ADU ECE

Introduction to Control Engineering (ECEg3153)

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Introduction to Control Engineering (ECEg3153)

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Introduction to Control Engineering (ECEg3153)
Chapter 1
1.1 Introduction on Control System
1.2 Linear Time Invariant System, Impulse response of
LTI system
1.3 Transfer Function, Mathematical modeling of
physical systems, Block diagrams
1.4 Block diagram reduction and Signal flow graphs,

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1.1 Introduction on Control System
Study of Control System is essential for students of:
Electrical
Mechanical
Aerospace
Biomedical
Chemical Engineering
Control systems are found in a broad range of applications
with in these disciplines: from aircraft and space craft to robots
and process control systems.
These control systems are also exist in nature: With in our bodies are
numerous control systems:
Pancreases which regulates our blood sugar
In time of fight or flight our adrenal increases which regulates our heart rate
causing more oxygen to be delivered to our cells.
Hands grasping objects and place it precisely at a predetermined location.
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Required backgrounds:
Differential equations
Laplace transforms
Linear algebra and linearization
Basics of electrical circuits and electromechanical
equipment i.e. motor/ generator, etc.

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Control System Fundamentals:
A control system consists of sub systems and
processes or plants assembled for the purpose of
obtaining a desired output with the desired
performance, given a specified input. performance, given a
specified input.
System: mean different thing to different people,
it can be include from purely physical systems such as the
machine table of a computer numerically controlled
machine tools to controlled (CNC) machine tools to
the procedure necessary for the purchase of raw material
together with the control of inventory (stack of an item)
in a material requirement planning (MRP) system
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However, all systems have certain things in common.

NB: A system may have any

number of inputs and outputs

They all for example, requires inputs and outputs to be

specified. Incase of CNC machine tool machine table,
number of inputs and Outputs specified. Incase of CNC
machine tool machine table, input might be the power
to the driver motor, and the output might be the
position, velocity and acceleration of the table.

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For the MRP system:
input would include sales orders and sales forecasts, a bill
of materials for component parts and sub assemblies,
inventory records and information relating to capacity
requirement planning.
MRP system may generate various output reports that are
used in planning and managing factory operations i.e.
order releases, inventory status, overdue orders and
inventory forecasts

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In Engineering point of view:
System An interconnection of elements and devices for a
desired purpose.
Process The device, plant, or system under control. The
input and output relationship represents the cause-and-
effect relationship and output relationship represents the
cause-and-effect relationship of the process.
Control System An interconnection of components
forming a system configuration that will provide a
desired response with the desired specification.

Control Engineering a field of Engineering which deals

about control system and related areas.

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In Control Engineering, the way in which the system
outputs responds in changes to the system inputs (i.e. the
system response) is very important.
The control system design engineer will attempt to
evaluate the system response by determining a
mathematical model the system response by determining
a mathematical model for the system.
Fundamental to any control system is the ability to
measure the output of the system and to take correction if
its value deviates from some desired value.

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Knowledge of the system inputs together with the
mathematical model, will allow the system outputs to be
calculated.
It is conventional to refer to the system being controlled
as the plant, and this as with other elements is
represented by the plant, and this as with other
elements is represented by a block diagram.
NB: Some inputs, the engineer will have direct control
over, and can be used to control the plant outputs. These
are known as control inputs.
There are other inputs over which the engineer has no
control, and these will tend to defect the plant outputs from
their desired values. These are called disturbance inputs
(noises).

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For instance, in the case of the ship system shown
below:

The rudder (underwater valve used to steer a vessel)

and engines are the control inputs whose values can
be adjusted to control certain outputs such as heading
and forward velocity.
The wind, waves and current are disturbance inputs
and will induce errors in the outputs
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Inaddition, the disturbance will introduce In
addition, the disturbance will introduce increased
ship motion (roll, pitch and heave) which again is not
desirable.

Control System configuration:

There are two major configuration of control systems (internal
architecture of the total system)
Open loop
Closed loop (Feedback system)
Open loop control system: System which has no any feedback
from the output.

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Characteristics of open loop control systems
Sensitive for disturbances and cannot compensate for
these disturbances added to the system
Simple for design
Examples of open loop system Examples of open loop
system (Open loop ) furnace, Air conditioners, etc

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Advantages of open loop control system
1. They are simple and easy to build
2. They are cheaper, as they use less number of
components to build
3. They are usually stable
4. Maintenance is easy
Disadvantages
1. They are less accurate.
2. If external disturbances are present, output differs
significantly from the desired value.
3. If there are variations in the parameters of the system,
the output changes.
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Closed Loop (Feedback) Control System: System with
feedback or Sensing device of the output for input
correction purpose
Characteristics of closed loop (feedback) control systems
Can compensate for disturbances
Have greater accuracy than open loop systems
Less sensitive to noise, disturbances and changes to the
environment.
Transient response and steady state error can be
controlled more conveniently and with greater flexibility.
More complex and expensive than open loop systems

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Advantages of closed loop control system
1. They are more accurate.
2. The effect of external disturbance signals can be made very
small.
3. The variations in parameters of the system do not affect the
output of the system i.e. the output may be made less sensitive
to variation is parameters. Hence forward path components
can be of less precision. This reduces the cost of the system.
4. Speed of the response can be greatly increased.
Disadvantages
1. They are more complex and expensive
2. They require higher forward path gains.
3. The systems are prone to instability. Oscillations in the
output many occur.
4. Cost of maintenance is high.

