CHAPTER 1

Introduction of Control System

DR. SHAFISHUHAZA SAHLAN| DR. SHAHDAN SUDIN

DR. HERMAN WAHID | DR. FATIMAH SHAM ISMAIL

Department of Control and Mechatronics Engineering

Faculty of Electrical Engineering
Universiti Teknologi Malaysia

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 Content
1.1 •  History  of  Control  System    

1.2 •  Control  System  Basics  

1.3 •  Control  System  Configuration  

1.4 •  Examples  of  Control  Systems  

1.5 •  Control  System  Design  

1.6 •  Simulation  Software  in  Control  –  MATLAB  

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 1.1
History of Control
System

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 History  of  Control  System  
300  BC   1900’s   2000’s  

Early 20th  Century Contemporary

• Simple,  primitive • Extensive  use  of   • Widespread  
sensors applications

•  Water  clock  (300  BC)  

•  AutomaNc  Ship  Steering  
•  Steam  pressure  &   •  NavigaNon  
(1922)  
temperature  control   •  Entertainment  
•  PID  Controller  (1920s)  
systems  (1680s)   •  Smart  Homes  
•  Feedback  Control  System  
•  Speed  control  (1745)   •  Military  
Technique  (1930s)  
•  Stability  Theories   •  Space  ApplicaNon  
•  Root  locus,  Bode,  Nyquist  
•  Routh-­‐Hurwitz   •  Chemical  Process  
(1948)  
(1877)  
•  Lyapunov  (1892)  
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²  One  of  the  earliest  control  systems  known  is  the  water  clock  invented  by  
Ktesibios  (300  BC)-­‐  Liquid  level  control.  

²  In  1681,  Denis  Papin  introduced  the  steam  pressure  control  

²  systems,  where  he  invented  the  safety  valve  (very  similar  to  the  present  
pressure  cooker).  

²  In  17th  century,  hatching  eggs  using  mechanical  temperature  control  

²  In  1745,  speed  of  windmills  are  controlled  

²  Pitching  blades  further  back  so  less  area  available  
²  As  wind  decreases,  more  blade  area  available  
²  In  1868,  James  Maxwell  published  the  stability  criterion  for  a  3rd  order  
system  based  on  the  coefficients  of  differenNal  equaNons  

²  In  1877,  Routh  Hurwitz  criterion  to  determine  the  stability  of  a  system  is  
proposed  
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 1.2
Control System
Basics

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 Control  System  Basics  
-­‐  General  Control  System  Block  Diagram  

Subsystem  1   Subsystem  2   Process  

Input  signal   Output  signal  
(desired   Controller   Actuator   Plant   (actual  
output/  set   response)  
point)   • Robust   • Valve  
• PID   • Motor  

CONTROL  SYSTEM  

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 Control  System  Basics-­‐  Purpose  &  Methods  

Primary  Aim:  
•  To  regulate  certain  variables  about  constant  values  even  
when  there  are  disturbances.  
•  To  force  some  parameter  to  vary  in  a  specific  manner.  

Control  Methods:  
•  ‘Manual’  control  
•  ‘AutomaNc’  control  

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 4  main  control  purposes  
•  For  power  amplificaQon  
1   •  e.g.  in  moving  the  radar  antenna  posiNon  to  certain  angle,  
small  input  power  is  amplified  to  produce  high  output  torque  

•  For  remote  control  

•  e.g.  in  controlling  the  movements  of  robots  working  in  
2   contaminated  areas  where  human  presence  should  be  
avoided  

•  For  convenience  of  input  form  

3   •  e.g.  in  a  temperature  control  system,  the  turn  of  a  knob  
corresponds  to  certain  desired  room  temperature.  

•  For  compensaQon  for  disturbance  

4   •  e.g.  to  maintain  antenna  posiNon  in  the  presence  of  strong  
wind.  

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 Manual  Control  
Human-­‐aided  control  

Operator  constantly  observe  the  deviaNon  and  make  

correcNons  when  necessary  

Not  consistent  

Hundreds  of  variables  to  be  controlled  

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 Automatic Control
To  replace  humans  with  machines  (nowadays,  
computers)  to  implement  the  control  of  the  plant.  

Measurement  è  sensors/transducers  

Decision  è  computers  

Control  acNon  è  actuators  

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 3  Main  Control  System  Components  
3.  Final  control  
1.  Sensor   2.  Controller  
element  
•  sense  the  physical  signals   •  the  ‘brain’  of  the  control   •  accepts  an  input  from  the  
system   controller,  which  is  then  
•  convert  into  electrical   transformed  into  some  
signals   •  does  all  the  calculaNons   proporNonal  operaNon  
and  decision-­‐making   performed  on  the  process  
•  e.g.  thermocouple   processes  –  computer  
measures  a  temperature   •  must  be  operated  by  an  
and  converts  it  into   •  compares  the  desired  and   actuator  
voltage   actual  plant  output  è  
calculate  the  amount  of   •  e.g.  to  control  the  yawing  
control  to  be  applied   direcNon  of  a  ship,  the  
rudder  (the  final  control  
element)  is  moved  to  
certain  angle  by  a  
hydraulic  actuator.  

