Slide no.

2
Introduction
Electrical Engineering can be defined as the branch of engineering science which deals with the study
and application of electricity, electromagnetism, electronics and electronic equipment for power
generation and distribution and also for the control of machines and communication system.
Electrical engineering covers a range of subtopics including power, electronics, control systems, signal
processing and telecommunications.
The art of automatic control dominates the modern way of life and can employ either in ensuring peace
or destruction of the world.

Slide no. 3
Introduction (Cont…)
To maintain a physical quantity, such as pressure, flow or temperature at a desired level during a
technical process, this quantity can be controlled either by means of open loop control or closed loop
control.
Control means any quantity of interest in a machine or mechanism to be maintained or altered in
accordance with desired manner.
A system which regulates the output quantity is called a control system.

Slide no. 4 The Control Problem

The central problem in control is to find a technically feasible way to act on a given process so that the
process behaves, as closely as possible, to some desired behaviour. Furthermore, this approximate
behaviour should be achieved in the face of uncertainty of the process and in the presence of
uncontrollable external disturbances acting on the process.
Slide no. 5
The Control Problem (cont…)
The definition of the Control Problem introduces following ideas:
Desired behavior: This needs to be specified as part of the design problem.
Feasibility: This means that the solution must satisfy various constraints, which can be of technical,
environmental, economic, or other nature.
Uncertainty: The available knowledge about a system will usually be limited and of limited accuracy.
Action: The solution requires that action be somehow applied to the process, typically via one or more
manipulated variables which command the actuators.
Slide no. 6
The Control Problem (cont…)
Disturbances: The process to be controlled will typically have inputs other than those that are
manipulated by the controller. These other inputs are called disturbances.
Approximate behavior: A feasible solution will rarely be perfect. There will invariably be a degree of
approximation in achieving the specified goal.
Measurements: These are crucial to let the controller know what the system is actually doing and how
the unavoidable disturbances are affecting it.
Slide no. 7
The Meaning of Control
The situation of being under the regulation, domination, or command of another: The car is out of
control.

Check or restraint: Her anger is under control.

A device for regulating and guiding a machine, such as a motor or an airplane is known as control.

Control is a coordinated arrangement of such devices.

Verb:
To command, direct, or rule: to control a country
To check, limit, curb, or regulate; restrain: to control one's emotions ; to control a fire
To regulate or operate (a machine)
Slide no. 8
What is Control Engineering?
Control Engineering involves the design of an engineering product or system where a requirement is
to accurately control some quantity, say temperature in a room or the position or speed of an electric
motor. To do this one needs to know the value of the quantity being controlled, so that being able to
measure is fundamental to control.
Slide no. 9 Branches of Control Engineering
Here we are going to give a brief listing of the various different methodologies within the sphere of
control engineering. However, often the lines between these methodologies are blurred, or even erased
completely.
Classical Controls: Control methodologies where the ODEs that describe a system are transformed
using the Laplace, Fourier, or Z Transforms, and manipulated in the transform domain.
Slide no. 10 Branches of Control Engineering (Cont…)
Modern Controls: Methods where high-order differential equations are broken into a system of first-
order equations. The input, output, and internal states of the system are described by vectors called
"state variables".
Robust Control: Control methodologies where arbitrary outside noise/disturbances are accounted for,
as well as internal inaccuracies caused by the heat of the system itself, and the environment.
Optimal Control: In a system, performance metrics are identified, and arranged into a "cost function".
The cost function is minimized to create an operational system with the lowest cost.
Slide no. 11 Branches of Control Engineering (Cont…)
Nonlinear Control: The youngest branch of control engineering, nonlinear control encompasses
systems that cannot be described by linear equations or ODEs, and for which there is often very little
supporting theory available.
Game Theory: Game Theory is a close relative of control theory, and especially robust control and
optimal control theories. In game theory, the external disturbances are not considered to be random
noise processes, but instead are considered to be "opponents". Each player has a cost function that they
attempt to minimize, and that their opponents attempt to maximize.
Slide no. 12 Branches of Control Engineering (Cont…)
Linear Control: For MIMO systems, pole placement can be performed mathematically using a state
space representation of the open-loop system and calculating a feedback matrix assigning poles in the
desired positions. In complicated systems this can require computer-assisted calculation capabilities,
and cannot always ensure robustness. Furthermore, all system states are not in general measured and so
observers must be included and incorporated in pole placement design.
Slide no. 13 Control Theory
Control theory is the science that addresses the analysis and synthesis of feedback mechanisms in
dynamical systems. The field is in essence interdisciplinary since on one hand it treats dynamical
systems as abstract mathematical models that are not related to any specific technology, and on the
other hand it has applications in practically any industrial sector.
Increased global awareness of resource limitations, pollution problems, and increased industrial
demands for cost-effectiveness due to competition has put control theory in focus as a systematic
method of designing for minimal resource consumption, maximal product quality or other aspects of
optimality in production processes and/or in final products.
Definition: It’s the mathematical study on manipulating the parameters that affect the behavior of a
system to produce the most desired or optimal outcome.
Slide no. 14 Control Theory (Cont…)

There are two major divisions in control theory, namely, Classical and Modern Controls, which have
direct implications over the control engineering applications.
Classical Control Theory:
The scope of classical control theory is limited to single-input and single-output (SISO) system design.
The system analysis is carried out in time domain using differential equations, in complex-s domain
with Laplace transform or in frequency domain by transforming from complex-s domain. All the
systems are assumed to be second order, single variable, and the higher order system responses and
multi-variable effects are ignored.
Most popular controllers that come under classical control engineering are PID controller

