MEC709 Winter 2016 Instructor Siyuan He

Week 1 (Jan. 11~Jan. 15 2016)

Chapter 1 Concepts of Control Systems

What is a control system?

Basic components of a control system
Open-loop and closed-loop control systems
Examples of control systems
Steps of designing a control systems

MEC709 Winter 2016 Instructor Siyuan He

1. 1 What is a control system?

1. 1. 1 Definition
A process (or a plant) under consideration is forced to behave in a
desired way.
Or, the variable of a process (or a plant) is kept to adhere to a desired
reference value, which could be either fixed or changing with time.

MEC709 Winter 2016 Instructor Siyuan He

1. 1. 2 Example 1: Water lever control system

Fig. 1.1 Water level control system.

The system is composed of a tank, an inlet valve Vc and an outlet
valve V0 .

The tank water level c can be controlled to the desired water level r
by adjusting the inlet valve Vc.

Fig. 1.2 Descriptive block diagram of the water level control system.
Block diagram: used to graphically describe the control systems to
shown the composition and the interconnection of a system, as well as
the flow of information.

MEC709 Winter 2016 Instructor Siyuan He

1. 1. 3 Example 2: House temperature control system

Fig. 1.3 House temperature control system.

The thermostat measures the temperature in the house and controls
the gas valve to turn on (Tin<Tr) or turn off (TinTr) the furnace,
which generates heat to increase the house temperature.
The house loses heat through walls, windows and the roof.

Fig. 1.4 Block diagram of the house temperature control system.

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MEC709 Winter 2016 Instructor Siyuan He

1. 2 Basic components in a control system

Fig. 1.5 Basic components in a tank water level control system.

Fig. 1.6 Basic components in a house temperature control system.

Process: its output is to be controlled, e.g., tank or house.
Output: controlled variable, e.g., water level or house temperature.
Reference (or input): desired value of the controlled variable, e.g.,
desired water level or desired house temperature.
Actuator: the device able to influence the controlled variable, e.g.,
inlet adjustable valve or the furnace (the furnace also includes the gas
valve and a fan).
Controller: the component computing the control signal, e.g., the
thermostat.
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MEC709 Winter 2016 Instructor Siyuan He

Sensor: the component used to measure the controlled variable.

Plant: the combination of the process and the actuator.
Control signal (actuating signal): it is computed by the controller
and is sent to the actuator to influence the controlled variable.
Error signal: the difference between the input and the output. It is
sent to the controller to compute the control signal.
Comparator: computing the difference between the reference signal
and the sensor output.

MEC709 Winter 2016 Instructor Siyuan He

1. 3 Open-loop and closed-loop control systems

1. 3. 1 Definition
Open-loop control systems do not measure the output and there is no
correction of the actuating signal to make the output conform to the
reference signal.
In closed-loop control systems (or feedback control systems), the
output is measured and compared with the input. The error signal is
sent to the controller to influence the output.
In a feedback system, corrective actions are taken to correct the
output whenever a difference between the output and the input is
detected by the sensor, regardless of whatever reasons the difference
is caused by.

1. 3. 2 Structure of a closed-loop control system

Fig. 1.7 General structure of a closed-loop control system.

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MEC709 Winter 2016 Instructor Siyuan He

1. 3. 3 Motivations of using closed-loop control systems

Motivation 1): Reducing the effect of parameters variations.
Motivation 2): Reducing the effects of disturbances.
Motivation 3): Improving transient response characteristics. (will be
discussed in later chapters)
Motivation 4): Improving steady-state response (reducing steadysteady errors). (will be discussed in later chapters)
In the open-loop water level control example: 1) pressure
variations upstream of Vc and downstream of Vo can be important
disturbances affecting inflow and outflow; 2) a sudden or gradual
change of flow resistance of the valves due to foreign matter or valve
deposits is a system parameter variation.

Fig. 1.9 Closed-loop control of the tank water-level.

If a closed-loop is applied to the water level control system as
shown in Fig. 1.9: 1) the output water level is measured
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MEC709 Winter 2016 Instructor Siyuan He

continuously and is compared with the desired water level; 2) the

error signal r c is used through the controller to adjust the inlet
valve to keep the tank water level c equal to the desired water level r.
In closed-loop water level control system, the feedback loop causes
the system to take corrective action if the output c (actual level)
deviates from input r (desired level), whatever the reason.
Hence, the closed-loop water level control systems is not sensitive to
either the disturbances or parameters variations.

