Control System

Control System
Course Outline
I. Introduction to Control System------------------------------1wk
II. Review of Laplace Transform---------------------------------1wk
III.Introduction to System Modeling and the Transfer Function---2wks
IV. Models of Industrial Control Devices and System-------------1wk
V. Signal Flow Graphs------------------------------------------1wk
VI. Concept of Stability----------------------------------------1wk
VII.Root Locus--------------------------------------------------2wks
VIII.Frequency Response Analysis--------------------------------2wks
1. Bode Plots
2. Nyquist Diagram
3. Nichols Chart
Engr. Reynaldo Castro Castillo Jr. REE 2

Grading System
I. Quizzes, Seatworks, Homeworks,
Recitations, Attendance------------30%
II.Unit Tests------------------------40%
III.Term Test----------------------__30%__
100%

Lecture Outline
I. Introduction to Control System
1. Overview and Brief Histroy of
Control System
2. Control System Terminologies
3. Introduction to Block Diagram
Algebra

Overview and Brief History
Control System
In the most abstract sense it, is possible to consider every 1 2
object a control system. But, in engineering…

According Shaum’s, it is an arrangement of physical
components connected or related in such a manner as to
actively command, direct, or regulate, itself or another
system. 3 4
• A collection of components(optical, mechanical,

electronic, electrical, etc.) assembled to form a system
that maintains a desired output/response for a given
input signal. (C. Yap, 2019, EE257 UPD)
5 6

Visualizing Control System
1 2
3 4
5 6

Types of Control System

• Open Loop Control System 1 2
• Has no automatic correction of the

variation in the output. 4
• Does not consider disturbances in the

observed system, imparting errors in the
system response.
5 6


• Open Loop Control System 1 2
• Examples: electric fans, and traffic lights.

• Accuracy of the system depends on the
initial calibration.
• Simpler and cheaper to estimate. 4
5 6


• Closed Loop Control System 1 2
• Has a feedback loop.

• The output provides an effect to the input 3 4
signal so that the system’s desired

response is maintained.
• Relies on the feedback from the measured
output to automatically correct the
5 6
response with minimal errors.

• Closed Loop Control System 1 2
• Examples: Air-conditioners, generator-turbine

system.
• Less sensitive to disturbances. (Corrective
Effects)
• More complex and more expensive than 3 4
open loop.
5 6

Not in the exam…
Brief History of Control System
1 2
3 4
5 6

Not in the exam…
Brief History of Control System
1 2
3 4
5 6

Control System Terminologies
• Block Diagram – A shorthand, pictorial

representation of the cause-and-effect 1 2
relationship between input and output of a

physical system.
• Components= Elements
• Block contains description or name of an
element. 3 4
• Arrow is the direction of information.
5 6

• Summing Point – A bock associated with

arrows that represent addition and subtraction. 1 2
• Any number of inputs may enter a summing

points.
• Only one outputs.
• Takeoff Point – A point that allows the same 3 4
signal to branch out to different blocks,
summing points
5 6

Closed- Loop Control System Terminologies
• Plant/Process/Controlled System (g2) – The
system, subsystem, process, or object controlled 1 2
by feedback control system.

• Controlled output (c) – The output variable of
the plant, under control of the feedback control
system.
3 4
• Forward Path – The transmission path from the

summing point to the controlled output c.
• Feedforward/ Control Elements (g1) – The
components of the forward path that generate
the control signal u or m applied to the plant. 5 6

Closed- Loop Control System Terminologies
• Control Signal/Manipulated Variable (u) –
The output signal of the feedforward elements
1 2
g1 applied as an input to the plant g2
• Feedback Path – The transmission path from
the controlled output c back to the summing
point.
• Feedback elements (h) – Establish the 3 4
functional relationship between the controlled

output c and the primary feedback signal b.
• Reference Input (r) – An external signal
applied to the feedback control system, usually
5 6
at the first summing point. Usually it is the ideal
output behavior of the plant.
Discrete-Time and Computer Controlled
System Terminologies
• Discrete-Time Signals – Digital Signals. 1 2
• Continuous-Time Signals – Analog Signals.

• Sampler – Converts continuous-time signals to
discrete-time signals.
• Hold/Data Hold – Converts the digital signal 3 4
output of a sampler to a particular analog

signal.
• Zero-hold/Simple hold (piecewise-continuous
signal) – maintains the value of the signal until
the next sampling time. 5 6

Block Diagrams Algebra
Introduction to its algebra

Block Diagram Algebra
Review of the Fundamentals

Review of the Fundamentals

Blocks in Cascade

Blocks in Cascade
• [+10] Find X n / X l for each of the systems in Fig. 7-13.