Slide no. 15 Control Theory (Cont…)

A controller designed using classical theory usually requires on-site tuning due to design
approximations. Yet, due to the easiness in physical implementation of the controller designs over the
controllers designed using modern control theory, these controllers are preferred in most of the
industrial applications.
Slide no. 16 Control Theory (Cont…)
Modern Control Theory:
In contrast, modern control theory is strictly carried out in complex-s domain or in frequency domain
and can deal with multi-input and multi-output (MIMO) systems. This overcomes the limitations in
classical control theory to be used in sophisticate control systems design problems such as fighter
aircraft control. In modern controls a system is represented in terms of a set of first order differential
equations defined using state variables. Nonlinear, multi-variable, adaptive and robust control theories
come under this division. Being fairly new, modern control theory has many areas yet to be explored.
Scholars like Rudolf E. Kalman and Aleksandr Lyapunov are well known among the people who have
shaped modern control theory
Slide no. 17 Control Theory (Cont…)
The main research areas of the control theory group at Department of Control Engineering, are:

Self-tuning and Adaptive Control

Control of Nonlinear Systems

Robust and Optimal Control

Control of Large-scale Systems

Intelligent sensors

Slide no. 18 System Concept

A system is defined as a combination of components which act together to achieve a desired goal or
objective. A system can be mechanical, electrical, fluid, chemical, financial and even biological, and
the mathematical modeling, analysis and controller design shall be done using control theory in one or
many of the time, frequency and complex-s domains depending on the nature of the control system
design problem.
Slide no. 19

Control System
A control system is a device or set of devices to manage, command, direct or regulate the behavior of
other devices or system.
A control system is defined to be a system having sub – systems and processes ( or plants) assembled
for the purpose of controlling or regulating the outputs of the processes ( or plants) to a desired value.
Slide no. 20 Control System (Cont…)
For example: A furnace produces heat as a result of the flow of fuel into the burner of the furnace. In
this system, the sub-systems are the fuel burner, fuel valve, and fuel valve actuators that are used to
regulate the temperature of the room by regulating the flow of fuel and hence the heat output from the
furnace. Other sub-system is the device such as thermostats, which act as sensors to measure the room
temperature.
Slide no. 21 Control System (Cont…)
In its simplest form, a control system provides an output or response for a given input or stimulus as
shown by the following diagram:

Input; Output;
Stimulus Response
Control
Desired System Actual
Response Response
 Fig.1: Control; System
So, a Control System has three generic components: Input, Process & Output or I-P-O

Slide no. 22 Classification of Control Systems

There are two common classes of control systems, with many variations and combinations: logic or
sequential controls, and feedback & Non-feedback or linear controls.
There is also fuzzy logic, which attempts to combine some of the design simplicity of logic with the
utility of linear control.
The term "control system" may be applied to the essentially manual controls that allow an operator to,
for example, close and open a hydraulic press, where the logic requires that it cannot be moved unless
safety guards are in place.
An automatic sequential control system may trigger a series of mechanical actuators in the correct
sequence to perform a task. For example various electric and pneumatic transducers may fold and glue
a cardboard box, fill it with product and then seal it in an automatic packaging machine.
Slide no. 23 Classification of Control Systems
Pure logic control systems were historically implemented by electricians with networks of relays, and
designed with a notation called ladder logic. Today, most such systems are constructed with
programmable logic devices.
Logic controllers may respond to switches, light sensors, pressure switches etc and cause the machinery
to perform some operation. Logic systems are used to sequence mechanical operations in many
applications. Examples include elevators, washing machines and other systems with interrelated stop-
go operations.
Logic systems are quite easy to design, and can handle very complex operations. Some aspects of logic
system design make use of Boolean logic-the concept of logic gates
Slide no. 24 Logic or Sequential Controls
A logic gate is an idealized or physical device implementing a Boolean function, that is, it performs a
logical operation on one or more logical inputs, and produces a single logical output. Depending on the
context, the term may refer to an ideal logic gate, one that has for instance zero rise time and unlimited
fan-out, or it may refer to a non-ideal physical device[1] (see Ideal and real op-amps for comparison).
Logic gates are primarily implemented using diodes or transistors acting as electronic switches, but
can also be constructed using electromagnetic relays (relay logic), fluidic logic, pneumatic logic,
optics, molecules, or even mechanical
Slide no. 25 Sequential Control System
A control system in which the individual steps are processed in a predetermined order, progression
from one sequence step to the next being dependent on defined conditions being satisfied. Such a
system may be time-dependent, in which the step transition conditions are functions of time only; on
external-event dependent, where the conditions are functions of Input signals only; or combinations of
these (and perhaps more complex) conditions.
Slide no. 26 Linear or Feedback Controls
In the case of linear feedback systems, a control loop, including sensors, control algorithms and
actuators, is arranged in such a fashion as to try to regulate a variable at a set-point or reference value.
An example of this may increase the fuel supply to a furnace when a measured temperature drops.
PID controllers are common and effective in cases such as this. Control systems that include some
sensing of the results they are trying to achieve are making use of feedback and so can, to some extent,
adapt to varying circumstances.