Introduction to Control Systems

Introduction to Control Systems

Chapter 1
 Why Control
Why Control
• Automatic control has played an important role in the 
advancement of engineering and science:  Space‐vehicle 
d f d h l
systems, missile‐guidance systems, robotic systems

• Automatic control has become an important and integral part 
of modern manufacturing and industrial processes: Machine 
tools in the manufacturing industries, automobile industries.  

2
 Historical Review
Historical Review
• In
In 1922, Minorsky worked on automatic controllers 
1922, Minorsky worked on automatic controllers
for steering ships and showed how stability could be 
determined from the differential equations 
describing the system. 

• In 1932, Nyquist developed a relatively simple 
procedure for determining the stability of closed‐
l
loop systems on the basis of open‐loop response to 
h b f l
steady‐state sinusoidal inputs

3
 Historical Review
Historical Review
• In 1934, Hazen, who introduced the term servomechanisms 
f
for position control systems, discussed the design of relay 
l d d h d f l
servomechanisms capable of closely following a changing 
input.

• During the decade of the 1940s, frequency‐response methods 
(especially the Bode diagram methods due to Bode) made it 
possible for engineers to design linear closed loop control
possible for engineers to design linear closed‐loop control 
systems that satisfied performance requirements. 

• FFrom the end of the 1940s to the early 1950s, the root‐locus 
h d f h 1940 h l 1950 h l
method due to Evans was fully developed.

4
 Historical Review
Historical Review
• The frequency‐response and root‐locus methods, which are 
the core of classical control theory, lead to systems that are 
h f l l l h l d h
stable and satisfy a set of more or less arbitrary performance 
requirements. Such systems are, in general, acceptable but 
not optimal in any meaningful sense
not optimal in any meaningful sense. 

• Since the late 1950s, the emphasis in control design problems 
has been shifted from the design of one of man s stems that
has been shifted from the design of one of many systems that 
work to the design of one optimal system in some meaningful 
sense.

5
 Historical Review
Historical Review
• As modern plants with many inputs and outputs become 
more and more complex
d l
• The description of a modern control system requires a large 
number of equations
• Classical control theory, which deals only with single‐input‐
single‐output systems, becomes powerless for multiple‐input‐
multiple‐output systems
• Since about 1960, because the availability of digital computers 
made possible time‐domain analysis of complex systems, 
modern control theory, based on time‐domain analysis and 
synthesis using state variables has been developed to cope
synthesis using state variables, has been developed to cope 
with the increased complexity of modern plants and the 
stringent requirements on accuracy, weight, and cost in 
military, space, and industrial applications.
military, space, and industrial applications.

6
 Historical Review
Historical Review
• During the years from 1960 to 1980, optimal control of both 
d
deterministic and stochastic systems, as well as adaptive and 
d h ll d d
learning control of complex systems, were fully investigated. 

• From 1980 to the present, developments in modern control 
theory centered around robust control, hybrid control, and 
associated topics. 

• Now that digital computers have become cheaper and more 
compact, they are used as integral parts of control systems.
• Recent applications of modern control theory include non‐
engineering systems such as biological, biomedical, economic, 
and socioeconomic ‐ systems.

7
 Example
• The
The FF‐117
117 does not 
does not
even fly without 
computer control. 
• What are the 
questions and what do 
we need to control and 
how.

8
 What is Automatic Control?
What is Automatic Control?

Automatic Control is an Engineering

discipline that deals with:
(1) Modeling of dynamic systems.
(2) Study the natural response of the system.
(3) Design of controllers that cause these systems to
behave in the desired manner.
Example : Watt’s speed governor
p p g
Controlled & manipulated variables
Controlled & manipulated variables
• The controlled variable (usually output) is
the quantity that is measured & controlled.
• The manipulated variable is the quantity
that is varied by the controller to affect the
value of the controlled variable.

Manipulated Controlled
Example : Watt’ss speed governor
Example : Watt speed governor

Controlled variable 
(velocity)

Manipulated 
variable
i bl
 Control
• CONTROL means measuring the value of
the controlled variable & manipulating the
p
manipulated variable to gguide the control
variable value to the desired value.

