Biomedical Control Systems (BCS)

Lecture 1: Introduction

Muhammad Arif, PhD

m.arif@faculty.muet.edu.pk
https://sites.google.com/site/mdotarif/teaching/bcs
 Text Books
1. Control Systems Engineering, (6th Edition)
By: Norman S. Nise.
2. Modern Control Systems, (12th Edition)
By: Richard C. Dorf and Robert H. Bishop.
3. Schaums Outline of Feedback and Control Systems, (2nd Edition)
By: Joseph J. Distefano, Allen R. Stubberud, and Ivan J. Willaims.
 Reference Books
1. Modern Control Engineering, (5th Edition)
By: Katsuhiko Ogata.
2. Basic Feedback Controls in Biomedicine.
By: Charles S. Lessard.
3. Feedback Control of Dynamic Systems, (6th Edition)
By: Gene Franklin, J.D. Powell, and Abbas Emami-Naeini
4. Feedback Systems: An Introduction for Scientists and Engineers, by Karl J.
strm and Richard M. Murray.
5. Physiological Control Systems: Analysis, Simulation and Estimation, by:
Michael C. K. Khoo.
 Marks Distribution
Theory Practical

Total Marks = 100 Total Marks = 50

Sessional Marks = 20 Sessional Marks = 20

Attendance = 10 marks Attendance = 05 marks
Class Tests/Quizzes = 10 marks Case Study/Project = 15
marks
Final Exam Marks = 80 Final Exam Marks = 30
 Expectations from Students
Full attendance is expected, except with prior-notified excuses in
written.
On-time arrival.
Active participation.
Ask questions.
Answer questions from instructor or students.
Help each other in reviewing notes, and solving complex
problems.
Promptly report/share problems/issues, including typos on slides,
or misspoken words from instructor.
Cheating is a very serious offense. It will be dealt with in the most
severe manner allowable under University regulations. If caught
cheating, you can expect a failing grade and initiation of a
cheating case in the University system.
 Course Outline

Classical Control Modern Control

System Modelling State Space Modelling
Transfer Function Eigenvalue Analysis
Block Diagrams Observability and Controllability
Signal Flow Graphs Solution of State Equations (state Transition
System Analysis Matrix)
Time Domain Analysis (Test Signals) State Space to Transfer Function
Frequency Domain Analysis Transfer Function to State Space
Bode Plots Direct Decomposition of Transfer Function
Nyquist Plots Cascade Decomposition of Transfer
Nichols Chart Function
Parallel Decomposition of Transfer
Function
 Course Outline
Open loop and close loop control systems.
Block diagrams models and reduction techniques.
Signal flow graphs.
Mathematical modeling of electrical and mechanical systems.
Transient and steady state response of linear control systems.
State-space representation and analysis.
Eigen values and Eigen vectors.
Closed-loop system stability analysis using the Routh-Hurwitz criteria.
Stability, performance analysis, and control system design using the
Root Locus techniques.
Bode diagrams.
Polar plots.
Nyquist stability criterion.
Gain and Phase margins.
Nichols chart.
 Prerequisites
For Classical Control Theory
Differential Equations
Laplace Transform
Basic Physics
Ordinary and Semi-logarithimic graph papers

For Modern Control theory above &

Linear Algebra
Matrices
 Objectives of BCS
On completion of this module, students will be able to do the following ;

Define the basic terminologies used in controls systems.

Explain advantages and drawbacks of open-loop and closed loop control systems.
Obtain models of linear control systems in ordinary differential equation, transfer
function, state space, or block diagram form.
Obtain overall transfer function of a linear control system using either block diagram
algebra, or signal flow graphs.
Simplify complex control system models using block diagram and signal flow graphs
reduction techniques.
Explain the relationship between system output response and transfer function
characteristics or pole/zero locations.
Determine the stability of a closed-loop control systems using the Routh-Hurwitz criteria.
Analyze the closed loop stability and performance of control systems based on open-loop
transfer functions using the Root Locus technique.
Compute and analyze the frequency response of control systems using Bode diagrams.
Analyze the closed loop stability and performance of control systems based on open-loop
transfer functions using the Polar plots and Nyquist stability criterion techniques.
 What is Control System?
A system Controlling the operation of another system.

A system that can regulate itself and another system.

A control System is a device, or set of devices to manage, command,

direct or regulate the behaviour of other device(s) or system(s).
 Definitions
System An interconnection of elements and devices for a desired purpose.

Control System An interconnection of components forming a system

configuration that will provide a desired response.

Process The device, plant, or system under control. The input and output
relationship represents the cause-and-effect relationship of the process.

Input Process Output

 Definitions
Controlled Variable It is the quantity or condition that is measured and
Controlled. Normally controlled variable is the output of the control
system.

Manipulated Variable It is the quantity of the condition that is varied

by the controller so as to affect the value of controlled variable.

Control Control means measuring the value of controlled variable of

the system and applying the manipulated variable to the system to
correct or limit the deviation of the measured value from a desired
value.
 Definitions
Manipulated Variable

Input
or Output
Set point Controlle
Process Or
or r
Controlled Variable
reference

Disturbances A disturbance is a signal that tends to adversely affect the

value of the system. It is an unwanted input of the system.

