EEE 325 Control Systems

Lecture 01 - Introduction

Dr. Muhammad Rizwan Azam

COMSATS University Islamabad (CUI),
Islamabad, Pakistan.
 Instructor Details
(Muhammad Rizwan Azam)
• Educational Background
o PHD (Control Systems)
o MS (Control Systems)
o BSc Eng. (Electronics)

• Contact Details
o Room # 317, EE Block
o [email protected]
 Marks Distribution (Theory)
Sessional -1 10%
Sessional 2 15%
Quizzes (4) 15%
Assignments (4) 10%
Terminal Exam 50%

Note:
• Quizzes will be announced as well unannounced.
• Expect a quiz after submission of assignment.
• Copied assignments and assignments submitted after the due date will be marked zero.
 Lecture Outline
• Course Description
• What is Control Systems?
• Advantages of Control Systems
• A Brief History of Control Systems
• System Configurations
• Some other systems
• Modern Control Systems
• Analysis and Design Objectives
• Salient Steps in Design of Control System
 Topics to be Covered
1. Introduction and classification of everyday control systems (1 week)
2. The Laplace transform, Inverse Laplace transform and solution to differential equations (1.5 week)
3. Mathematical modeling of electrical, mechanical (translational and rotational) and
electromechanical systems. (3.5 weeks)
4. Block Diagram reduction techniques (1 week)
5. Time response of first order and second order systems and effects of additional poles and zeroes on
system’s response (2.5 week)
6. Routh-Hurwitz criterion for stability analysis and design (1.5 week)
7. Steady state error analysis and design (1.5 week)
8. Introduction to root locus (RL) method, rules for sketching RL and analysis of the system using RL
(1.5 week)
9. Classical feedback control of dynamic systems using RL method. The design is based on PID and
Lead Lag compensator for improving the transient and steady state responses (2 weeks)
 Course Material
• Textbook
Norman S. Nise, Benjamin Cummings, “Control Systems Engineering”, 6th
edition
• References Books
1. Ogata K. (2002). Modern Control Engineering (5th Ed), Prentice Hall.
2. Richard C. Dorf and Robert H. Bishop, “Modern Control Systems”, Addison
Wesley, 12th Edition
 Control System
• System, A collection of components which are coordinated together to perform a
function.
• Control is the process of causing a system variable to conform to some desired value.
• A Control System consists of subsystems and processes (or plants) assembled for the
purpose of obtaining a desired output with desired performance, given a specified
input.
 Controls ?
• Objective is to modify the behavior of a given system so that it works in accordance
with our wishes.

• Science of designing such controllers.

• One of the complicated and theoretical yet most interesting branch of Electrical
Engineering.
 Systems
• Definition of Controls revolve around Systems.
• Identify systems in this room
o Air-conditioners
o Bracket fans
o Amplifiers
o Laptop
o Power Supply of a PC
o Multimedia
o Mobile Phones
o Humans (Combination of sub-systems)
 Advantages of Control Systems
i.Power Amplification (Gain)
o Positioning of a large radar antenna by low-power rotation of a knob
ii.Remote Control
o Robotic arm used to pick up radioactive materials
iii.Convenience of Input Form
o Changing room temperature by thermostat position
iv.Compensation for Disturbances
o Controlling antenna position in the presence of large wind disturbance torque
 History of Control Systems
• Liquid Level Control
o Greeks started engineering feedback systems around 300 BC
o Water clock
• Level of water in measuring container used to tell time.

