SKEE 3133 Chapter 1 Revised

SKEE 3133
CONTROL:
SYSTEM MODELING &
SIMULATION
SKEE 3133
SYSTEM MODELING AND

ANALYSIS
SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1
Lecturer
Section 1 Dr Fatimah Sham Ismail
Section 2 PM Dr Zaharuddin Mohamed
Section 3 Dr Salinda Buyamin / Dr Khairul
Hamimah Abas
Section 4 PM Zamani Md Zain
Section 5 Dr Herman Wahid
Section 6 Dr Shahdan Sudin
Synopsis
This course introduces the students to the fundamental ideas
and definitions of control systems, open loop and close loop
control systems, transfer functions and transient and steady
state responses. Students will be taught how to obtain
mathematical models of actual physical systems such as
electrical, mechanical and electromechanical systems in the
transfer function form. Methods of system representation such
as block diagram representation and signal flow graphs will be
examined. The students will also be exposed to techniques of
analysing control systems performance and stability in time and
frequency domains. Finally, an introduction to the design and
analysis of control systems using MATLAB will also be given
3
Learning Outcome
CO1
Apply the knowledge of basic control theory to describe the

structure of control system design and control system
representation
CO2
Apply the knowledge of mathematics, science and electrical

engineering to derive the mathematical models and transfer
functions of electrical, mechanical, and electromechanical
systems
CO3
Employ the transfer function of the control system to illustrate

its performance and stability in time and frequency domains.
CO4
Use MATLAB software in analysing control system

performance and stability.
Syllabus
Introduction to Control Engineering
Mathematical Modelling:
System Representation: Block diagram, Signal Flow
Time Domain Analysis: Time Response, Steady-
Frequency Domain Analysis: Frequency response,
Laplace Transform, Transfer

Function, Electrical, Mechanical, Electromechanical, Liquid
level
Graph
state error, Routh-Hurwitz Stability Criterion
Bode plot, Stability, Steady-state error.
References
Norman S. Nise, Control Systems
Engineering, 6th Edition, John Wiley
& Sons, USA, 2011.
Katsuhiko Ogata, Modern Control Engineering (5th
Edition), Pearson Education International, Inc.,
2010.
Richard C. Dorf and Robert H. Bishop, Modern
Control Systems (12th Edition), Pearson
Educational International, 2011.
Rao V. Dukkipati, Analysis and Design of Control
systems Using MATLAB, Published by New Age
International (P) Ltd., Publishers, 2006
Benjamin C. Kuo, Automatic Control Systems (7th
Edition), Prentice-Hall International, Inc., 1995.
Katsuhiko Ogata, MATLAB For Control Engineers,
Pearson Education International, Inc., 2008.
Assessment
TEST 1
TEST 2
Topic 1 & 2
Topic 3 & 4a
15 October 2014
26 November 2014
15%
15%
FINAL EXAMINATION
28 Dec 17 Jan 2015
50%
Assignment
20%
SKEE 3133
CONTROL:
SKEE
3133
SYSTEM MODELING &

SIMULATION
SYSTEM
MODELING
AND ANALYSIS
CHAPTER 1 Introduction to system

8
Content
1.1
Control System Basics
1.2
History of Control System
1.3
Control System Configuration
1.4
Examples of Control Systems
1.5
Analysis and Design Objectives
1.6
Simulation Software in Control MATLAB
1.1
CONTROL SYSTEMS BASICS
10
INTRODUCTION
What do these two

have in common?
Highly complicated dynamics!

Both are capable of transporting
good and people over long
distances.
BUT
One is controlled, and the
other is not!
Control is the hidden
technology that you meet
everyday.
11
Introduction
Control systems are important
and present almost everywhere
in our daily lives.
Examples of control systems:
washing machine, radio
antenna, rockets/missiles,
robots, room air condition.
God created control systems.
Examples..
anyone.?
PTP, Malaysia
CONTROL SYSTEMS
A control system provides an output or response for a given
input or stimulus.
A Controlled Variable determines the input and output of a
control system.
Example: Elevator buttons and the desired level (Input),

actual level of elevator (Output), elevator level -> controlled
variable.
13
Control System Basics

- General Control System Block Diagram
Input
signal
(desired
output/
setpoint)
Subsystem
1
Controller
Subsystem
2
Process
Actuator
Plant
Valve
Motor
CONTROL
SYSTEM
14
Output
signal
(actual
response)
CONTROL SYSTEM: Examples

Position control
Robot arm, crane systems, elevator, satellite tracking
Speed control
Speed of airplane, washing machine, climbing robot
Temperature control
Air condition, heater, furnace
Level control
Level of liquid, water.
Vibration control
Machine vibration, Car suspension
Advantages of Control Systems
16
For power amplification
For remote control
e.g. To move containers at a port
e.g. in controlling the movements

of robots working in
contaminated areas where human
presence should be avoided
For convenience of input form
For compensation for disturbance
e.g. in a temperature control

system, the turn of a knob
corresponds to certain desired
room temperature.
e.g. to maintain antenna position

in the presence of strong wind.
1.2
HISTORY OF CONTROL
SYSTEMS
17
History of Control System

