Continuous: the values to be controlled change smoothly, e.g.

the speed of a
car
Discrete: the value to be controlled is easily described as on-off, e.g. the car
motor turning on and off
Linear:
Can be described with a simple linear differential equation.
This is the preferred starting point for simplicity, and a common
approximation for real world problems.

Non-Linear:
This is how the world works, but it is very complicated. Especially when trying
to do mathematical approximations.



If a system has switched states it can be described as discrete.
Temporal/sequential systems can change over time, this requires sequential
control.

! Every control system has (at least) a controller and an actuator (also
called a final control element).
! The controller is an intelligent of the system and is usually electronic. (In
our study, we mostly use PLC as a controller).
! The input to the controller is called the set point, which is a signal
representing the desired system output.
! The actuator is an electromechanical device that takes the signal from
the controller and converts it into some kind of physical action.
! The process block represents the physical process being affected by the
actuator.
! The controlled variable is the measurable result of that process. For
e.g., if the actuator is an electric motor that rotates antenna, then the process is
rotating of the antenna, and the controlled variable is the angular position of
the antenna.

!"#"$ &"$'(") ls an auLomauc sysLem LhaL conLrols Lhe physlcal mouon, movemenL or posluon of an ob[ecL.
e.g: Servomechanlsms, lollow-up SysLems (8oboL), LvenL (Sequenual) ConLrol SysLem (Washlng machlne), numerlcal
ConLrol


*("&+,, &"$'(") ls a sysLem LhaL oversees some lndusLrlal process so LhaL a correcL ouLpuL ls malnLalned. lL does Lhls by
!"#$%"&$#' and ()*+,-#' Lhe conLrol parameLers (such as LemperaLure, pressure, ow raLe, eLc.) Lo ensure LhaL Lhe
ouLpuL producL remalns as lL should.
e.g: 8egulaLor SysLem (Peaung SysLem)

! Batch Process: is a sequence of timed operations executed on the
product being manufactured. An example is an industrial machine that
produces various types of cookies. Batch process has a beginning and an end
(which perform over and over). Products from foods to petroleum to soap to
medicines are made from a mixture of ingredients that undergo similar batch
process operation. Batch process is also known as sequence process.

! Continuous Process: is one or more operations are being performed as
the product is being passed through a process. Raw materials are continuously
entering and leaving each process step. An example of this process is in
producing paper. The continuous process can be last for hours, days, or even
weeks without interruption.

In the past, most discrete-state control system (sometimes called as
sequentially controlled system) uses switches, relays and electromechanical
timers to implement the control logic. These tasks are now performed by
computer-based controllers known as programmable logic controllers
(PLC).


The controller sends a measured signal to the actuator, which specifies the desired
action. This type of system is not self-correcting. If some external disturbance changes
the load on a machine or process being performed, some degree of physical effort of
human operator is required to make necessary modifications. The system manually
controlled by a human. For e.g., a home heated by a fireplace, and the speed of a car
controlling by a driver.

Open-Loop System of a Robot Arm
The actuator is a motor driving a robot arm. In this case, the process is the arm
moving, and the controlled variable is the angular position of the arm. In the
early test, motor rotates the arm at 5 degree/second at the rated voltage. In
order to rotate the arm from 0 to 30, the ideal case will takes 6 seconds. On
particularly cold days, however, the lubricant is more thicker, causing more
internal friction, and the motor only rotates 25 in 6 seconds; resulting in a 5
error. The controller has no way knowing of the error and does nothing to
correct it. In order to overcome this drawback, another type of approach has
been developed.


A sensor continually monitors the output of the system and sends a signal to the
controller, which makes adjustments to keep the output within specification. This
automatic closed-loop configuration performs the self-correcting function by
employing a feedback loop to keep track of how well the output actuator is doing the
job it was commanded to do.

Closed-Loop System of a Robot Arm
As an example, now consider that the robot arm resting at 0. This time a
potentiometer (as a sensor) has been connected directly to the motor shaft.
The potentiometer resistance changes as the shaft turns. The resistance is
converted to voltage and the fed back to the controller. To command the arm
to 30, a set-point corresponding to 30 is sent to the controller. Because the
actual arm is still resting at 0, the error signal jumps up to 30.
Immediately, the controller starts to drive the motor in a direction to reduce
the error. As the arm approaches 30, the controller will slows the motor until
it reaches the desired specification. And the motor stops. If at some later time,
an external force moves the arm off from 30, the error signal would reappear,
and the motor would again drive the arm to the 30 position.