FundCtrlSys Chapter1 PDF

Lecture Notes
Fundamentals of Control Systems
Course coordinator: Assoc. Prof. Dr. Huynh Thai Hoang

Department of Automatic Control (DAC)
Faculty of Electrical & Electronics Engineering
Ho Chi Minh City University of Technology
Email: hthoang@hcmut.edu.vn
Instructor: Lecturers of Dept

Dept. of Automatic Control
10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1

Course objectives
 The course provides students with fundamental

knowledge
g about classical control theoryy for
analysis and design of feedback control systems.
 Students will study methods in time domain and
frequency domain to analyze the stability and
performance of control systems; and to design
feedback control system satisfying desired
performances.
performances

Course outline
 Chapter 1: Introduction
 Chapter
p 2: Mathematical model of continuous systems
y
 Chapter 3: Analysis of system stability
 Chapter 4: Performances of control systems
 Chapter 5: Design of continuous control systems
 Chapter 6: Discrete control systems

Textbook
 Textbook: Lý thuyết điều khiển tự động, Nguyễn Thị

Phương Hà và Huỳnh Thái Hoàng, NXB ĐHQG TPHCM
 Reference:
 Katsuhiko Otaga,
Otaga Modern Control Engineering,
Engineering 3rd ed.,
ed
Prentice Hall
 Franklin, Powell, and Emami-Naeini, Feedback Control
of Dynamic Systems, 6th ed., Prentice Hall, 2009
 Farid Golnaraghi and Benjamin C. Kuo, Automatic
C t l Systems,
Control S t 9th ed.,
d 2009,
2009 Prentice
P ti Hall.
H ll
 Richard C. Dorf and Robert H. Bishop, Modern Control
Systems 11th ed,
Systems, ed Peason.
Peason

Course learning outcomes
 LO1: Establish
LO1 E t bli h mathematical
th ti l model
d l off lilinear control
t l systems
t
(10%)
 LO2: Analyze the stability of linear control systems (25%)
 LO3: Analyze the performance of linear control systems (15%)
 LO4: Design linear control systems to meet desired
requirements (30%)
 LO5: Use computer software in analysis and design of control
systems (10%)
 LO6: Conduct experiment to determine effects of changing
input parameters on output of control systems (10%)

Teaching Plan and Grading policy
 Teaching plan:
 Theory: 45 lecture hour (week 1 to week 15)
 Lab:
L b 15 lecture
l t h
hour (
(weekk 6 to
t weekk 15)
 Grading policy:
 Quizes: 10%
 Groupppproject
j or exercises 20%
 Lab: 20%
 Final exam: 50%
 Student are allowed to use hand-written references in the

final exam.
exam

Learning Outcome Assessment Plant
Assessment Learning Outcomes

Total
Method LO1 LO2 LO3 LO4 LO5 LO6
Quizes 5% 5% 10%
Group project 10% 10% 20%
Final exam 5% 15% 10% 20% 50%
Lab 10% 10% 20%
Total %
10% 25%
% 15%
% 30%
% 10%
% 10%
% 100%
%

How to learn the course? ACTIVE LEARNING
(*) Aft
After 2 weeks
k we
tend to remember…
10% off what
h t we read
d R di
Reading
20% of what we hear Hearing words
30% of what we see Looking at pictures
Watching a movie
50% of what we Looking at an exhibit
see and
dhhear Watching a demostration PASSIVE
Seeing it done on location
70% off what
h t P ti i ti iin a di
Participating discussion
i
we say ACTIVE
Giving a talk
90% of what Doing a dramatic presentation
we say Simulating the real experience
and do Doing the real thing
(*) Edgar Dale, “Audio-Visual Methods in Teching,” Holt, Rinehart and Winston
Chapter 1
INTRODUCTION

Topics
 What is control system?

 Control principles
 Components of control systems
 Examples of control systems
 Review of complex variables and Laplace transform

What is control system?

Exercise
Find examples of control systems?

Exercise
Explain how a control system works?

Example of a control process
 Activities in controlling
g a motobike with the objective
j to
keep the motobike moving at constant speed
1. readingg velocimeter
2. deciding to increase or decrease speed
3 acting on the gas handle
3.