1900s
Early
20th Century
Contemporary
Simple
Extensive use of
sensors
Widespread
applications
Al Jazari Water clock

(1206)
Steam pressure &
temperature control
systems (1680s)
Speed control (1745)
Stability Theories
Routh-Hurwitz
(1877)
Lyapunov (1892)
18
2000s
Automatic Ship Steering

(1922)
PID Controller (1920s)
Feedback Control System
Technique (1930s)
Root locus, Bode, Nyquist
(1948)
Navigation
Entertainment
Smart Homes
Military
Space Application
Chemical Process
Nanosystems
al Jazari Elephant Clock

800 years ago AlJazari has
invented a
sophisticated
and automatic
clock to track a
time using water
technology.
An example of
the Muslim
origins of
modern
automation and
robotics.
19
al Jazari Elephant Clock

Al-Jazari (11361206) was highly
creative and
innovative engineer
His crowning
achievement was
converting
rotational motion
to linear a crucial
to pumps, engines
and many other
machines.
He is known as
a Father of
Robotics
20
History 20th Century Applications
21
Contemporary Applications
22
CHAPTER 1 Intro to Control Systems (Dr Hazlina Selamat)
Manual Control
Human-aided control
Operator constantly observe the

deviation and make corrections when
necessary
liquid
flow in
tank
Not consistent
Hundreds of variables to be controlled
23
liquid
liquid
flow
out
valve
Automatic Control
To replace humans with machines (nowadays,
computers) to implement the control of the plant.
Measurement sensors/transducers
Decision computers
Control action actuators
24
1.3
CONTROL SYSTEM
CONFIGURATION
Open-Loop & Closed-Loop Systems
25
Control System Configuration
Open-loop
26
Closed-loop
Open-loop Control System

The output signal of an OLCS is not
fed back to influence the control
action.
Systems that work based on time
are OLCS.
With disturbance/noise, the desired
response cannot be achieved, actual
desired response/output.
The result may not be accurate.
Example:
27
Closed-Loop Control Systems

The output signal of a CLCS is fed back to influence the
control action and improve overall system performance.
The difference (actual and desired response) will be used to
determine the control action
28
Closed-loop Control System

desired output
to be achieved
input variable into the

plant so that the plant
output achieves the SP
Manipulated variable
value
(MV)
Setpoint
(SP)
Input
Disturbance
Input
transducer
+
Controller
-
29
+
Output
Controlled variable
(CV)
Output
transducer
Process variable
(PV)
Plant
output of the
plant to be
controlled
Closed-loop Control System

Feedback control systems are often referred to as CLCS
Input transducer converts the form of the input to the form used by
the controller
An output transducer measures the output response and converts
it into the form used by the controller (from physical parameters to
electrical signals
The first summing junction algebraically adds the signal from the
I/P to the signal from the O/P, which arrives via the feedback path.
30
31
The o/p signal is substracted from the i/p signal. The result is
generally call the actuating signal (the actuating signals value is
equal to the actual difference between the I/P and the O/P), the
actuating signal is called the error.
The CLCS compensates for disturbances by measuring the o/p
response, feeding that measurement back through a feedback
path, and comparing that response to the I/P:
If there is a difference between the two responses, the
systems drives the plant, via the actuating signal, to make a
correction.
If there is no difference, the system does not drive the plant,
since the plants response is already the desired response
Example: Liquid Level Control System

liquid
flow in
tank
liquid
valve
liquid
flow out
Setpoint
voltage, VSP
SP
Level
Setpoint
Input
transducer
Pump voltage,
Vpump
Controller
Input
flowrate,
Qin
Pump
Actuator
PV
32
Output level
voltage, Vlevel
MV
Level
sensor
o/p
transducer
Measurement
noise
Liquid
level
plant
Plant
Liquid
level, H
CV
OLCS & CLCS
OLCS
CLCS
Structure
simple
complicated
Sensitivity to
parameter variations
sensitive
less sensitive
Disturbance
cannot handle
can handle
Applications
limited
various systems
Cost
cheap
expensive
1.4
EXAMPLES OF CONTROL
SYSTEMS
34
Examples
Power amplification in a dish-type

antennas
Remote control robots in

contaminated area: Sojourner
Varying in diameter from 8 to 30

metres
Serving an Earth station in a
satellite communications
network.
Roving on Mars in 1997.