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In summary:
System that perform the previously described
measurement and correction are called Closed loop
(feedback) control systems.
Systems that don't have this property of measurement
and correction are called Open loop systems.

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Advantage of Control Systems:
For example using control systems
We can move large equipment's with precision that would
other wise impossible.
We can point huge antennas towards the farthest reaches
of the universe to pick up faint radio signals.
etc.
In general, we build control systems for four primary
reasons
Power amplifications a) Power amplifications
Remote control
Convenience of input form
Compensation for disturbances
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Controller Performance
Two major measures of performance for control system
Transient response
Steady state error
Lets take an example of an elevator controller (position
controller);
Input: the passenger pressing of fourth floor button
Output: the arrival of the passenger at the fourth floor
In this example passenger comfort and passenger patience are
dependent upon the transient response.
If this response is to fast passenger comfort is sacrificed; if too
slow the passenger patience is sacrificed.
The steady state error is an other performance specification
since passenger safety and convenience would sacrificed if the
elevator didn't properly level
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Analysis and Design Objective

Analysis: the process by which a systems performance is deter
mined.
We evaluate the transient response and steady state error to
determine if
performance is created or changed.
Design: is the process by which a system performance is
created or changed. For example, if system transient response
and steady state error are analyzed and found not to meet the
specifications then we change parameters or add additional
components to meet the specification.
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A control system is dynamic which mean it responds to
an input by under going a transient response before
reaching a steady state response that generally
resembles the input.
Other deign concerns:
Cost
Sensitivity of system performance to change in parameters
Transient Response:
[for the above example] slow transient response makes
passengers impatient where as an excessive rapid response
makes them uncomfortable. Too fast TR could cause
permanent physical damage.

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If the elevator oscillates about the arrival floor for more than
a second a disconcerting feeling can result.
Hence we should analyze the system for its existing transient
response and we would adjust parameter or design
components to yield a desired transient response. This is our
first analysis and design objective.
Steady state response
This response resembles the input and found after the
transient response decays to zero . For example, an elevator
stopped near the fourth floor.
We concerned more about the accuracy of steady state
response.
Define steady state errors quantitatively, analyze a steady
state error, and design corrective action to reduce steady
state error is our second analysis and design objective.
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Stability
In addition to the above control system performance
criteria i.e. producing the desired transient response and
reducing steady state error , achieving stability is also the
final target of control system designer.
Transient response and steady state response are nothing
if the system has no stability.
[for linear system] Total response = Natural response
+Forced response (as differential eqn. has homogenous
solution + particular solution)
Natural response: describes the way the system dissipates or
acquire energy. The form or nature of this response is
dependent only on the system, not on input

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Forced response: its form or nature is dependent on
the input.
For a control system to be useful the natural response must:
Eventually approaches zero or
Oscillate about a value
If the natural response grows without bound rather than
diminish to zero or oscillate eventually, the natural
response is so much greater than the forced response
That system is no longer controlled. This condition is
called instability.

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If the system is stable, proper transient and steady state
response can be designed, hence Stability is our third
analysis and design objective .
Other consideration:
Factors affecting hardware selection such as motor sizing,
choice of accurate sensors,.
Finance
Robust design

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The Deign Process
Sequence for the design of feedback control system
Step1: determine a physical system and specification
from the requirement.
Step 2: draw a function block diagram
Step3: transform physical system into a schematic.
Step4: develop a mathematical model. use the schematic
to obtain a block diagram/ state space representation.
Step5: if multiple reduce the block.
Step6: Analyze, design, and test to see that requirements
and specifications are met

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Using Computer for Control System Analysis & Design
In the analysis and design stage of controller design process,
we will use computers as a computational tool.
And computers use an important role in modern control
systems.
We can use different software application for this purpose.
Matlab:
Since computer is an integral part of modern control system
design, many computational tools are available. In our
discussion we use Matlab and Matlab control system tool
box.
Lab View:
A programming environment presented as alternative to
Matlab.

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Exercise: A temperature control system operates by using the
difference between the thermostat setting and the actual
temperature for opening a fuel valve to the amount
proportional to this difference. Draw a functional closed loop
block diagram which indicates the functional closed loop
block diagram which indicates the input and output
transducers, the controller, and the plant. Also identify the
input and output signals of all systems.

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(Options in) Control System Analysis and Design
Step1: Modeling
By physical laws
By identification methods
Step2: Analysis
Stability , controllability and observability
Step3: Control law design
Classical, modern and post-modern control
Step4: Analysis
Time domain, frequency domain
Step5: Simulation
Matlab, Fortran, Simulink etc.
Step6: Implement

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Brief history of automatic control
1868 First article of control on governors by Maxwell
1877 Routh stability criterion
1892 Liapunov stability condition
1895 Hurwitz stability condition
1932 Nyquist
1945 Bode
1947 Nichols
1948 Root locus
1948 Root locus
1949 Wiener optimal control research
1955 Kalman filter and controlability observability analysis
1956 Artificial Intelligence

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1957 Bellman optimal and adaptive control
1962 Pontryagin optimal control
1965 Fuzzy set
1972 Vidyasagar multi-variable optimal control and
Robust control
1981 Doyle Robust control theory
1990 Neuro-Fuzzy

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Three eras of control
Classical control :
1950 before
Transfer function based methods
Time-domain design & analysis

Frequency-domain design & analysis

Modern control :
1950~1960
State-space-based methods
Optimal control

Adaptive control

Post modern control : 1980 after

H control
Robust control (uncertain system)
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Do you have any

question on the
chapter?

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