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Lecture 1
Introduction to Control Engineering
1 August 2011
Contents
Definitions
Open & closed loop systems
Dynamic vs static systems
Linear systems
Stable systems
Control system design process
Mathematical modelling
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Definitions
Control system is a device or set of devices
used to manage, command, direct or regulate
the behaviour of other devices or systems.
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Types of Control System
Broadly speaking, there are three major type of
control systems:
Man made control system
Natural control system
Mixed (combination) control system
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Natural Control System
Also called biological control.
The type of control is available in nature.
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Application Examples
Home heating or air-conditioning,
controlled by a thermostat.
Home entertainment system with
built-in control.
Cruise (speed) control of an
automobile.
Electronic voltage regulator.
Automatic bread toaster.
Photographic automatic focus control.
Altitude control of space vehicle.
Automatic washing machine.
Law and order.
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Open Loop System
Also known as feed-forward control
system.
Characteristics:
Simplest (and cheap too!) type of
control
Contains no feedback
The output is not affected by the input
Application examples:
Simple electric switch
Kettle or water heating devices
Mobile phone
Word processor
Alarm clock
Contains no feedback.
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Example 1 : Kettle
It is a merely an on-off device.
Block diagram:
Why?
1. Phone received call/signals.
2. As the phone is turned on, it will make connection with
satellite until the signal (call) is terminated by the phone
operator (human).
3. The phone is unable to turn itself off even after a
conversation between humans have ended.
4. Hence, it is an open loop system.
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Example 3 : Word Processor
Control type : open loop system
Why?
The monitor continues to display output characters
on the computer monitor if the human give suitable
input via keyboard.
No input, then no output.
Measurement
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Example Application of Closed-Loop System
Example applications:
Washing machine
Oven
Driving an automobile
Law and order
Why?
It is a self-regulating machine
performing the operation with and
without the need of the human.
This machine will keep the
surrounding temperature to that of
the preset value.
Sensor is used to maintain the
temperature in which the air-
conditioner is placed.
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Example 5 : Driving a Car
Control Type : Closed Loop.
Block diagram:
Block diagram:
CONTROLLER
Police, Army, Media, Judiciary, Public
Opinion, Education, Peer, Friends,
Parents
ETHICS
Laws, Regulations, Rules, Ordinances, Orders,
Statutes, Constitution, By-Laws, Codes,
Manners, Etiquette
Source : Spier (2001)
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Example 7 : Jogging System
Visual sensory
(eyes)
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Example 9 : Traffic Light Control System
The idea is to minimize the waiting time.
Furthermore, it is also intended to make the
traffic flow smooth.
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Example 10 : SISO and MIMO system
The following example illustrates the application in
telecommunication engineering.
SISO system:
MIMO system:
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Servomechanism
Usually, we use servo motors for
servomechanism applications.
Characteristics:
Closed loop system.
The control action is dependent on the desired result.
Automatic (intelligent) control.
Measures position (displacement), velocity and/or
acceleration.
Application example:
(speed) cruise control of cars.
Water level system.
Servomechanism
Purpose of servomechanism:
(1) accurate control of motion without the need for human
attendants (automatic control);
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Servomechanism
A servomechanism is typically a feedback system. The following
block diagram illustrates the effect of servomechanism.
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Example 12 : Industrial Robot
Sophisticated robots use closed-loop
position systems for all joints.
An example is the industrial robot.
Example 13 : Regulators
Characteristics :
closed loop system.
The input (setpoint) is held
constant.
Application example:
Car (power) window.
Human body temperature.
Automatic temperature
regulated over.
Human perspiration system.
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Static System
A static system is a deterministic system. The effects of inertia is
ignored.
For a static system, the output response to an input that does not
change with time i.e. the input is held constant. Mathematically:
The output signal, y(t), at time t, depends on the value of input at time t.
Dynamic System
Dynamics is a branch of mechanics where due emphasis is paid to
inertial effects as opposed to statics where such effects are
ignored.
The output signal y(t), at time t, depends on past values of the input.
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Static vs Dynamic
Consider Figures (a) and (b) below:
For the resistor in Figure (a), the output e(t) is given as e(t)=R i(t).
This output depends only upon the input at that time so the resistor
represents memory-less or static system.
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Quiz
Classify on the stability of the following system:
f(t) f(t)
t t
f(t) f(t)
t t
System II System IV
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Analysis of Control System
The main objective of a control system is to
produce a desired system, reducing errors and
achieving systems stability.
Transient Response
Also known as the natural response
(remember differential equations?)
it is the homogeneous solution.
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Steady State Response
An approximation to the desired response.
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Analogy
God, friends, money, education, ambition etc. Steady state
error the
Old/mature/ regrets that you
senior have. Have you
achieved your
desired goal, once
dreamt when you
Adult were younger?
Adolescent
Baby (infant)
Stability
It is a performance measure of a system.
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Control System Design Process
The following are the steps as outlined by Nise
(2007) in his book:
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Mathematical Modeling
It uses mathematical language to describe a particular system.
Why?
Important to gain understanding and further insight to the system,
hence enabling us to perform analysis.
Useful for prediction, formulation and simulation.
Useful for estimation and prediction of unforeseeable event that could
somehow affect the system.
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Control System Design Example
Antenna Azimuth Positioning System
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Control System Design Example
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Next Step
Textbook reference : Chapter 1.
Reading:
Wu Hejun & Miao Changyun (2010) Design of intelligent traffic
light control system based on traffic flow. Proceedings of the
201O International Conference on Computer and Communication
Technologies in Agriculture Engineering.
Thank You.
Wise Word
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