Solar-powered, 11.5 kg.
Speed: 0.4 meters/minute
Its wheel system enabled it to climb over
obstacles one-and-a-half wheel
diameters tall.
35
Examples
Convenient input for a thermostat

Position to heat
36
CHAPTER 0 Course Introduction (Dr Hazlina Selamat)
Disturbance compensation in a
Rolling Mill
Maintain steel thickness despite

variations/disturbance
Other Example: High-speed Train Suspension System
37
1.5
ANALYSIS AND DESIGN
OBJECTIVES
38
Specifications of Control Systems
A system that can

produce a
consistent/steady
output is a stable
system. An
unstable system
is harmful to the
plant and may
cause serious
accidents
Steady-state response
Transient
response is the
case when the
plant is changing
from one steady
state to another,
when there are
changes in the
input signal
Stability
Transient Response
Control systems are dynamic: it responds to the input by

going through a transient phase before settling to the
steady state phase.
Steady state
response only
exists for stable
systems. An
important
characteristic for
design is the
steady state error
Specifications of Control Systems
Objectives
Satisfactory transient response

Rise time, settling time, overshoot
Stable system
Zero steady-state error
Objectives
Example: Elevator
Solution?
1.5
CONTROL SYSTEM DESIGN
PROCESS
43

44
Classifications of control systems

Based on the purpose of the system and the
relevant classes it belongs to
Type of Signal
Continuous
Mathematical
Control
model
Objectives
Linear control
control system
system
Discrete control
Non-linear
system
control system
Kinatic
(tracking)
control system
Process
(regulating)
control system
Controller Design Process

- General
Mathematical modelling
Laws of Physics
System identification
Analysis
Time domain
Frequency domain
Design of controller
Controller structure
45
Controller type
Controller Design Process

- General
STEP 1
STEP 2
STEP 3
STEP 4
STEP 5
STEP 6
Transform
requirement
s into
physical
systems
Draw a
functional
block
diagram
Create a
schematic
Develop
mathematical
model (block
diagram)
Reduce
block
diagram
Analyze &
Design
Chapter 3
Chapter 4
Chapter 1
46
Chapter 2
Example Antenna Position Control

- requirements
- overall concept
Determine a physical system

Draw a functional
block diagram
- components
- hardware
Schematic
47
- assumptions
- simplifications
Block diagram
Mathematical model
Reduced block diagram
Analysis
48
1.6
MATLAB
MATLAB
Control System Toolbox
Simulink
49
Computer Aided Control System Design

(CACSD)
50
MATLAB
Important tool in control system MATLAB contains:
design.
Lots of Toolboxes one
Recall:
of them is Control
System Toolbox
To achieve:
Simulink click and drag
PO4: Ability to work with
modern instrumentation,
software and hardware.
through:
CO4: Apply MATLAB software
in analyzing control system
performance
51
Control System Toolbox

Contains a set of functions relation to control
system design.
Can be used together with other MATLAB
functions or functions from other toolboxes.
52
Simulink
More graphical.
Code writing is minimal.
53
Review Questions
Name 3 applications of feedback control system.
Give 3 examples of open-loop systems.
Give an example of what happen to a system that
is unstable.
Name 3 approaches to the mathematical modeling
of control systems.
How do we classify control systems?
What are the steps involved in designing a control
system?
54
Problem
A temperature control system operates by sensing
the difference between the thermostat setting and
the actual temperature and then opening a fuel valve
an amount proportional to this difference. Draw a
functional closed-loop block diagram, identifying the
input and output transducers, the controller and the
plant. Further, identify the input and output signals
of all subsystems previously described.
55
END OF CHAPTER 1
56

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SKEE 3133

SYSTEM MODELING AND

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

Apply the knowledge of basic control theory to describe the

Apply the knowledge of mathematics, science and electrical

Employ the transfer function of the control system to illustrate

Use MATLAB software in analysing control system

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

Introduction to Control Engineering

System Representation: Block diagram, Signal Flow

Time Domain Analysis: Time Response, Steady-

Frequency Domain Analysis: Frequency response,

Laplace Transform, Transfer

state error, Routh-Hurwitz Stability Criterion

Bode plot, Stability, Steady-state error.

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

SYSTEM MODELING &

CHAPTER 1 Introduction to system

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

Control System Basics

History of Control System

Control System Configuration

Examples of Control Systems

Analysis and Design Objectives

Simulation Software in Control MATLAB

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

What do these two

Highly complicated dynamics!

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

Example: Elevator buttons and the desired level (Input),

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

Control System Basics

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

CONTROL SYSTEM: Examples

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

Advantages of Control Systems

For power amplification

For remote control

e.g. To move containers at a port

e.g. in controlling the movements

For convenience of input form

For compensation for disturbance

e.g. in a temperature control

e.g. to maintain antenna position

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

History of Control System

Al Jazari Water clock

Automatic Ship Steering

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

al Jazari Elephant Clock

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

al Jazari Elephant Clock

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

History 20th Century Applications

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1

CHAPTER 1 Intro to Control Systems (Dr Hazlina Selamat)

SKEE 3133 SYSTEM MODELLING & ANALYSIS: CHAPTER 1