MEC709 Winter 2016 Instructor Siyuan He

1. 4 Examples of control systems

1. 4. 1 Cruise control

Fig. 1.10 Cruise control (Ref 1)

The goal is to keep the car at a constant speed.
Process: the car, Output (controlled variable): speed of the car,
Actuator: the throttle and the engine, Disturbance: grade changes

Fig. 1.11 Open loop cruise control.

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MEC709 Winter 2016 Instructor Siyuan He

Open-loop cruise control: the position of the throttle is locked the

moment the driver engages cruise control.
The open-loop control works well if the vehicle is driving on
perfectly flat terrain. On hilly terrain, the vehicle will slow down
when going uphill and accelerate when going downhill. Therefore the
speed is not well controlled.
In this open-loop cruise control, the output (real car speed) is not
measured to be compared with the input (desired car speed) to
influence the output. In another word, no corrective actions are
taken based on the difference between the output and the input to
correct the output. Thus the system is sensitive to both disturbances
(grade changes) and parameter variations (e.g., tire pressure change
leads to friction change, and then speed change).

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MEC709 Winter 2016 Instructor Siyuan He

Closed-loop cruise control: is the actual way implemented in car cruise

control, whereby the speed is monitored and the amount of throttle is
increased if the car is driving slower than the intended speed and decreased
if the car is driving faster.

Fig. 1.12 Closed-loop cruise control.

In the closed-loop cruise control, the output (real car speed) is measured
and compared with the input (desired speed). The speed difference between
the output and the input is sent to the controller, which computes control
signal to adjust the throttle and then the engine to influence the car speed.
The above three steps of measuring-comparing-adjusting are done in
an automatic and continuous way.
In the closed-loop cruise control system, corrective actions are taken to
influence the car speed, as long as a difference between the car speed and
the desired speed is detected by the sensor, regardless of whatever reasons
the speed difference is caused by.
Hence, in the closed-loop cruise control, the system is less sensitive to
disturbances and parameter variations than the open-loop cruise control.

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MEC709 Winter 2016 Instructor Siyuan He

1. 4. 2 Open-loop examples
Open-loop control is useful for well defined systems where the
relationship between input and the resultant state can be modeled by a
mathematical formula.
An open-loop controller is often used in simple processes because of
its simplicity and low-cost, especially in systems where feedback is
not critical.
Examples of open-loop systems are washing machine, hair dryer and
traffic signal control where the systems work on a preprogrammed
manner and there is no feedback.
In a traffic signal system, the light is turned on for a given period of
time. A timer counts the time and sends a signal to turn on the light.
The system doesnt check whether the light has been really turned on
or not.
In a conventional washing machine the washing cycle is broken into
several fixed steps, such as washing, rinsing and drying. Each step
takes a certain fixed period of time.

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MEC709 Winter 2016 Instructor Siyuan He

1. 4. 3 Servo examples (self-study)

A regulating control or a regulator: the reference value is fixed. A
system is designed to maintain an output fixed regardless of
disturbances. For example, house temperature control, water level
control, cruise control and son on.
Tracking control or a servo: A systems is designed to follow a
changing reference. For example, robotics, auto manufacturing
machinery, car steering control system and so on.
Automobile steering control system (tracking control)

Fig. 1.13 Automobile steering control system.(Ref2)

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MEC709 Winter 2016 Instructor Siyuan He

Fig. 1.14 Block diagram of automobile steering control system.

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MEC709 Winter 2016 Instructor Siyuan He

1. 5 Steps of designing a control system

Steps of designing a control system for a given process and required
performance:
Modeling: Obtain mathematical description of the systems.
Analysis: Analyze performance of a given process in response
to inputs and disturbances, as well as in response to changes of
inputs and disturbances.
Design: If the performance of the process is not satisfactory,
how can the performance be improved without changing the
process, actuator and power amplifier blocks? (Instead, an
appropriate controller is to be designed.)
Ref 1: Gene F. Franklin, Feedback Control of Dynamic Systems, 4th edition, Prentice Hall, 2002
Ref 2: I. J. Nagrath, Control Systems Engineering, New Age International (P) Limited, 2006

