Liyana Bt Roslan

Mechatronics, Instrumentation And Control Department

MEC 522: CONTROL ENGINEERING

Chapter 1: Introduction to Control Systems

Definiton and Concepts

A control system consisting of interconnected components is designed
to achieve a desired purpose.
Modern control engineering practice includes the use of control design
strategies for improving manufacturing processes, the efficiency of
energy use, advanced automobile control, including rapid transit,
among others.

History
18th Century James Watts centrifugal governor for the speed control of a steam
engine.
1920s Minorsky worked on automatic controllers for steering ships.
1930s Nyquist developed a method for analyzing the stability of controlled
systems
1940s Frequency response methods made it possible to design linear closed-loop
control systems
1950s Root-locus method due to Evans was fully developed
1960s State space methods, optimal control, adaptive control and
1980s Learning controls are begun to investigated and developed.
Present and on-going research fields. Recent application of modern control theory
includes such non-engineering systems such as biological, biomedical, economic
and socio-economic systems
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The future of Control Systems & Robotics

Control
System
Design

Control: Terms & Definition

Example of Control System

The amount of fuel admitted
to the engine is adjusted
according to the difference
between the desired and the
actual engine speeds.

Speed Control System

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Example of Control System

Speed Control System

The sequence of actions may be

stated as follows:
The speed governor is adjusted
such that, at the desired speed, no
pressured oil will flow into either
side of the power cylinder. If the
actual speed drops below the
desired value due to disturbance,
then the decrease in the centrifugal
force of the speed governor causes
the control valve to move
downward, supplying more fuel,
and the speed of the engine
increases until the desired value is
reached.
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Example of Control System

On the other hand, if the speed of
the engine increases above the
desired value, then the increase in
the centrifugal force of the
governor causes the control valve
to move upward. This decreases
the supply of fuel, and the speed of
the engine decreases until the
desired value is reached.

Speed Control System

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Example of Control System

The difference btw
desired speed &
actual speed
Error Signal

Controller
Input
Amount of fuel
Controller
Engine
Plant

Disturbance
Unexpected load

Controlled
Output
Speed of the engine

Speed Control System (Block

Diagram)

In this speed control system,

plant (controlled system) - engine
controlled variable - speed of the
engine
error signal - The difference between
the desired
speed and the actual speed
The control signal - the amount of fuel
to be applied to the plant/engine. Also
as the actuating signal.
Disturbance - The external input to
disturb the controlled variable . An
unexpected change in the load is a
disturbance.
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Closed Loop vs Open Loop Control System

1. Open loop control system
Open-loop control systems are control systems in which the output has no effect
upon the control action, i.e. the output is neither measured nor fed back for
comparison with the input.
Can be used in practice, if only,
- Relationship between input and output is known
- There are neither internal nor external disturbances
Example: - washing machine (Soaking, washing, and rinsing in the washing
machine are operated on a time basis. The machine does not measure the output
signal, namely, the cleanliness of the clothes.
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Closed Loop vs Open Loop Control System

1. Open loop control system

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Closed Loop vs Open Loop Control System

1. Open loop control system

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Closed Loop vs Open Loop Control System

2. Closed loop control system
A system that maintains a prescribed relationship between the output
and the reference input is called a closed-loop system or a feedback
control system.

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Closed Loop vs Open Loop Control System

2. Closed loop control system
The system uses a measurement of the output and feedback of the
signal to compare it with the desired output.

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Closed Loop vs Open Loop Control System

2. Closed loop control system
By comparing the input signal and the feedback signal, the controller
reduces the difference between the two signals and brings the output
of the system to a desired value.

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Closed Loop vs Open Loop Control System

2. Closed loop control system
Can be used in practice, if only,
- Unpredictable disturbances and/or unpredictable variations are present.

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Closed Loop vs Open Loop Control System

2. Closed loop control system

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Basic Control Actions

Common industrial automatic controllers involve the following control actions:
Two-position or on-off
Proportional (P)
Integral (I)
Proportional-plus-integral (PI)
Proportional-plus-derivative (PD)
Proportional-plus-derivative-plus- integral (PID)
A controller can realize these control actions by means of pneumatic circuits,
analogue electronic circuits involving operational amplifiers or by the
programming of a microprocessor or computer.
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Basic Control Actions

1. Two-Position / On-Off Control Action
The controller is essentially just a switch which is activated by theerror signal and
supplies just an on-off correcting signal
relatively simple and inexpensive
widely used in both industrial and domestic control systems
the output signal from the controller m(t) remains at either a maximum or
minimum value, depending on whether the actuating error signal is positive or
negative

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Basic Control Actions

1. Two-Position / On-Off Control Action
Block diagram of an on-off controller

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Basic Control Actions

2. Proportional Control Action

The controller produces a control action that is proportional to the error.

The bigger the error signal the bigger the correcting signal.
Thus as the error is reduced, the amount of correction is reduced and the
correcting process slows down.

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Basic Control Actions

3. Integral Control Action
The controller produces a control
action that is proportional to the
integral of the error with time.
Thus a constant error signal will
produce an increasing correcting
signal.
The correction continues to increase
as long the error persists.
The integral controller can be
considered to be looking-back,
summing all the errors and thus
responding to changes that have
occurred.
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Basic Control Actions

3. Derivative Control Action
The controller produces a control action that is proportional to the rate at which
the error is changing.
When there is a sudden change in the error signal the controller gives a large
correcting signal.
When there is a gradual change only a small correcting signal is produced.
Can be considered to be a form of anticipatory control in that the existing rate of
change of error is measured, a coming larger error is anticipated and correction
applied before the larger error has arrived.
Derivative control is not used alone but always in conjunction with proportional
control and, often, integral control.

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Basic Control Actions

4. Proportional plus derivative (PD)

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Basic Control Actions

5. Proportional plus integral (PI)

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Basic Control Actions

6. Proportional plus integral plus derivative (PID)

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Basic Control Actions

6. Proportional plus integral plus derivative (PID)
You may need a PID controller in many situations, particularly in the
following cases.
A proportional controller may not give SSE performance needed in a
system.
An integral controller may give SSE performance, but slow a system
down.
Adding a derivative term may help cure both of those problems.

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Basic Control Actions

6. Proportional plus integral plus derivative (PID)

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Basic Control Actions

6. Proportional plus integral plus derivative (PID)
When you are designing a PID controller for a given system, follow the
steps shown below to obtain a desired response.
1. Obtain an open-loop response and determine what needs to be
improved
2. Add a proportional control to improve the rise time
3. Add a derivative control to improve the overshoot
4. Add an integral control to eliminate the steady-state error
5. Adjust each of K, Ki, and Kd until you obtain a desired overall
response referring to the table shown previously to find out which
controller controls what characteristics.
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Your Task.....
List the advantages and disadvantages of;
1. P controller
2. I controller
3. D controller
4. PI Controller
5. PD controller

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THE END
Next class:
Cover Chapter 2
1. Transfer function
2. State space representation
3. Block Diagram and Signal Flow Diagram

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