FYSS 310

Control engineering
Harry J. Whitlow
Department of Physics,
University of Jyvskyl
http://harry.whitlow.se/whitlow/FYSS310/Index.htm
Will be changed
Topics
Introduction
Course overview, course objectives, exam
details

Historical perspective
Applications
Course objectives
The objective of the course is to give physics students a
background in control engineering

After the course they will be able to:
Decide what of control system is applicable for a given system.
Understand the various approaches that can be used.
How disturbances can effect the control outcome.
The course will focus on control systems for physical
applications including the atomic force microscope, accelerators
and renewable energy systems.
Course program - I
Introduction to the course
Course structure, course goals, examination, history of control engineering, variables, examples of
real control systems, complex variables, Argand diagram [Harry J. Whitlow]

Control science in engineering I
Closed and open loop control systems, mathematical models of systems block diagrams.
Feedback. System models. Mechanical and electrical analogues. Automatic controllers [Harry J.
Whitlow]

Control science in engineering II
Analogue control systems, digital control systems, sensors (potentiometers, optical encoders,
strain gauges, temperature sensors, tachometers, synchro, flowmeters, dc, ac, stepper motors,
pneumatic actuators, pressure meters, deposition rate sensors, Hall effect and NMR sensors.)
[Harry J. Whitlow]

Laplace Overview complex variables, functions, etc, Fourier transforms, Laplace transform,
properties of the Laplace transforms, solving differential equations with Laplace transforms, (the z-
transform , relation of z- and Laplace transforms) [Harry J. Whitlow]

Transfer functions and block diagrams
Nonlinear systems, transfer function, and impulse response function, block diagrams, drawing
block diagrams, reduction of block diagrams. State space representation. [Harry J. Whitlow]

Transient responses and stability
First order systems and exponential response, second order systems, step response, velocity
feedback [Harry J. Whitlow]




Course program - II
Basic controllers and compensators and their design
Basic controller actions, proportional-integral-derivative control. Effects of integral and
derivative control on performance, higher order systems, stability and Rouths
criterion. operational amplifiers and electronic controllers, lag-lead [Harry J. Whitlow]

Fuzzy control,
Types of uncertainty, linguistic variable, fuzzy logic, hardware implementation, neural
nets, combination with conventional logic. Application to applicances and industrial
control. [Harry J. Whitlow]

Root-locus, frequency response analysis
Design considerations, poles and zeros lead and lag compensators, Bode diagrams,
polar plots, Nyquist plots, stability criteria, open and closed loop responses, PID
controller tuning, two degrees of freedom control [Gorelick / Harry J. Whitlow]

Physical control systems: Atomic force microscope
Principle of AFM , position sensor, feedback system, [Timo Sajavaara]

Robust control systems:
Design considerations for robust control, renewable energy sources Energy meters
computer control and monitoring
[Ananda Sagari/ Harry J. Whitlow]

Control systems: control of accelerators
Precise magnetic field control, high voltage stabilisation by slit and GVM mode.
Precision positioners [Mikko Laitinen / Harry J. Whitlow]
Labs
The labs may use Matlab
One assigned lab has to be written up and
submitted as reports in order to pass the
course.
Examination
The exam will be a conventional 4 hr
written exam
Probably this will consist of 6 questions
each of which are worth 10 points
Passing the exam requires a score of 30
points
The numerical grade scale will be used.
Examination
Examination
To pass the course requires: Pass of the written
examination together with completed laboratory
exercises and with approval of two laboratory reports.

The written examination will be a conventional closed-
book written examination of 4 hours duration.

Examination times
The examination will be held Thursday 27 March 2008
1200-1600
Resit examination: Thursday 24 April 2008 1200-1600
Litterature
Course book: K. Ogata, Modern control engineering, Prentice
Hall 3rd Ed. (A 4th edition is in print if we will use this if we can
get hold of it in time. Kampus Data had the 3rd Edition in stock
21.12.2006.

Other literature: G.F. Franklin, J.D: Powell, A. Emani-
Naeini, Feedback control of dynamic systems, 3rd ed. (Adisson
Wesley Reading MA,1994) Good treatment but a bit outdated.
R.C. Dorf and R.H. Bishop, Modern control systems, (Adison-
Wesley Menlo Park, CA, 1998) Very engineer oriented text.
J.-P. Yln ja J. Virkkunen, Sttekniikan harjoitustehtvi,
(Otatieto, Helsinki 1995) For those who prefer a Finnish exercise
book.
J. Virkkunen, Sttekniikan matematiikkaa, (Otatieto, Helsinki
1996) Finnish text on mathematics for electronics

Part II
History of control engineering

Variables

Examples of real control systems

Complex variables

Argand diagram
History of control engineering
Generally attributed to
James Watts
mechanical governor
ca 1780

Earlier forms of control
exist e.g the
development of the
shape of a boat hull to
achieve stability against
strong dynamical forced
from wind and waves
Stability of boat hulls

a. Dugout inherently unstable without outrigger
b. Dugout with single side planks
c. Dugout with double side planks
d. Full development of keeled boat
After J. D. Bernal The
extension of man,
(Weidenfelt and Nicolsson,
London, 1972)
Water float valve
WC was not
invented by
Thomas A. Crapper
but added the water
level control

Closed loop control

Elisabeth I had a
WC built by Sir
John Harington
Sir John Haringtons New Ajax of 1595 (open loop control)
Pause

Control of wheel for raising water
From: Agricola, De re metallica,
(Basle, 1556)

Manual control of water flow and
brake?
Papins digester
Denis Papin adressed The
Royal Socety in 1679 on
subject of his digester

Assistant to Huygens
Watts rotative steam engine

From: Watts patent of
1784
20 C developments
Elmer Sperry Metal
mike automatic
gyrocompas controlled
ship steering mechanism
(Patent contested by
Anschtz-Kaempfe with
Einstein as expert)

1922 Minorsky 3 term
PID control of ship based
on differential equations
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- Kreiselkompass der Fa.
Anschtz im Schnitt
Nyquist stability criterion
Harry Nyquist (1889 1976)
Developed simple procedure to define
stability of closed-loop systems

Harold Hazen and Vannevar Bush,
built network analyzers (analogue
computers)

Differential Analyzer, and the Cinema
Integraph (solves parametric integral
equations

Military fire control systems
Control of reactors
The Norden
bombsight
optical/mechanical
analogue computer
USA forces
WWII
Korean war
Vietnam War
Used to aid bomber
pilots

Source US Dept. Of
Defence
Analog computers
Signals represented
by voltages

Functions performed
by electronic circuits
Integration
differentiation
Summing
inversion
Variables
Controlled variable
(Sometimes called manipulated viariable), is
the quantity that is measured and controlled

Measured variable
The parameter that is monitored and
compared with the dersired value to
determine the value of the controlled variable.
Note: this need not be the same physical
quanitity as the controlled variable.
Eg. In a wc the water height is the measured
variable and the flow rate is the controlled
variable
Desired value
The value with which the measured variable is
compared in order to determine the controlled
variable

Controller
Desired
value
Measured
value
Plant
Controlled
variable
Plants and systems
Plant
Any piece of equipment
that performs a
particular operation

System
a set of components
that act together to
perform a specific
objective
Vacuum oven
Roots pump plant
Oven for semiconductor processing
Temperature control better than 0.5 C needed at 900-
1150 C
Several heater thermocouple sensor units used to
give contant tempertaure over oven lenth
Controller
N
2
+5% H
2
Thermocouple
Semiconductor
wafer on quartz
wafer carrier
Typcal industrial oven
Control systems in reality-II
Domestic central heating system
Heat loss balanced by difference of indoor and outdoor temperatures
Boiler /
heat exchanger
Radiator
Temperature
controller
Indoor temperature
sensor
Outdoor
temperature sensor
Energy supply
Complex variables
Complex variables play an important role in
control theory
e o j s + =
Imaginary part
Real part
Complex functions are likewise
( )
w x
jF F s F + =
Argand diagram
This leads to the idea of
representation in the
complex or s plane

These give the trivial
relations
x
F
u
y
F
( )
( )
y x
y
x
y x
jF F s F
F
F
F F s F
=
|
|
.
|

\
|
=
+ =

*
1
2 2
tan u
je
o
u
u u
j
e j = + sin cos
Eulers
theorem:
2
sin
2
cos
u u
u u
u
u
j j
j j
e e
e e

=
+
=
Differential calculus of complex
functions
G(s) is said to be
analytic in a region of
s if all its derivatives
exist in the said
region
( )
( ) ( ) ( )
s
s G
s
s G s s G
s G
ds
d
s s
A
A
=
A
A +
=
A A
lim lim
0 0
je
o
o + d o
j e + j d e
x
y
Cauchy-Riemann conditions
( )
o o o o
o
c
c
+
c
c
=
|
|
.
|

\
|
A
A
+
A
A
=
A
y
x
y
x
G
j
G
G
j
G
s G
ds
d
lim
0
( )
e e e e
e
c
c
+
c
c
=
|
|
.
|

\
|
A
A
+
A
A
=
A
y
x
y
x
j
G
G
j
j
G
j
j
G
s G
ds
d
lim
0
e o e o
e e o o
c
c
=
c
c
c
c
=
c
c
c
c

c
c
=
c
c
+
c
c
x
y y
x
x
y y
x
G
G G
G
G
j
G G
j
G
and ;
or ;
( )
s
s G
d
d
Is uniquely determined when the Cauchy Rieman
equations are satisfied
Example
( ) ( )
y x
jG G
j
j G
s
s G + =
+ +
= +
+
=
e o
e o
1
1
1
1
( ) ( )
( ) 0 1 as 0 1 ; &
1
;
1
1
2
2
2
2
2
2
+ + +
+ +

=
+ +
+
=
e o
e o
e
e o
o
j s G G
G G
y x
y x
( )
( ) | |
( )
( ) | |
2
2
2
2
2
2
2
2
1
1 2
1
1
e o
o e
e o
e o
o e
e o
+ +
+
=
c
c
=
c
c
+ +
+
=
c
c
=
c
c
x x
y
x
G G
G
G
( )
( )
( ) ( )
2 2
1
1
1
1
d
d
d
d
s j s
s G
G
j
G G
j
G
s
s G
x
y y
x
+
=
+ +
=
c
c

c
c
=
c
c
+
c
c
=
e o
e o e o
Poles and zeros
Points where G(s) is
analytic are ordinary
points other points
are singular.
Consider a complex
function:
Then we say G(s) has
poles at s = -1,-5,-12
zeros at s = -2, -7 and
three at infinity

Note that G(s) is
compltely defined by
the position of the
poles and zeros
( )
( )( )
( )( )( )
( )

= =
= =
+ + +
+ +
=
, , , 7 , 2 for 0
12 , 5 , 1 for
12 5 1
7 2
s
s
s G
s s s s
s s K
s G