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MEC709 Winter 2016 Instructor Siyuan He

Chapter 2 Modeling Physical Systems

Contents
2.1

Differential equations of physical systems

2.1.1

Mechanical systems

2.1.2

Electric circuits

2.1.3

Electromechanical systems (DC motor)

2.2

Laplace transform

2.3

Transfer function

2.4

Block diagram, signal-flow graph and system modeling

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MEC709 Winter 2016 Instructor Siyuan He

2. 1 Differential equations of physical systems

2. 1. 1 Mechanical systems
2. 1. 1. 1 Translation motion
Direction opposite to displacement
velocity
spring

damp

Direction opposite to velocity

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MEC709 Winter 2016 Instructor Siyuan He

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MEC709 Winter 2016 Instructor Siyuan He

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MEC709 Winter 2016 Instructor Siyuan He

Rule:
1) Assign variables such as

to represent the position of mass w. r. t.

the reference line. The acceleration

is also indicated.

2) Draw free-body diagram for mass Indicate all forces (magnitude and
direction) by letting a small displacement of mass along its positive
direction.
3) Apply Newtons Law of Motion to obtain a differential equation for
each rigid body.

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MEC709 Winter 2016 Instructor Siyuan He

Assume both m and m1 move a small displacement along their positive directions
<

Streched
k1(x1-x)

k1(x1-x)

+k1(x1-x)
-k1(x1-x)

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MEC709 Winter 2016 Instructor Siyuan He

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MEC709 Winter 2016 Instructor Siyuan He

That means only one possible condition is needed to be assumed to

determine the forces, and then to derive the differential equations.

Summary on modeling translation mechanical systems

1) Assign variables such as

to represent the position of each rigid body

w. r. t. the reference line. Indicate the positive direction of x. The

acceleration

is also indicated.

2) Draw free-body diagram for each rigid body. Indicate all forces acting
on each mass and their reference directions by assuming a small
displacement of each mass along its positive direction. The acceleration of
each mass is also indicated.

3) If there are forces whose directions are determined by the displacement

or velocity of more than one rigid body, e.g., x and x1 or
one possible condition such as x> x1 and

>

x1

and

x1

, assume

to determine the directions

of the forces. Newtons 3rd Law of Motion (action and reaction forces)
should be used in determining action and reaction forces.
4) Apply Newtons Law of Motion to obtain a differential equation for each
rigid body.

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MEC709 Winter 2016 Instructor Siyuan He

2. 1. 1. 2 Rotational motion

Direction: opposite to angular

displacement
spring

Direction: opposite to angular

velocity
damp

Modeling rotational motion systems follows the same rules for modeling
translational motion systems.
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MEC709 Winter 2016 Instructor Siyuan He

2. 1. 2 Electric circuits
Electric circuits consist of interconnections of sources of electric voltage
and current, resistors, capacitors, inductors and other electronic
elements.

Kirchhoffs current law: The algebraic sum of currents leaving a node

equals the algebraic sum of currents entering that node.
Kirchhoffs voltage law: The algebraic sum of all voltages taken around a
closed path in a circuit is zero.

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MEC709 Winter 2016 Instructor Siyuan He

For simple electric circuits, Kirchhoffs current and voltage laws can be
directly used.

For complicated circuits, a method of node analysis can be used. i) One

node (common, ground or terminal) is chosen as a reference and assume
the voltages of all other nodes to be unknowns; ii) Apply Kirchhoffs
current law at each node by representing currents in terms of the
unknown voltages.

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MEC709 Winter 2016 Instructor Siyuan He

( in/out current)

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MEC709 Winter 2016 Instructor Siyuan He

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MEC709 Winter 2016 Instructor Siyuan He

2. 1. 3 Electromechanical systems (DC motor) (self-study)

DC motor structure (Ref 1)

DC motors are widely used in control systems. A DC motor is device
converting electric energy into kinetic energy and is a typical
electromechanical system.
A typical DC motor consists of a stator (magnet), a rotor (armature) and a
commutator.
When a voltage is applied to the armature through the commutator, a
torque is produced to rotate the rotor.
Various DC motors are developed. More details can be found in text 4.6.

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MEC709 Winter 2016 Instructor Siyuan He

An armature-controlled DC motor can be modeled as follows.

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