatic control engineering)

field of technology and science, which deals with issues of control of
various processes, mainly technological and industrial (usually without the
participation or with a limited participation of human being).
 Introduction to Automatics
and automatic control
Control - is anyTERMINOLOGY
intentional impact (action or series of
actions) on the object (the technological process) in such a
way as to achieve the intended objectives

System is any collection of interaction elements for which

there are cause and effect relationships among the variables
 Introduction to Automatics
and automatic control
TERMINOLOGY
Controlled variables - these are the variables which
quantify the performance or quality of the final product,
which are also called output variables.
The desired reference signal (input signal or set-point) when
performing control is the desired output variable (that might
deviate from actual output)

Disturbance variables - these are also called "load"

variables and represent input variables that can cause the
controlled variables to deviate from their respective set
points.
 Introduction to Automatics
and automatic control
OPEN LOOP / CLOSED LOOP
system - the system doesSYSTEMS
The open-loop system is also called the non-feedback
NOT measure the actual output and there is no
correction to make that output conform to the desired output

An open-loop system cannot compensate for any disturbances that add to

the controller’s driving signal or to the process output
 Introduction to Automatics
and automatic control
OPENsystem
The closed-loop LOOP is also/called
CLOSED LOOP
the feedback system - the system
SYSTEMS
includes a sensor to measure the output and uses feedback of the sensed
value to influence the control input variable.

The closed-loop system can compensate for disturbances by measuring the

output, comparing it to the desired output, and driving the difference
toward zero.
 Introduction to Automatics and
automatic control
OPEN LOOP / CLOSED LOOP SYSTEMS
1. A blind person drivingExample:
a car: open loop control
2. Driving a car by using vision: feedback control

In the first case driver does not have much information about the current
position of the car with respect to the road.
In the second case the driver can steer the car back to the desired position
despite bumps, wind and other uncontrollable effects.
 Introduction to Automatics and
automatic control
OPEN LOOP / CLOSED LOOP SYSTEMS
Example:
Central heating system in house/room:
- without temperature sensor - open loop control
- with temperature sensor – closed loop control

Washing machine (open loop control) :

There is no sensor to measure how dirty is laundry

TRAFIC LIGHTS (open loop control) :

That system don’t control traffic according to
crowd
 HİSTORY
 Automatic control systems were first developed more than
two thousand years ago.
 The first feedback control device on record is thought to be
the ancient Ctesibios's water clock in Alexandria (3rd
century BC).
 Ctesibios's water clock

It kept time by regulating the water level in a vessel and,

therefore, the water flow from that vessel.
This certainly was a successful device as water clocks .
 HİSTORY
• In the 17th and 18th centuries were popular in
Europe, automata equipped with dancing figures
that repeat the same task over and over again

• Temperature regulator (invented in 1624 )

• Pressure regulator ( invented in 1681)
 HİSTORY
 James Watt fly-ball governor

Rotational velocity stablilization of the

steam engine – 1769

Reduced steam flow – reduced pressure on the blades of the engine turbine
 HİSTORY

•1868 Governor control analysis (Maxwell)

•1927 Telephone amplifier analysis (Bode -
frequency domain analysis)
•1932 Stability analysis (Nyquist)
•1940 Autopilots, radar, etc.
•1952 Machine tool numerical control (MIT)
•1970 State variable models, optimal control
•1983 personal computers
 CLASIFICATION OF CONTROL
SYTEMS
The classification can be carried out in many different
ways, by taking into consideration various properties of the
system

1. With respect to the number of controlled

variables:
• single-variable control system - SISO
• multi-variable control system - MISO, MIMO
 CLASIFICATION OF CONTROL
SYTEMS
2. With respect to the task performed by the system:

• Systems of stabilization
The purpose of these systems is to keep the controlled
quantities at a given (desired) level.
In the stabilization systems the reference value is well known and
constant
Typical applications: stabilization of: liquid level, temperature in
the room, motor speed, etc.
 CLASIFICATION OF CONTROL
SYTEMS
2. With respect to the task performed by the system:

• Programmed control systems

The purpose of these systems is to change the controlled
quantitiy according to the time function given.
In these systems the reference value is well known, but it is
changing according to the time function given
Typical applications: CNC machine tools (milling machine, lasers,
lathes) where the movement of the tools (cutters, turning tools)
should be controlled by a programmed controller in order to
receive an article of desired shape.
 CLASIFICATION OF CONTROL
SYTEMS
2. With respect to the task performed by the system:

• Tracking systems (also called follow-up systems)

The purpose of these systems is to change the magnitude of
the controlled quantity according to an unknown time function of
reference value (stochastic values of reference).
In these systems, the reference value is not known and varies
stochastically
Typical application: anti-aircraft radar system
 CLASIFICATION OF CONTROL
SYTEMS
2. With respect to the task performed by the system:

• Systems having more complicated tasks:

- extremal systems,
- optimal systems,
- adaptive systems.
 CLASIFICATION OF CONTROL
SYTEMS
3. With respect to the instants of supervision:

• Continous-time control systems

• Discrete-time control systems

In a continuous-time control systems changes in control signals are

generated in a continuous-time way. This signals will have some
values at every instant of time (they are also called analog signals)
 CLASIFICATION OF CONTROL
SYTEMS
In a discrete-time control systems changes in control signals are
generated only in some periodically repeating instants of time,
which are called the sampling intants. This signals are also called
impulses or digital signals).
 CLASIFICATION OF CONTROL
SYTEMS
4. With respect to the possibility of application of the
superposition principle :
• Linear systems
• Nonlinear systems
For linear systems the so called superposition principle can be used,
according to which the reaction of the system to a sum of two (or
more) inputs equals to the sum of reactions to each of the inputs
separately.

These systems can be described by linear differential equations.

For nonlinear systems the superposition principle does not hold
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