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Nilantha Balasooriya
B.Sc Eng (Hons), C.Eng, MIESL

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Introduction to Control Systems

Objectives
Here we describe a general process for designing a control system.

A control system consisting of interconnected components is designed to achieve a

desired purpose. To understand the purpose of a control system, it is useful to
examine examples of control systems through the course of history. These early
systems incorporated many of the same ideas of feedback that are in use today.

Modern control engineering practice includes the use of control design strategies for
improving manufacturing processes, the efficiency of energy use, advanced
automobile control, including rapid transit, among others.

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Introduction

• We identify control as one of the basic

functions performed by many systems
– often involves regulation or command
• Invariably, the goal is to determine the value
or state of some physical quantity
– and often to maintain it at that value, despite
variations in the system or the environment

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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.

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• The interaction is defined in terms of variables.

i. System input
ii. System output
iii. Environmental disturbances

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Control System

• Control is the process of causing a system variable to conform

to some desired value.
• Manual control Automatic control (involving machines
only).
• A control system is an interconnection of components forming
a system configuration that will provide a desired system
response.
Input Control Output
Signal Signal
System

Energy
Source

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Open-loop and Closed-loop

Systems
• Simple control is often open-loop
– user has a goal and selects an input to a system to
try to achieve this

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Open Loop Control

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Closed Loop Control

• More sophisticated arrangements are closed-

loop
– user inputs the goal to the system

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Automatic Control Systems

• Examples of automatic control systems:

– temperature control using a room heater

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• Examples of automatic control systems:

– Cruise control in a car

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• Examples of automatic control systems:

– Position control in a human limb

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Reach for an Objective on Table

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• Examples of automatic control systems:

– Level control in a dam

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Feedback Systems

• A generalised feedback system

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• By inspection of diagram we can add values

Xo Xo A
= X i − BX o =
A X i 1 + AB

or rearranging
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• Thus
Xo A
Overall gain G = =
X i 1 + AB

• This the transfer function of the arrangement

• Terminology:
• A is also known as the open-loop gain
• G is the overall or closed-loop gain

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• Effects of the product AB

– If AB is negative
• If AB is negative and less than 1, (1 + AB) < 1
• In this situation G > A and we have positive feedback
– If AB is positive
• If AB is positive then (1 + AB) > 1
• In this situation G < A and we have negative feedback
• If AB is positive and AB >>1
- gain is independent of the gain of the forward path A
A A 1
G = ≈ =
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1 + AB AB B

Open-Loop Control Systems

utilize a controller or control
actuator to obtain the desired
response.

Closed-Loop Control
Systems utilizes feedback to
compare the actual output to
the desired output response.

Multivariable Control System

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Control System Classification

Missile Launcher System

Open-Loop Control System

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Control System Classification

Missile Launcher System

Closed-Loop Feedback Control System

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Manual Vs Automatic Control

• Control is a process of causing a system variable such as

temperature or position to conform to some desired value or
trajectory, called reference value or trajectory.
• For example, driving a car implies controlling the vehicle to
follow the desired path to arrive safely at a planned destination.
i. If you are driving the car yourself, you are performing manual control of
the car.

ii. If you use design a machine, or use a computer to do it, then you have
built an automatic control system.
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Control System Classification

Desired
Output Controller Process Output
Respons Variable
e s

Measurement

Multi Input Multi Output (MIMO) System

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Purpose of Control Systems

i. Power Amplification (Gain)

– Positioning of a large radar antenna by low-power rotation of a
knob
ii. Remote Control
– Robotic arm used to pick up radioactive materials
iii. Convenience of Input Form
– Changing room temperature by thermostat position
iv. Compensation for Disturbances
– Controlling antenna position in the presence of large wind
disturbance torque

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Historical Developments

i. Ancient Greece (1 to 300 BC)

– Water float regulation, water clock, automatic oil lamp
ii. Cornellis Drebbel (17th century)
– Temperature control
iii. James Watt (18th century)
– Flyball governor
iv. Late 19th to mid 20th century
– Modern control theory

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Watt’s Flyball Governor

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Human System

The Vetruvian Man

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Human System

i. Pancreas
Regulates blood glucose level
ii. Adrenaline
Automatically generated to increase the heart rate and oxygen in
times of flight
iii. Eye
Follow moving object
iv. Hand
Pick up an object and place it at a predetermined location
v. Temperature
Regulated temperature of 36°C to 37°C

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History
18th Century James Watt’s 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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Control System Components

i. System, plant or process

– To be controlled
ii. Actuators
– Converts the control signal to a power signal
iii. Sensors
– Provides measurement of the system output
iv. Reference input
– Represents the desired output

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General Control System

Disturbance

Controlle Manipulate
Set-point Error d Signal d Variable
or
Reference Actual
input + + Output
+
+ Controller Actuator + Process
-

Feedback Signal
Sensor

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Control System Design Process

1. Establish control goals

2. Identify the variables to control

3. Write the specifications for the variables

4. Establish the system configuration and identify the

actuator

If the performance 5. Obtain a model of the process, the actuator and the
does not meet sensor
specifications, then 6. Describe a controller and select key parameters to be
iterate the adjusted
configuration and
actuator 7. Optimize the parameters and analyze the performance

If the performance meet the specifications, then finalize

design
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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.

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Examples of Modern Control Systems

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Examples of Modern Control Systems

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Examples of Modern Control Systems

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Examples of Modern Control Systems

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The Future of Control Systems

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Design Example
ELECTRIC SHIP CONCEPT

Vision
Electrically
Reconfigurable
All
Integrated Ship
Electric
Power Ship
System Technology
Insertion Increasing Affordability and Military Capability
Electric Drive Reduced manning
Automation Warfighting
Reduce # of Prime Capabilities
Movers Eliminate auxiliary
Fuel savings systems (steam,
hydraulics, compressed Main Power
Reduced maintenance air) Distribution
Propulsion Motor Prime
Generator
Motor Drive Mover

Power Ship
Conversion Service
Module Power

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Design Example

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Design Example

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Types of Feedback Control Systems

1) Linear Control Systems

2) Non Linear control systems
3) Time Variant Control Systems
4) Time in Variant Control Systems
5) Continuous Data Control Systems
1) AC Control - Signals in the systems are modulated
with some kind of modulation scheme
2) DC Control – Signals in the system are
unmodulated with some kind of modulation
scheme. Its like DC Current.

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