• Steam Pressure and Temperature Controls

o Safety valve invented by Denis Papin’s around 1681
• Steam released by valve if pressure exceeded
o Mechanical temperature control system for hatching of eggs by Cornelis Drebbel
• Increased heat caused alcohol and mercury to expand and reducing flame
 History (contd…)
• Speed Control
o In 1745 Edmund Lee applied speed control to a windmill
o Eighteenth century James Watt invented flyball speed governor to control speed of steam engines
James Watt’s Steam Engine
 History (contd…)
• Stability, Stabilization, and Steering
o In 1868, James Clerk Maxwell published stability for a 3 rd order system based on the coefficients
of the differential equation
o In 1877 Routh-Hurwitz criterion for stability, which we will study in Chapter 6.
o During the second half of the 1800s, the development of control systems focused on the steering
and stabilizing of ships.
o Other efforts were made to stabilize platforms for guns as well as to stabilize entire ships, using
pendulums to sense the motion.
 History (contd…)
• Twentieth-Century Developments
o It was not until the early 1900s that automatic steering of ships was achieved.
o Nicholas Minorsky, a Russian suggested improvements in automatic control systems, currently
known as Proportional Integral Control (PID).
o In the late 1920s and early 1930s, H. W. Bode and H. Nyquist at Bell Telephone Laboratories
developed frequency domain techniques for analysis and design of feedback control systems
o In 1948, Walter R. Evans, working in the aircraft industry, proposed the root locus technique
 History (contd…)
• Contemporary Applications
o Modern developments have seen widespread use of the digital computer as part of control
systems e.g., industrial robots, spacecraft, and process control industry
o Today, control systems find widespread application in the guidance, navigation, and control of
missiles and spacecraft, as well as planes and ships at sea
o Process control industry, regulating liquid levels in tanks, chemical concentrations in vats, as
well as the thickness of fabricated material.
o Numerous control systems guide the space shuttle to and from earth’s orbit or to adjust the orbit
itself and support life on board.
 Control System Classification
• An open-loop control system utilizes an actuating device to control the process directly
without using feedback.
Desired Output Actuating
Process Output
Response Device

• A closed-loop feedback control system uses a measurement of the output and feedback of the
output signal to compare it with the desired output or reference.
Desired
Output Comparison Controller Process Output
Response

Measurement

Single Input Single Output (SISO) System

 1. Open Loop Control System
• In an open loop control system, the input to the plant does not in any way depend on
the current and past values of the output of the plant.
• Relatively simple and consequently low cost with generally good reliability.
Example 1 – DC Motor Turntable

Open-Loop Control System

Example 2: Missile Launcher System

Open-Loop Control System

 Other Examples of Open Loop Systems
• Motor
• Heater /boiler
• Cooking Oven
• Dish Washer
• Washing Machine
• Toaster
• Water valve system in a pool or sink
• Sprinkler System
 Disadvantage of Open Loop
• Rely totally in calibration and cannot effectively deal with exogenous
disturbances.
• They can not effectively deal with changes in the process.
• Can not deal with uncertainty.
• Can not stabilize an unstable system.
• Often in accurate since there is no correction for error.
 2. Closed Loop Control System
• In closed-loop control system the control action is dependent on the output.
• It senses the output of the system and adjust the control input using feedback rules,
which are based on how the system output deviates from the system behaves.
• The feedback helps compensate for the differences, if the system behaves slightly
differently than the model.
 2. Closed Loop Control System
• Relatively accurate in matching the actual to the required values.
• They are less sensitive to noise, disturbances, and changes in the environment.
• Closed loop control system make the control system robust to uncertainty and
disturbances.
• More complex, and more expensive, grater chance of breakdown due to number of
components.
• The control engineer must consider the trade-off between the simplicity and low
cost of an open-loop system and the accuracy and higher cost of a closed-loop
system.
 Example of Closed Loop
• Automatic appliances
• Guided missiles
• Temperature control
• Satellite tracking antenna
• Automatic car cruise system
Example 1 – DC Motor Turntable

Closed-Loop Feedback Control System

Example 2 – Missile Launcher System

Closed-Loop Feedback Control System

 Control System Components
i.System, plant or process
o To be controlled
ii.Controller
o Drives a process or a plant
iii.Actuators
o Converts the control signal to a power signal
iv.Sensors
o Provides measurement of the system output
v.Reference input
o Represents the desired output
 General Control System
Disturbance

Controlled Manipulated
Set-point Error Signal Variable
or
Reference Actual
input + + Output
+ Process
+ Controller Actuator +
-

Sensor
Feedback Signal
Component Block diagram of Automobile
Cruise Control
Road Grade

Controller Control Actuator

Process
Variable
Desired
Speed Auto Actual Speed

Throttle Body

Sensor
Speedometer

Sensor Noise
 State of the art control Systems
• Aircrafts, Missiles
• Planes and ships at sea
• Automotive
• Space Shuttles
• Nuclear Reactors
• Industrial Processes
• Robots
• Human Systems