SYSTEM DYNAMICS

AND
CONTROL

Prof.Dr. Fatih Mehmet Botsal

Sistemin/prosesin/tesisin k deikeninin deerini referans
giri deerini kullanarak insanlarn dorudan mdahalesi
olmakszn kontrol etmeyle uraan bilim daldr.
Kontrol sistemi istenilen sistem k deerini salamak zere
bir araya getirilmi bileenlerden oluur . k deikeninin
istenilen deerini elde etmek zere referans giri deeri
kullanlr.

Process /
Plant /
System
 Control
Reference signal Output
Input Variable
(Desired (Controlled
value of Variable)
output)


Example- Speed Control System

Example- Temperature Control System
Example- Temperature Control System
Example- Passenger Car Compartment
Temperature Control System
Example- Passenger Car Compartment
Temperature Control System

means of reducing drivers fatigue on long motorway
A drivers switch park.
 Disturbances
Estimated value of
disturbances
Reference
Control
Input
Signal

Controller Actuator Process

Desired
value of the
output
The sensor is the tachometer which measures the vehicles

What are the plant, actuator, and sensor for an elevator? A

thermostat?


Common goals of control

History
History
HISTORY
History
History
Ebu-el zz Cezeri
Bed el Zamn Eb zz smail bn Razzz Cezer

Sukmn

Cezer El Cmi lm
Amel el Nfi f Snat (Makine Yapmnda Yararl
Bilgiler ve Uygulamalar)
Ebu-el zz Cezeri

Hkmdarn Abdest Almas

in Otomatik Olarak Su
Aktan, Byk Pirin brik
briin kapa stndeki ku
tnce rdein gagasndan
su akmaya balar.
Hkmdar abdestini alr.
Boalan ibrik geri gtrlr,

olduu zaman tekrar

Ebu-el zz Cezeri
lu brik
Tavus kuu grnmnde
ba hizasndan
ykselmektedir ve
kuyruu kapaldr. brik
abdest almak iin
kullanlmaktadr. Grevli
kii tavusun kuyruundaki
iine boaltr. Kuyruun
st ksmnda yer alan
yuvarlak knt
ekildiinde tavusun
gagasndan abdest almak
iin yeterli miktarda su
boalr
Ebu-el zz Cezeri

ki amandral Fskiye
Ara, suyun saland

iinde yer alan bir

fskiyeden oluur.
Fskiye suyu on be
dakika sre ile bir yay

iei gibi fkrtr

Ebu-el zz Cezeri
Cezer'nin en nl aracdr. Srtnda kare biiminde bir krs,
krsnn kselerindeki stunlar zerinde bir hisar, hisarn zerinde
kk bir kubbe, kubbenin stnde de bir kus bulunan bir fil
seklindedir. Hisarn filin bas ynndeki tarafnda bir balkon, balkonda
oturan bir adam, adamn sanda ve solunda iki ahin, balkonun
stunlar arasnda uzanan ve zerine iki ylan sarlm bir mil, krsnn
orta ksmnda bir yarm kre ve zerinde elinde kalem tutan bir ktibin
oturduu platform, platform zerinde 7 1/2 dereceye blnm bir yay,
filin boynuna oturmu, sa elinde balta sol elinde sopa tutan bir bakc
ve filin boynunun iki yannda iki vazo bulunmaktadr. Ktibin kalemi
yarm saatte 7 1/2 dereceye gelince, kus ter, deliklerden birinin yars
beyaza dner, balkonda oturan adam sa tarafndaki ahinin
gagasndan elini kaldrr, sol elini sol tarafndaki ahinin gagas stne
koyar. Sandaki ahinin gagasndan, sadaki ylann azna bir top
der, ylan topu filin sa omzundaki vazoya brakr, filin seyisi balta ile
filin basna hamlede bulunur, sopal sol elini kaldrr ve filin bana
vurur. Top filin gsnden kar, karnnda asl bir an zerine derek
ses karr, bylece yarm saatin getii bildirilir. Ktibin kalemi derece
iaretlerinin dna gelir. Bundan sonra ayn ilemler sol taraftaki ahin
ve ylan iin tekrarlanr. Bir delik tamamen beyazla rtlr. Bu anda bir
saat gemitir.
Ebu-el zz Cezeri
Ebu-el zz Cezeri
Ebu-el zz Cezeri
History

James Watts speed governer

James Watts speed governer
James Watts speed governer
History
History
Water-level float regulator.
The Honda P3 humanoid robot. P3 walks, climbs stairs, and turns
corners. Photo courtesy of American Honda Motor, Inc.
Refueling a plane
Robot hand
Robot manipulator
Iron Man
Human vs automatic machine
Curiosity
Antenna Azimuth
A three-axis control system for inspecting individual semiconductor
wafers with a highly sensitive camera.
Coordinated control system for a boiler - generator.
 The Obrero robot is responsive to the properties of the object it holds and
does not rely on vision as the main sensor but as a complement. Obrero is part
of the Humanoid Robotics Group at the MIT Computer Science and Artificial
Intelligence Laboratory.
A feedback control system model of the national income.
An unmanned aerial vehicle (UAV).
The control system design process.
The hybrid fuel automobile can be viewed as a mechatronic system.
Efficient wind power generation in west Texas.
A rover using an embedded computer in the feedback loop.
Segway
Segway
Future evolution of control systems and robotics.
Open-loop (without feedback) control of the speed of a rotating disk.
Closed-loop control of the speed of a rotating disk.
The blood glucose and insulin levels for a healthy person.
Open-loop (without feedback) control.
isk drive.
Closed-loop control system for disk drive.
Chemical composition control.
Nuclear reactor control.
A photocell is mounted in each tube. The light reaching each cell is the
same in both only when the light source is exactly in the middle as
shown.
Water clock.
Automatic turning gear for windmills.
Pressure regulator.
A high-performance race car with an adjustable wing.
Two helicopters used to lift and move a large load.
Microrover designed to explore an asteroid.
Microsurgery robotic manipulator.
Automated parallel parking of an automobile.
Extremely large optical telescope with deformable mirrors for
atmosphere compensation.
worlds tallest building in Dubai.
robotic vacuum cleaner communicates with the base station as it
maneuvers around the room.
Machine tool with table.
Robot welder.
Inverted pendulum control.
Personal transportation vehicle.

How Personal transportation vehicle balances

Personal transportation vehicle.

How Personal transportation vehicle works

Control Systems (Liquid levele control)
Control Systems (Liquid levele control)
Control Systems (Liquid levele control)
Control Systems (Liquid levele control)
Control Systems (Temperature control.
Set value changes with time)
Control Systems (Temperature control.
Set value changes with time)
Control Systems (Position Control)
Control Systems (Position Control)
Control Systems(MIMO)
Control Systems Quiz
1. Name three applications for feedback control
systems.
2. Name three reasons for using feedback control
systems and at least one reason for not using them.
3. Give three examples of open-loop systems.
4. Functionally, how do closed-loop systems differ
from open-loop systems?
5. State one condition under which the error signal of a
feedback control system would not be the
difference between the input and the output.
6. If the error signal is not the difference between
input and output, by what general name can we
describe the error signal?
Control Systems Quiz
7. Name two advantages of having a computer in the
loop.
8. Name the three major design criteria for control
systems.
9. Name the two parts of a system's response.
10. Physically, what happens to a system that is
unstable?
11. Describe a typical control system analysis task.