1 2

Control: 
manipulate (1) to change (2) to desired value
manipulate (1) to change (2) to desired value
 Example : Watt’ss speed governor
Example : Watt speed governor
Controller

Controlled variable 
(velocity)

Manipulated 
variable
i bl
 Plant
• A plant is a piece of equipment or a set of
machine parts working together to perform a
certain task.
• Any physical object to be controlled will be
referred to as plant.
p
• Examples include:
– Mechanical devices.
devices
– Heating furnace.
– Chemical reactor.
reactor
 Example 1 ‐ Speed control system
Example 1  Speed control system
Controller

Controlled variable 
(velocity)

Manipulated  plant
variable
i bl
 Process
• A natural or artificial, progressively
continuing
i i operation i marked k d by
b a series
i off
gradual succeeding changes or actions that
lead to a particular outcome.
outcome
• As a general rule, any operation to be
controlled is called a process.
process
• Examples include:
– Ch
Chemical
i l process.
– Economic process.
– Biological process.
process
 Example 1 ‐ Speed control system
Example 1  Speed control system
Controller

Controlled variable 
(velocity)

Manipulated  plant
variable
i bl
 System
• A system is a combination of components that
act together and perform a certain objective.
• Systems
y can be physical
p y or abstract (e.g.,
( g
economic).
• Examples include:
– Physical.
– Biological.
Biological
– Economic.
 Disturbances

• A di
disturbance
t b is
i a signal
i l that
th t tends
t d tot
adversely affect the value of the output of the
system.
t
• A disturbance generated within the system is
called internal.
• A disturbance ggenerated outside the system
y is
called external and is an input.
 Example ‐ Speed control system
Example  Speed control system
Controller

Controlled variable 
(velocity)

Manipulated  plant disturbance

variable
i bl
System
 Feedback control
Feedback control
• Feedback control refers to an operation that, in
the presence of unpredictable disturbances,
tends
te ds to reduce
educe thet e difference
d e e ce between
betwee the
t e
output of a system and some reference input,
oon thee basis
b s s oof thiss ddifference.
e e ce.

1 2
+ ‐
 Example ‐ Speed control system
Example  Speed control system
Feedback
Controller

Controlled variable 
(velocity)

Manipulated  plant disturbance

variable
i bl
Example ‐ Speed control system
Example  Speed control system

Load 
(disturbance)
Desired 
Desired
speed E(s)
+‐ Engine

Measured 
speed
Ex. 2 ‐ Temperature control system
Ex. 2  Temperature control system
 Feedback control systems
Feedback control systems
• A feedback control system is a system that
maintains a relationship between the output
and reference input by comparing them and
using the difference as a means of control.

set temperature room temperature
+ ‐
 Closed‐loop
Closed loop control system
control system

• Same as feedback control systems

• The actuating error signal (difference
between input and output) is fed to the
controller so as to reduce the error and bring
the output of the system to a desired value.
value
• Closed loop signifies using feedback control
action
i to reduce
d system error.
 Open‐loop
Open loop control system
control system
• The output has no effect on the input.
• Output is neither measured nor fed back for
p
comparison with the input.
p
• An example is a washing machine that goes
through a pre-set
pre set cycle regardless of the
cleanliness (output of system) of the clothes.
• For each input there is an output,
output which is
dependent on the calibration of the system.
 Open‐loop
Open loop control system
control system
• An open-loop system can not compensate for
di t b
disturbances.
• In practice, open loop systems are used when
the relationship between input and output is
known and no internal or external disturbances
exist.

Set dials Plant  Collect 

(washing machine)
(washing machine) clothes
 Closed‐loop advantages
Closed‐loop advantages

• Insensitive to external disturbances and

internal variations in system parameters.
• Can therefore use relatively inaccurate
components
p and still obtain accurate control
of a plant.
 Closed‐loop
Closed loop disadvantages
disadvantages
• Stability is a big problem,
problem where the system
may tend in some instances to overcorrect
errors and cause oscillations.
oscillations
• More expensive than open-loop systems
since it involves more components.
components
• Relies on knowledge of the output, which is
sometimes
i difficult
diffi l to measure.
 Open‐loop
Open loop advantages
advantages
• Simple construction and ease of maintenance
• Less expensive than a corresponding closed-
loop system
system.
• No stability problem
• Convenient when output hard to measure.
 Open‐loop
Open loop disadvantages
disadvantages
• Disturbances and changes in calibration
cause errors and the output can be different
than what is desired
desired.
• To maintain high quality, recalibration is
necessary from time to time.
time
 Next
• Modeling
• Analysis & Design Techniques