If a disturbance is generated within the system, it is called internal

disturbance. While an external disturbance is generated outside
the system.
 Types of Control System
Natural Control System
Universe
Human Body

Manmade Control System

Vehicles
Aeroplanes
 Types of Control System
Manual Control Systems
Room Temperature regulation Via Electric Fan
Water Level Control

Automatic Control System

Room Temperature regulation Via A.C
Human Body Temperature Control
 Types of Control System
Open-Loop Control Systems utilize a controller or control actuator to
obtain the desired response.
Output has no effect on the control action. No feedback no
correction of disturbances
In other words output is neither measured nor fed back.

Input Output
Controlle
Process
r

Examples:- Washing Machine, Toaster, Electric Fan

 Types of Control System
Since in open loop control systems reference input is not compared with
measured output, for each reference input there is fixed operating
condition.

Therefore, the accuracy of the system depends on calibration.

The performance of open loop system is severely affected by the presence

of disturbances, or variation in operating/ environmental conditions.
 Types of Control System
Closed-Loop Control Systems utilizes feedback to compare the actual
output to the desired output response.

Input Controlle Output

Comparator Process
r

Measurement

Examples:- Refrigerator, Iron

 Types of Control System

Multivariable Control System

Temp Controlle Outputs

Humidity Comparator Process
Pressure r

Measurements
 Types of Control System
Feedback Control System
A system that maintains a prescribed relationship between the output and
some reference input by comparing them and using the difference (i.e.
error) as a means of control is called a feedback control system.

Input + error Controlle Output

Process
- r

Feedback

Feedback can be positive or negative.

 Types of Control System
Servo System
A Servo System (or servomechanism) is a feedback control system in
which the output is some mechanical position, velocity or
acceleration.

Antenna Positioning System Modular Servo System (MS150)

 Types of Control System
Linear vs. Nonlinear Control System
A Control System in which output varies linearly with the input is called a
linear control system.

u(t) Process y(t)

y(t ) 2u(t ) 1 y(t ) 3u(t ) 5

y=3*u(t)+5
y=-2*u(t)+1
35
5

30
0
25
-5

y(t)
y(t)

20
-10
15

-15
10

-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t)
u(t)
 Types of Control System
Linear vs. Nonlinear Control System

When the input and output has nonlinear relationship the system is said to
be nonlinear.

Adhesion Characteristics of Road

0.4
Adhesion Coefficient

0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08
Creep
 Types of Control System
Linear vs. Nonlinear Control System

Linear control System Does not

Adhesion Characteristics of Road
exist in practice.
0.4
Linear control systems are

Adhesion Coefficient
idealized models fabricated by 0.3
the analyst purely for the
simplicity of analysis and design. 0.2

When the magnitude of signals in 0.1

a control system are limited to
range in which system
0
components exhibit linear 0 0.02 0.04 0.06 0.08
Creep
characteristics the system is
essentially linear.
 Types of Control System
Linear vs. Nonlinear Control System

Temperature control of petroleum product in a distillation column.

Temperature
500C

Valve Position

0% 25% 100%
% Open
 Types of Control System
Time invariant vs. Time variant

When the characteristics of the system do not depend upon time itself
then the system is said to time invariant control system.

y(t ) 2u(t ) 1

Time varying control system is a system in which one or more parameters

vary with time.

y(t ) 2u(t ) 3t
 Types of Control System
Lumped parameter vs. Distributed Parameter

Control system that can be described by ordinary differential equations are

lumped-parameter control systems.

d 2x dx
M 2
C kx
dt dt

Whereas the distributed parameter control systems are described by partial

differential equations.
2
x x x
f1 f2 g 2
dy dz dz
 Types of Control System
Continuous Data vs. Discrete Data System

In continuous data control system all system variables are function of a

continuous time t.
x(t)

A discrete time control system involves one or more variables that are
known only at discrete time intervals.

X[n]

n
 Types of Control System
Deterministic vs. Stochastic Control System
A control System is deterministic if the response to input is predictable and
repeatable.
x(t) y(t)

t t

If not, the control system is a stochastic control system.

z(t)

t
 Types of Control System
Adaptive Control System

The dynamic characteristics of most control systems are not constant

for several reasons.

The effect of small changes on the system parameters is attenuated in a

feedback control system.

An adaptive control system is required when the changes in the system

parameters are significant.
 Types of Control System
Learning Control System

A control system that can learn from the environment it is operating is

called a learning control system.
 Types of Control System
Control Systems

Natural Man-made

Manual Automatic

Open-loop Closed-loop

Non-linear linear
Non-linear linear

Time variant Time invariant

Time variant Time invariant
Examples of Control Systems
Water-level float regulator
Examples of Control Systems
Examples of Control Systems
Examples of Control Systems
Examples of Control Systems
History
18th Century James Watts centrifugal governor for the speed control of a steam
engine.
1920s Minorsky worked on automatic controllers for steering ships.
1930s Nyquist developed a method for analyzing the stability of controlled
systems
1940s Frequency response methods made it possible to design linear closed-loop
control systems
1950s Root-locus method due to Evans was fully developed
1960s State space methods, optimal control, adaptive control and
1980s Learning controls are begun to investigated and developed.
Present and on-going research fields. Recent application of modern control
theory includes such non-engineering systems such as biological, biomedical,
economic and socio-economic systems
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Examples of Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems

(a) Automobile
steering control
system.
(b) The driver uses
the difference
between the actual
and the desired
direction of travel
to generate a
controlled adjustment
of the steering wheel.
(c) Typical direction-
of-travel response.
Examples of Control Systems
Examples of Control Systems
Examples of Modern Control Systems
Open-loop & Closed-loop Models of Blood Glucose Control System
Examples of Control Systems
A Model of Heart Rate Control System
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Control Systems
Examples of Control Systems
Examples of Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems