Fundamentals of

Control System

Feedback and Control System

 Objectives
• To understand the purpose of a control system,
it is useful to examine examples of control
systems through the course of history.
• Define Control System.
• Analyze a control loop.
• Know the control system terminologies.
• Understand the interaction of the individual
system.
• Appreciate the advantages of a control system.
 Introduction
• Control systems are an integral part of
modern society. Numerous applications
are all around us:
– The rockets fire, and the space shuttle lifts off
to earth orbit;
– in splashing cooling water, a metallic part is
automatically machined;
– a self-guided vehicle delivering material to
workstations in an aerospace assembly plant
glides along the floor seeking its destination.
HISTORY OF CONTROL
SYSTEM
 History
Liquid Level Control (300 AC)
• A water clock invented by
Ktesibios operated by having
water trickle into a measuring
container at a constant rate by
keeping the supply tank at
constant level. The level of
water in the measuring
container could be used to tell
time.
• The idea of liquid-level control
was applied to an oil lamp by
Philon of Byzantium.
 History
Steam Pressure and Water-level float regulator
Temperature Controls
• Regulation of steam
pressure began around 1681
with Denis Papin's invention
of the safety valve.
• Also in the seventeenth
century, Cornells Drebbel in
Holland invented a purely
mechanical temperature
control system for hatching
eggs.
 History

Speed Control Watt’s Flyball Governor

• In 1745, speed control
was applied to a windmill
by Edmund Lee.
• Also in the eighteenth
century, James Watt
invented the flyball speed
governor to control the
speed of steam engines.
 History
• Stability, Stabilization and Steering
– 1868, James Clerk Maxwell published the
stability criterion for a third-order system
based on the coefficients of the differential
equation.
– In 1874, Edward John Routh, using a
suggestion from William Kingdon Clifford was
able to extend the stability criterion to fifth-
order systems.
 History
• Stability, Stabilization and Steering
– In 1877, the topic for the Adams Prize was
"The Criterion of Dynamical Stability." In
response, Routh submitted a paper entitled A
Treatise on the Stability of a Given State of
Motion and won the prize. This paper contains
what is now known as the Routh-Hurwitz
criterion for stability,
 History
• Stability, Stabilization and Steering
– Alexandr Michailovich Lyapunov also
contributed to the development and
formulation of today's theories and practice of
control system stability. A student of P. L.
Chebyshev at the University of St. Petersburg
in Russia, Lyapunov extended the work of
Routh to nonlinear systems in his 1892
doctoral thesis, entitled The General Problem
of Stability of Motion.
 History
• Stability, Stabilization and Steering
– During the second half of the 1800s, the development
of control systems focused on the steering and
stabilizing of ships. In 1874, Henry Bessemer, using a
gyro to sense a ship's motion and applying power
generated by the ship's hydraulic system, moved the
ship's saloon to keep it stable (whether this made a
difference to the patrons is doubtful). Other efforts
were made to stabilize platforms for guns as well as
to stabilize entire ships, using pendulums to sense the
motion.
 History
• Twentieth-Century Developments
– In 1922, the Sperry Gyroscope Company
installed an automatic steering system that
used the elements of compensation and
adaptive control to improve performance.
– Nicholas Minorsky, a Russian born in 1885, it
was his theoretical development applied to
the automatic steering of ships that led to
what we call today proportional-plus-integral-
plus-derivative (PID), or three-mode
controllers.
 History
• Twentieth-Century Developments
– In the late 1920s and early 1930s, H. W. Bode
and H. Nyquist at Bell Telephone Laboratories
developed the analysis of feedback amplifiers.
These contributions evolved into sinusoidal
frequency analysis and design techniques
currently used for feedback control system.
 History
• Twentieth-Century Developments
– In 1948, Walter R. Evans, working in the
aircraft industry, developed a graphical
technique to plot the roots of a characteristic
equation of a feedback system whose
parameters changed over a particular range
of values. This technique, now known as the
root locus, takes its place with the work of
Bode and Nyquist in forming the foundation of
linear control systems analysis and design
theory.
Examples of Modern Control Systems

