Text Book:

1. Feedback Control of Dynamic Systems (5th Ed)

Franklin, Powell and Emami-Naeini, Addison
Wesley
2002.
2. Modern Control Systems (10th Ed)
Dorf and Bishop, Addison Wesley
1998.
3. http://wwwcontrol.eng.cam.ac.uk/extras/Virtual_Library/Cont
rol_VL.html
4. http://en.wikipedia.org/wiki/Control_system

Introduction to Control Engineering

1.1 General system
A system is a collection of components which interact with each other
and with the environment (by information or energy links) from which
the system is separated by a notational boundary.

element

system
environment

Information link

system
boundary

Information link through

system boundary

Process: the device, plant, or system under control.

Sensor: a device to measure signal of interest
Actuator: a device to amplify the control signal and to drive the plant.

1.2 Concept of control theory

Control system
A control system is a system capable of monitoring and regulating the
operation of a process or a plant. The study of control system is
essentially a study of an important aspect of systems engineering and
its applications.

Problem formulation
Determine a control law to stabilize the system and to achieve
asymptotic tracking and disturbance rejection.

Structure of a Feedback Control System

Disturbances &
uncertainties
Reference
signal

Reference
sensor

+
_

Controller
& actuator

Control
input

Output
sensor

Output
Plant

Watts Flyball Governor

(a) The F-18 aircraft, one

of the first production
military fighters to use
fly-by-wire
technology, and
(b) (b) the X-45 (UCAV)
unmanned aerial
vehicle. (Photographs
courtesy of
NASADryden Flight
Research Center.)

Missile
Radio
receiver

Actuating
signal
Control surface
motor drive

Amplifier

Missile
airframe

Rate
gyro

Closed-loop control
system

Command I/P

Radio
command
link

Missile
flight
path

Inner feedback
loop

Missile-tracking
radar
Computer
Target-tracking
Reference I/P
radar

noise
disturbance I/P

Open-loop control
An open-loop control is applied to achieve desired system response
using a controller or an actuator without feedback.
Closed-loop/feedback control
A closed-loop control is used to achieve desired system response using
a controller with the output measurement as a feedback signal. The use
of feedback enables us to improve system performance at the cost of
introducing the measurement noise and stability problem.
Automation
The control of industrial process (manufacturing, production, etc.) by
automatic rather than manual means is called automation.
Robust control
The system can be controlled by the controller in a desired manner, in
spite of the allowable disturbances and changes in the system
parameters.
Intelligent control system
The system has capabilities of planing, scheduling, adaptation, and
learning.

History of Automatic Control

B.C.
300
: water-level float regulator
A.D.
1770s (Feedback control)
1769 Jams Watt : steam engine (flyball governor)
1868 J.C. Maxwell : stability analysis of dynamic system,
Cambridge University.
1877 E.J. Routh : stability of high order system
1907 A.M. Lyapunov : stability of equation of motion
(state space form Poincare 1892)
1913 H. Ford : automation
1927 H.W. Bode : feedback amplifier analysis (frequency
domain approach)

History of Automatic Control (Cont.)

1932
1936
1948
1949

H. Nyquist: stability criterion for frequency domain approach

Callender : PID controller
W.R. Evens : the root locus approach
frequency domain design criterion for SISO filter with
optimal statistical characteristics
1950s (Optimal control)
1952 MIT: NC machine
1954 robotic control
1956 Bellman : dynamic programming (USA)
1960 Kalman : MIMO problem
controllability & observability
1961 Kalman & Bucy : Kalman-Bucy filter

History of Automatic Control (Cont.)

1963 Pontryagin : maximum principle, time-optimal controller and

optimal controls for linear systems with a quadratic
cost function
1964 Kalman : design procedure for linear optimal control problem
with quadratic performance criterion(a feedback control
law could be obtained directly from the problem
specifications by the algebraic Riccati equation)
1964 Luenberger : state observer
1967 Wonham : relationship between the controllibility and pole
(eigenvalue) assignment by state feedback
1970s
(Frequency domain design method for MIMO systems)
1969 Rosenbrock : inverse Nyquist array method
1970 MacFarlane : Characteristic locus method

History of Automatic Control (Cont.)

1976 Youla : stable factorization technique

1978 Doyle : robustness properties of LQR may be destroyed when an
observer is included in the feedback design
1983 Zames & Francis : H-infinity control theory
1984 Barmish : robust stability with structure physical parameter
perturbations
1986 M. Athans : LQG/LTR design method
1990s (Intelligent control)
1990 Astrom : Expert control
fuzzy control (Zadeh 1964)
neural networks
discrete event dynamic system control

Control engineering practice

Control engineering is concerned with the analysis and design of goaloriented (task-oriented) systems. Control systems are used to achieve 1)
increased productivity and 2) improved performance.

Main tasks of control engineering

Modelling, Analysis, Design and Development.

Population of control engineers

USA : 150,000
Europe : 150,000
Japan: 150,000
China : 200,000

The future evolution of control system

(Fig. 1.3: Dorf and Bishop 8thEd Fig. 1.18)

Examples of control system

comparison
desired
behavior

NT$/US$
desired

desired
speed

desired
aircraft
heading

action
decision

Chanceller

governor

Process

economy

steam
engine

movement
of control
surface
automatic
aircraft
pilot

measured
behavior

NT$/US$
observed

measured
speed

measured
aircraft
deading

Variety of control engineering topics

Modelling & Identification

Nonlinear System Control

System identification

Variable structure control

Bound graph method

Adaptive control

Petri nets model

Linear Systems

Intelligent Control

Linear system theory

Expert system

MIMO system

Fuzzy control

Robust Control

Neural networks

H-infinity control

Scheduling & optimisation

Control Theory

LQG/LTR control

techniques

and Its

Real Time Control

Filter Theory

Applications

Digital control system

Target Tracking

Digital signal processing

GPS

Transputer/DSP-based

self-tuning control

parallel processing
Applications

Automation

Flight control

Mobile control

Spacecraft control

Arm control

Structure control

Manufacturing system control

Process control

Robotic control

Control system design

Engineering design is the main task of the engineer.
Specifications
The closed-loop control system performance specifications include:
1) good regulation against disturbance,
2) desirable responses to commands,
3) realistic actuator signal,
4) low sensitivity, and
5) robustness
The design is to achieve appropriate design specifications and rests on
four characteristics: complexity, tradeoffs, gaps and risk.

Design process
Establish control
goals

Select sensors
and actuators
Construct the
system model

Identify the
variable
to control and the
manipulating
variables

Determine the
performance
specifications

Simulation study
and validation

Select a controller
and adjust the
controller
parameters

Journals
AIAA Journal of Guidance, Control, and Dynamics.
Automatica.
Control Engineering Practice.
IEEE Control Systems Magazine.
IEEE Transactions on Automatic Control.
IEEE Transactions on Control Systems Technology.
International Journal of Control.
International Journal of Robust and Nonlinear Control.
Journal of Dynamic Systems, Measurement and Control.
Journal of Process Control.
Mechatronics.
SIAM Journal on Control and Optimization.
Systems and Control Letters.
Transactions of the Institute of Measurement and Control.
International Journal of Bifurcation and Chaos .