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 2  Types  of  Control  Problems  
1.  RegulaQon   2.  Servo  Control  
Problem:  CV  deviates  from  SP   Problem:  CV  must  follow  the  
due  to  disturbance.   changes  in  the  SP.  

‘Regulatory  control’    
‘Servo  Control’  

To  maintain  the  quanNty  at  some  

desired  value  regardless  of   Make  CV  follow  SP  when  the  SP  
external  influences.   changes.  

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 1.3
Control System
Configuration

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 Control  System  ConfiguraQon  

Open-­‐loop   Closed-­‐loop  

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 Open-­‐loop  Control  System  

Disturbance  

Input   +  
Input   +  
Controller   Plant   Output  
  transducer  

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 Closed-­‐loop  Control  System  

Disturbance  

+   +  
Input   Input   +   Output  
Controller   Plant  
transducer  
  -­‐  

Output  
transducer  

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 Closed-­‐loop  Control  System  
input  variable  into  the  
desired  output   Manipulated   plant  so  that  the  plant  
variable   output  achieves  the  SP  
to  be  achieved  
(MV)   value    
Setpoint   Disturbance  
(SP)  

+   +  
Input   Input   +  
Controller   Plant   Output  
  transducer  
-­‐  
Controlled  
variable  
(CV)  
Output  
transducer  
Process  variable   output  of  the  
(PV)   plant  to  be  
controlled    

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 Example:  Liquid  Level  Control  System  
Liquid  flow  in  

Tank  

Liquid  
Liquid  flow  out  
Pump   Input  
Setpoint   voltage,   Measurement  
SP   flowrate,  
voltage,  VSP   Vpump   noise  
Qin  
Level   Input        
Liquid   +  
Setpoint     transducer   Controller     level   +  
Pump  
plant  
Liquid  
MV  
Actuator   level,  H  
Plant   CV  
Level    
sensor  
PV   Output  level  
voltage,  Vlevel   o/p  transducer  

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 1.4
Examples of
Control Systems
 Examples

Power  amplificaNon  in  a  dish-­‐type   Remote  control  robots  in  

antennas   contaminated  area:  Sojourner  
•  Roving  on  Mars  in  1997.  
•  Varying  in  diameter  from  8  to  30  
metres   •  Solar-­‐powered,  11.5  kg.  
•  Serving  an  Earth  staNon  in  a   •  Speed:  0.4  meters/minute  
satellite  communicaNons   •  Its  wheel  system  enabled  it  to  
network.     climb  over  obstacles  one-­‐and-­‐a-­‐
half  wheel  diameters  tall.  

Disturbance  compensaNon  in  a  

Convenient  input  for  a  thermostat   Rolling  Mill  

•  PosiNon  to  heat   •  Maintain  steel  thickness  despite  

variaNons/disturbance  

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 1.5
Control System
Design
General  Controller  Design  Process  

MathemaQcal  modelling  

Laws  of  Physics   System  idenQficaQon  

Analysis  

Time  domain   Frequency  domain  

Design  of  controller  

Controller  structure   Controller  type  

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 Controller Design Process:- General

STEP  1   STEP  2   STEP  3   STEP  4   STEP  5   STEP  6  

• Transform   • Draw  a   • Create  a   • Develop   • Reduce   • Analyze  &  
requirement funcNonal   schemaNc   mathemaNcal   block   Design  
s  into   block   model  (block   diagram  
physical   diagram   diagram)  
systems  

Chapter  1   Chapter  2   Chapter  3   Chapter  4  

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 1.6
Simulation Software
in Control - MATLAB

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 MATLAB  
•  Important  tool  in  current  control  system  
design.  

•  MATLAB  contains:  
•  Lots  of  Toolboxes  –  one  of  them  is  ‘Control  System  
Toolbox’  
•  Simulink  –  click  and  drag  

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 Control  System  Toolbox  

•  Contains  a  set  of  funcNons  relaNon  to  control  system  

design.  
•  Can  be  used  together  with  other  MATLAB  funcNons  
or  funcNons  from  other  toolboxes.  

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•  More  graphical.   Simulink  
•  Code  wriNng  is  minimal.  
 

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 Review questions
•  Name  3  applicaNons  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  mathemaNcal  modeling  
of  control  systems.  
•  How  do  we  classify  control  systems?  
•  What  are  the  steps  involved  in  designing  a  control  
system?  
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REFERENCES  
[1]  Norman  S.  Nise,  Control  Systems  Engineering  (6th  EdiNon),  John  
Wiley  and  Sons,  2011.  
[2]  Katsuhiko  Ogata,  Modern  Control  Engineering  (5th  EdiNon),  
Pearson  EducaNon  InternaNonal,  Inc.,  2010.    
[3]  Richard  C.  Dorf  and  Robert  H.  Bishop,  Modern  Control  Systems  
(12th  EdiNon),  Pearson  EducaNonal  InternaNonal,  2011.  
[4]  Rao  V.  DukkipaN,  Analysis  and  Design  of  Control  systems  Using  
MATLAB,  Published  by  New  Age  InternaNonal  (P)  Ltd.,  Publishers,  
2006.  
 [5]  Katsuhiko  Ogata,  MATLAB  For  Control  Engineers,  Pearson  
EducaNon  InternaNonal,  Inc.,  2008.  
 

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