(a) Automobile
steering control
system.
(b) The driver uses the
difference between the
actual and the desired
direction of travel
to generate a
controlled adjustment
of the steering wheel.
(c) Typical direction-
of-travel response.
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
The Future of Control Systems
Autonomous planning and Exploration
Autonomous control
Industry
…….…Everywhere
The Future of Control Systems
SYSTEM CONFIGURATIONS
 What is a Control System?
The controlled system has an input variable and an output
variable. Its response is described in terms of dependence of
the output variable on the input variable. These responses
between one or several variables can normally be described
using mathematical equations based on physical laws. Such
physical relationships can be determined by experimentation.

Block Diagram of A Controlled System

 Example of Manual Control
• A manual control system for regulating the level of fluid in
a tank by adjusting the output valve. The operator views
the level of fluid through a port in the side of the tank.
 Example of Automatic Control
• A water bath is to be maintained at a constant temperature.
The water bath is heated by a helical pipe through which steam
flows. The flow rate of steam can be set by means of a control
valve. Here the control system consists of positioning of the
control valve and the temperature of the water bath. This result
in a controlled system with the input variable "temperature of
water bath" and the output variable "position of control valve."
 Open-Loop Control System
• Open-loop control is a process taking
place in a system where by one or more
variables in the form of input variables
exert influence on other variables in the
form of output variables by reason of the
laws which characterize the system.
• The distinguishing feature of open-loop
control is the open nature of its action, that
is, the output variable does not have any
influence on the input variable.
 Open-Loop Control System
• An open-loop system cannot compensate
for any disturbances that add to the
controller’s driving signal or to the process
output.

Open-Loop Control Systems utilize a controller or

control actuator to obtain the desired response.
 Block Diagram of Open-Loop

Reference Actuator
System Output
Controller Process
Input Signal
Example of Open-Loop System
 Example of Open-Loop System
• Volumetric flow is set by adjusting a control
valve. At constant applied pressure, the
volumetric flow is directly influenced by the
position of the control valve. This relationship
between control valve setting and volumetric
flow can be determined either by means of
physical equation or by experiment. This results
in the definition of a system consisting of the
"valve" with the output variable "volumetric flow"
and the input variable "control valve setting"
 Example of Open-Loop System
• This system can be controlled by adjusting the
control valve. This allows the desired volumetric
flow to be set. However, if the applied pressure
fluctuates, the volumetric flow will also fluctuate.
In this open system, adjustment must be made
manually. If this adjustment is to take place
automatically, the system must have closed-loop
control.
 Exercise
Manual Street Lighting System
• Commonly a system that using timer.
• ON and OFF at specific time
( Night = ON and Day = OFF)
• Duration within ON and OFF is set up by timer.

Input Controller Actuator Output

Signal System
Signal

Determine each part of the block diagram

36
 Closed-Loop Control System
• Closed-loop control is a process where the
controlled variable is continuously
monitored and compared with the
reference variable. Depending on the
result of this comparison, the input
variable for the system is influenced to
adjust the output variable to the desired
value despite any disturbing influences.
This feedback results in a closed-loop
action.
 Closed-Loop (Feedback Control)
• A closed-loop system can compensate for
disturbances by measuring the output,
comparing it to the desired output, and driving
the difference toward zero.
 Closed-Loop (Feedback Control)
• Greater accuracy than open-loop systems
• Transient and steady-state responses can be
controlled more easily
• More complex and expensive than open-loop
systems
– Requires monitoring the plant output
 Block Diagram of Closed-Loop