Blocks in Cascade

Blocks in Cascade

Canonical Form

Canonical Form

Canonical Form

Canonical Form

Canonical Form +10]

Canonical Form +10]

Block Diagram Transformation Theorems

Block Diagram Algebra Block Diagram Transformation Theorems
Transformation 2
Transformation 3


Transformation 5


Transformation 7

Transformation 8


Unity Feedback Systems


• +10]Reduce to unity feedback system.

• +10]Reduce to unity feedback system.

Superposition of Multiple Inputs





+10]Determine the output C due to Ul, U2,and R




+20] Determine C1, and C2 due to R1, and R2.

Ignoring C2.

R2=0 ; Combining Summing Points


Ignoring C1.


Reduction of Complicated Block Diagram




Reduce but this time isolate H1


• We do not apply Step 3 at this time, but go directly to

Step 4, moving takeoff point 1 beyond block G2+ G3.

• We may now rearrange summing points I and 2 and

combine the cascade blocks in the forward loop using
Transformation 6 , then Transformation1:

• Step3

• Finally, we apply Transformation 5 to remove l/(G2 +

G,) from the feedback loop:

+10]Reduce the block diagram then find C if K

is constant.

+10]Reduce the block diagram then find C if K

is constant.

+20]Reduce it in canonical form but this time

isolate K in the forward loop.





+20]Reduce to open loop form.






Thank You

Control System

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Engr. Reynaldo Castro Castillo Jr. REE 2

Engr. Reynaldo Castro Castillo Jr. REE 3

Engr. Reynaldo Castro Castillo Jr. REE 4

object a control system. But, in engineering…

• A collection of components(optical, mechanical,

Engr. Reynaldo Castro Castillo Jr. REE 5

Engr. Reynaldo Castro Castillo Jr. REE 6

Types of Control System

• Has no automatic correction of the

• Does not consider disturbances in the

Engr. Reynaldo Castro Castillo Jr. REE 7

Types of Control System

• Examples: electric fans, and traffic lights.

Engr. Reynaldo Castro Castillo Jr. REE 8

Types of Control System

• Has a feedback loop.

signal so that the system’s desired

Types of Control System

• Examples: Air-conditioners, generator-turbine

Engr. Reynaldo Castro Castillo Jr. REE 10

Engr. Reynaldo Castro Castillo Jr. REE 11

Engr. Reynaldo Castro Castillo Jr. REE 12

• Block Diagram – A shorthand, pictorial

relationship between input and output of a

• Arrow is the direction of information.

Engr. Reynaldo Castro Castillo Jr. REE 13

• Summing Point – A bock associated with

• Any number of inputs may enter a summing

Engr. Reynaldo Castro Castillo Jr. REE 14

by feedback control system.

• Forward Path – The transmission path from the

Engr. Reynaldo Castro Castillo Jr. REE 15

functional relationship between the controlled

• Continuous-Time Signals – Analog Signals.

output of a sampler to a particular analog

Engr. Reynaldo Castro Castillo Jr. REE 17

Engr. Reynaldo Castro Castillo Jr. REE 18

Engr. Reynaldo Castro Castillo Jr. REE 19

Engr. Reynaldo Castro Castillo Jr. REE 20

Engr. Reynaldo Castro Castillo Jr. REE 21

• [+10] Find X n / X l for each of the systems in Fig. 7-13.

Engr. Reynaldo Castro Castillo Jr. REE 22

• [+10] Find X n / X l for each of the systems in Fig. 7-13.

Engr. Reynaldo Castro Castillo Jr. REE 23

• [+10] Find X n / X l for each of the systems in Fig. 7-13.

Engr. Reynaldo Castro Castillo Jr. REE 24

Engr. Reynaldo Castro Castillo Jr. REE 25

Engr. Reynaldo Castro Castillo Jr. REE 26

Engr. Reynaldo Castro Castillo Jr. REE 27

Engr. Reynaldo Castro Castillo Jr. REE 28

Engr. Reynaldo Castro Castillo Jr. REE 29

Engr. Reynaldo Castro Castillo Jr. REE 30

Engr. Reynaldo Castro Castillo Jr. REE 31

Engr. Reynaldo Castro Castillo Jr. REE 32

Engr. Reynaldo Castro Castillo Jr. REE 33

Engr. Reynaldo Castro Castillo Jr. REE 34

Engr. Reynaldo Castro Castillo Jr. REE 35

Engr. Reynaldo Castro Castillo Jr. REE 36

Engr. Reynaldo Castro Castillo Jr. REE 37

Engr. Reynaldo Castro Castillo Jr. REE 38

Engr. Reynaldo Castro Castillo Jr. REE 39

Engr. Reynaldo Castro Castillo Jr. REE 40

• +10]Reduce to unity feedback system.