Giao Trinh PHAY

Automatic Control System
Chapter 1: Introduction
Instructor: Dr. Dang Xuan Ba

Email : badx@hcmute.edu.vn
Content
1.1 Concept of automatic control
1.2 Elements of automatic control system
1.3 Control principles
1.4 Classification of automatic control system
1.5 Applications of automatic control system
Instructor: Dr. Dang Xuan ba 2

1.1 Concept of Automatic Control

An example – Motorbike driving
Control the speed at about 35km/h.
Control behavior:
If the current speed is greater than

35km/h, reduce the speed.
Observe the speed indicator Change the throttle cable
else, increase the speed...
Eye Nerve system Hand
As a result, the vehicle speed will be as close as possible to 35km/h.

Definition
Definition: Control is a process of acquisiting information, processing information, and impacting the system to achieve
predetermined goals. Automatic Control is the control process without Interference of human.

Other examples
Rocket rotation control
Industrial thermal control system

Why do we need the automatic control?
The system responses do not satisfy the desired values.
Sometimes, we want to increase the accuracy
Sometimes, we want to increase the performance

1.2 Basic Components of a Automatic Control System

Basic components of a control system
predetermined goals.Automatic Control is the control process without Interference of human
Desired r(t) e(t) u(t)

Controller Actuation Plant
signal
x(t)
y(t)
Sensor
r(t): Reference signal

u(t): control signal
y(t): output signal
x(t): Feedback signal
e(t): control error

Plant

signal
x(t)
y(t)
Sensor
Electric plant
Mechical plant
Thermal plant
Composite plant
Pneumatic plant
Fluid Plant
Chemical plant
Sensor

signal
x(t)
y(t)
Sensor
Electric plant Magnetic sensor
Mechical plant Position sensor
Thermal plant Thermal sensor
Pneumatic plant Pressure sensor
Fluid Plant Flow sensor
Chemical plant Density sensor.....

Controller

signal
x(t)
y(t)
Sensor
Mechanical-based controller
Electrical-based controller Analog controller

Digital controller
Microcontroller-based
Mechatronic-based controller
Computer-based
PLC-based

Desired signals

+ Controller Actuation Plant
signal
x(t)
y(t)
Sensor
Constant
Step
Sinusoidal
Time-varying signals

1.3 Control Principles

Principle 1: Feedback information
To obtain high control performance, the necessary condition is that mandatorily it have the feedback information.
Serveral control structures:
Pertubance-compensation control
Error-compensation control
Combination control

Pertubance-compensation control
n(t)
r(t) u(t)

Error-compensation control

signal
x(t)
y(t)
Sensor

Combination control
n(t)

signal
x(t)
y(t)
Sensor

Principle 2: Compatible design
To obtain high control performance, the control design should be able to cover the role of the plant.
For example: It will be difference in design of a heating system and a medical-thermal system.

Principle 3: Robustness design
To deal with the unpredictive impact, the control design should be robust at least w.r.t uncertainties.

Principle 4: Storage ability
The control system should have the storage ability that could be useful in cases of data extraction or learning (AI).

Principle 5: Level distribution
To provide the ease of design and management, the control system should be designed in the level-distribution struction
(Industrial systems).

Principle 6: Internal compensation
The control system itself should be able to deal with the internal problem (Internal adaptation)

1.4 Classifications of Automatic Control Systems

Classification
Structure of the system
Mathematical-description of the system
Input/Output of the system
Control strategy of the system

Classification based on the structure of the system
Classification
predetermined based on structure
goals.Automatic of the
Control system
is the control process without Interference of human
Open-loop control system Closed-loop control system

Classification based on the mathematical description of the system
Classification
Control system
Time-continuous system Linear system Time-invariant system
Discrete system Nonlinear system Time-varying system

Classification based on input/output of the system
Classification
Control system
Single input/Single output system (SISO)
Multi input/Multi output system (MIMO)
Single input/Multi output system (SIMO)
Multi input/single output system (MISO)
This course only covers the single input/single output linear time invariant systems

Classification based on control strategy of the system
Classification
Control system
Stabilization
Tracking control
Adaptive control
Robust control
Classical control
Intelligent control

Content of the automatic control system
The main goal of this subject is to study the classical methods on

analyzing, design of linear time-invariant SISO systems.

1.5 Applications of Automatic Control Systems

Industrial Robot systems

Humanoid Robot systems

Airplane system

Marine system

Energy control system

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Automatic Control System

Instructor: Dr. Dang Xuan Ba

1.1 Concept of automatic control

1.2 Elements of automatic control system

1.3 Control principles

1.4 Classification of automatic control system

1.5 Applications of automatic control system

Instructor: Dr. Dang Xuan ba 2

Instructor: Dr. Dang Xuan ba 3

Control the speed at about 35km/h.

If the current speed is greater than

Eye Nerve system Hand

As a result, the vehicle speed will be as close as possible to 35km/h.

Instructor: Dr. Dang Xuan ba 4

Instructor: Dr. Dang Xuan ba 5

Rocket rotation control

Industrial thermal control system

Instructor: Dr. Dang Xuan ba 6

The system responses do not satisfy the desired values.

Sometimes, we want to increase the accuracy

Sometimes, we want to increase the performance

Instructor: Dr. Dang Xuan ba 7

Instructor: Dr. Dang Xuan ba 8

Desired r(t) e(t) u(t)

r(t): Reference signal

Instructor: Dr. Dang Xuan ba 9

Desired r(t) e(t) u(t)

Desired r(t) e(t) u(t)

Mechical plant Position sensor

Thermal plant Thermal sensor

Pneumatic plant Pressure sensor

Fluid Plant Flow sensor

Chemical plant Density sensor.....

Desired r(t) e(t) u(t)

Electrical-based controller Analog controller

Instructor: Dr. Dang Xuan ba 12

Desired r(t) e(t) u(t)

Instructor: Dr. Dang Xuan ba 13

Instructor: Dr. Dang Xuan ba 14

Serveral control structures:

Instructor: Dr. Dang Xuan ba 15

Instructor: Dr. Dang Xuan ba 16

Desired r(t) e(t) u(t)

Instructor: Dr. Dang Xuan ba 17

Desired r(t) e(t) u(t)

Instructor: Dr. Dang Xuan ba 18

Instructor: Dr. Dang Xuan ba 19

Instructor: Dr. Dang Xuan ba 20

Instructor: Dr. Dang Xuan ba 21

Instructor: Dr. Dang Xuan ba 22

Instructor: Dr. Dang Xuan ba 23

Instructor: Dr. Dang Xuan ba 24

Structure of the system

Mathematical-description of the system

Input/Output of the system

Control strategy of the system

Instructor: Dr. Dang Xuan ba 25

Open-loop control system Closed-loop control system

Instructor: Dr. Dang Xuan ba 26

Time-continuous system Linear system Time-invariant system

Discrete system Nonlinear system Time-varying system

Instructor: Dr. Dang Xuan ba 27

Single input/Single output system (SISO)