Reference System Output

Controller Actuator Process
Input Signal

Sensor
Example of Closed-Loop Control
 Example of Closed-Loop Control
• The volumetric flow (the output variable) is
to be maintained at the predetermined
value of the reference variable. First a
measurement is made and this
measurement is converted into an
electrical signal. This signal is passed to
the controller and compared with the
desired value. Comparison takes place by
subtracting the measured value from the
desired value. The result is the deviation.
 Example of Closed-Loop Control
• In order to automatically control the control
valve with the aid of the deviation, an
electrical actuating motor or proportional
solenoid is required. This allows
adjustment of the controlled variable. This
part is called the manipulating element.
 Example of a Closed-Loop
• The controller now passes a signal to the
manipulating element dependent on the
deviation. If there is a large negative
deviation, that is the measured value of
the volumetric flow is greater than the
desired value (reference variable) the
valve is closed further. If there is a large
positive deviation, that is the measured
value is smaller than the desired value, the
valve is opened further.
 Exercise

Automatic Street Lighting System

• Commonly a system that using sensor as input element.
• ON and OFF automatically as the light sensor detect the light
regardless of the particular time.
• Dark = ON and Bright = OFF)
Comparator
Controller Actuator
Reference Process/ Output
Input System signal

Measurement
element
Determine each part of the block diagram

45
ADVANTAGES OF A CONTROL
SYSTEM
 Advantages of a Control System
• Power amplification
– Radar antenna positioned by the low-power
rotation of a knob at the input, requires a large
amount of power for its output rotation.
Control system will produce the needed
power amplification/power gain.
 Advantages of a Control System
• Remote control
Rover was built to
work in contaminated
areas at Three Mile
Island where a
nuclear accident
occurred in 1979.
 Advantages of a Control System
• Convenience of input form
– In a temperature control system, the input is
the position on a thermostat and the output is
the heat. Thus a convenient position input
yields a desired thermal output.
 Advantages of a Control System
• Compensation for disturbances
– In an antenna system that points in a
commanded direction, wind can force the
antenna to deviate from commanded
direction. The system should detect the
disturbance and act accordingly.
 Control systems are divided into
two classes:
a) If the aim is to maintain a physical variable at some fixed
value when there are disturbances, this is a regulator.
Example: speed-control system on the ac generators of
power utility companies.

b) The second class is the servomechanism. This is a

control system in which a physical variable is required to
follow (track) some desired time function.
Example: an automatic aircraft landing system, or a robot
arm designed to follow a required path in space.
Antenna Azimuth System an illustration for

DESIGNING CONTROL
SYSTEMS
Antenna azimuth
position control
system:

The
The search
search for for
extraterrestrial
extraterrestrial life
life is
is
being
being carried
carried outout with
with
radio
radio antennas
antennas likelike the
the one
one
pictured
pictured here.
here. A A radio
radio
antenna
antenna is is an
an
example
example of of aa system
system © Peter Menzel.
with
with position
position controls.
controls.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
a.system
concept;
b. detailed
layout;

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Antenna azimuth position control system:

c. Schematic
diagram

d. functional
block
diagram
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Response Characteristics and System Configurations
Elevator input and output

Control Systems
Engineering, Fourth
 Response of a position control system showing
effect of high and low controller gain on the output
response

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
The Control System Design Process

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
 Equivalent
block diagram
for the
antenna
azimuth
position
control system

Control Systems
Engineering, Fourth
 Table 1.1
Test waveforms used in control
systems
Design Example
Design Example
Design Example
Design Example
Design Example
http://www.calvin.edu/~pribeiro/courses
/engr315/lectures-notes/chapter-1.ppt
 References and Sources
• http://xa.yimg.com/kq/groups/21734275/1321311
795/name/Intro+to+Control+Systems.ppt
• http://www.calvin.edu/~pribeiro/courses/engr315/
lectures-notes/chapter-1.ppt
• http://www.ieeecss.org/siteindex/SITEindex.html
• http://www-control.eng.cam.ac.uk/extras/Virtual_
Library/Control_VL.html
 Course material
• Lecture slides
• Text Book: Control Systems
Engineering by Norman S. Nise, John
Wiley, Asia, 4th edition, 2004.
• Reference Book: Electronics Circuits
Fundamentals by Franco, Oxford
University Press, 1997.
• WWW