Lecture 1b Continue

By Oladokun Sulaiman
 1.11 Recap:

• Contribution of control system to modern

society
• Control system
• Types of control system
• Example of control system
• Case study : Antenna position control
 History
• Steam Pressure ( Denis Papin, 1681) : Safety valve
• Speed Control ( James Watt) : fly-ball speed governor
• Stability, Stabilization ( Feedback control )
Edward John Routh(1874) : Stability criterion to fifth-order
systems
Lyapunov(1892) : Stability Criterion to nonlinear systems

Twentieth-Centry Developments
Nicholas Minorsky : PID Controller
H.W. Bode and H. Nyquist at Bell Lab (1930`s)
Walter R. Evans(1948) : root locus

Contemporary Applications
Optimal Control : Apollo
Digital Control : Digital computer
Adaptive Control
Intelligent Control
fig_01_01

fig_01_01
 Open loop control system
fig_01_06

close loop control system

fig_01_06

Response of close loop control system

Typical DC closed loop control system

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Typical AC closed loop control system

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 Sample data control system
fig_01_14

Digital autopilot system for guided missile

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 Figure
Elevator input and output
Application
• Solar power water
extraction system
fig_01_04
• Sun tracking control system

fig_01_04
 fig_01_08
CASE STUDY: ANTENA POSITION CONTROL SYSTEM

fig_01_08
fig_01_09

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fig_01_09a

fig_01_09a
Response of a position control system showing effect of high and low
fig_01_10
controller gain on the output response

Ref: Norman Nise, Also check :PAGE 160-161 INSTRUMENTATION

fig_01_10
AND CONTROL BY D. C. RAMSAY
 1.12 Roles of control engineer

• Identify components – actuator, controller,

sensor
• Controller – output as desired output
• Model mathematic for controlled system
• Block diagram
• Analysis – time response, frequency response,
stability
• Simulation
 1.13 Analyzing control system
• The analysis of control system is required
to determine its performance
• Examination is done in:
 Time domain : for simple system
 frequency domain: complex system :
mostly sinusoidal input where tedious
mathematic is avoided. Frequency
response result is checked by
experimental and graphical analysis
fig_02_01

fig_02_01
Control system design objective

• Production of desired transient respons: to reduce

influence on human confort and pateience,
mechanical stress, speed of system
• Reducing steady state errors: to determine
accuracy of how closely the output matches the
desired response
• Achieving stability:to produce proper steady and
transient state response
 Steps for design of control system
• Determine physical system and specification
from requirement
• Draw functional block diagram
• Represent the physical system as a schematic
• Use schematic to obtain mathematical model
such as block diagram
• Reduce the block diagram
• Analyse and design the system to meet
specified requirement and specification hat
include stability, transient response and steady
state performance
Control System Design Process
fig_01_11

fig_01_11
Table (p.19) : test waveform
 100 100
Force, N

Force, N
50 50

0 t1 t2 t3 t4
0 t1 t2 t3 t4
Time, second
Time, second

100 100
Force, N

Force, N
50 50

0 t1 t2 t3 t4 0 t1 t2 t3
Time, second
Time, second
Step Input Response
Ramp Input Response
 Time Constant

• It is defined as time taken by a control

plant to achieve output response
equal to 63% of its desired value.
 Control System Response
• Time response
• Frequency response
• Steady state response
• Transient response
• Undershoot
• Overshoot
• Settling time
 Control system stability
• Damping factor
• Damping ratio
• Routh’s stability criteria
• Nyquist stability criteria
 QUESTIONS

• What is a control system?

• How are control systems classified?
• What provides information to the controller?
• What is the term transmitter commonly used to describe?
• What does the behaviour and performance of a control system
depend on?
• What is a control system called if its action is dependent upon the
output?
• What is excessive corrective action called?
• What is the difference between the input and output signals called?
• What are the three common essential elements of a control system?
• What are the three components of a transducer?
• What is the set point values?
 QUESTIONS

• What are the two major factors that have

influenced the development of marine automatic
controls?
• What are the 12 main parameters monitored at
sea?
• What does the UMS class notation mean?
• What does the CCS class notation mean?
• What are the five different control media?
• What is the process of long distance control
signal transmission called?
• What is the modern definition of a transducer?
 Conclusion
• Introduction to control and control system
• Elements of control system
• Application of control system
• Example of control system
• Case study of control system
• Block diagram and schematic of control
system