Definition of control concept
Control is the process of getting information,

processing
p g information and making g decision,, and
acting on a system so that the system reponses as
desired.
desired

Control loop
Desired Motobike
speed speed
+_
Measured
speed

Components of a control system
R(s) E(s) Y(s)

+_ C(s) G(s)
H(s)
Yfb(s)
Notation:
C(s): controller R(s): setpoint
( ) p
G(s): plant ( ) controlled output
Y(s): p
H(s): sensor Yfb(s): feedback signal
E(s): control error

A simple level control system

Level control system in industry
LC
LV
LT
Liquid tank
LC: Level Controller

LT: Level Transmitter
LV: Level valve

Speed control of steam engine
10 January 2016 © H. T. Hoàng - ÐHBK TPHCM 20

Why control?
 Increase productivity
 Increase quality
q y
 Increase economic benefit

Plants
 V
Very di
diverse
 Class of systems:
 Electrical
 Mechanical
 Thermal
 Fluid
Fl id
 Chemistry
 Real systems consist of different kind of basic systems.

Sensors
 Temperature sensor
 Position sensor
 Velocity sensor
 Accelocity sensor
 Distant sensor
 Flow sensor
 Level sensor
 Pressure sensor
 Force sensor
 Color sensor
 ...
Controllers
 Mechanical controller
 Electrical controller
 Analog controller
 Digital controller
 Microcontroller,
Mi t ll DSP based
b d control
t l
 Computer
p based control
 Programmable Logic Controller (PLC)

Basic problems in control
 System Analysis
 System Design
 System Identification
The course focuses

Th f only
l on system
t analysis
l i and
d
design

Control schemes

Open--loop control
Open
n(t)
r(t) u(t) y(t)

Controller Plant
 Feedforward control
 Control without feedback information

Closed--loop control
Closed
n(t)
r(t) e(t) u(t) y(t)

Controller Plant

ym(t)
Sensor
 Feedback control
 Need to measure system output

Exercise
 Open-loop or closed-loop control system?
 Plant?
 Sensor?
 Controller?

Feedback and feedforward control
FF control n(t)
r(t) e(t) y(t)

 FB control ++ Plant
ym(t)
S
Sensor
 This combined control scheme is widely used in

industryy

Multi--loop control system
Multi
Setpoint Output
 C2  C1 P1 P2
r(t) y(t)
S1
S2
 This control scheme is also refered as Cascade Control

 Multi-loop control is widely used in industry

Hierachy control
 Decentralized control
 Distributed control

Hierachy control
Example: SCADA (Supervisory Control And Data Acquisition)

Beer making process
Chiế chai
Chiết h i

Control system
y clasification

Control system classification
 Continuous system: All signals in the system are continous.

Discrete system: There exists discrete signals in the system
 Linear system: The system satisfies the superposition
principle.
Nonlinear system: The system don’t satisfies the
superposition principle.
 Time Invariant System: Parameters of the system don’t
change over time.
Ti
Time Varying
V i S System:
t P
Parameters
t off the
th system
t change
h over
time.
 SISO system: Single Input Single Output system
MIMO system: Multi-Input Multi-Output system

History of control theory
 Classical control
 Modern control
 Intelligent control

Classical control
 Mathematic
M th ti modelsd l used d in
i analysis
l i and d design
d i control
t l
systems are transfer functions.
 Feat res
Features:
 Simple, easy to understand
 Advantages:
Ad t easy tot applyl tot analysis
l i and d design
d i SISO
linear time – invariant system.
 Frequency domain techniques.
techniques
 Analysis and design techniques:
 Root locus.
locus
 Frequency response: Nyquist, Bode.
 C t ll
Controllers:
 Lead – lag controllers
 PID (Proportional
(P ti l – Integral
I t l – Derivative)
D i ti )
Modern control
 Mathematical model used in analysis and design is mainly the
state-space equation.
 Features:
 Can be applied to nonlinear systems, time varying
systems, multiple input- multiple output system.
 Time domain technique
q
 Analysis and design method:
 Optimal control
control.
 Adaptive control.
 Robust Control
 Controller:
 State
S feedback
f controller
Intelligent control
 In principle, mathematic models are not required in design

intelligent
g control system.
y
 Features:
 Simulate / emulate biological intelligence system
system.
 The controller is capable of processing uncertain
information learning
information, learning, and handling large amounts of data
 Intelligent control techniques:
 Fuzzy Control
 Neural Networks
 Genetic Algorithm
…

Course objective
 The course Fundamental of Control Systems mainly

presents the classic method for analysis and design
of SISO linear time invariant systems.
 The knowledge gained from the course help student
y and design
to analyze g control systems
y at the
executive level.

Related courses
 To be able to design the control system at the

implementation level, in addition to knowledge of
automatic control theory, a designer needs to master the
relevant knowledge, such as:
 Circuits, Electronic circuits
 Industrial Measurement
 Digital system, Microprocessor
 Computer based control system, ...

Graphic Symbols for
Process Displays

Standard ISA 5.5
 The purpose of this standard is to establish a system of

graphic symbols for process displays that are used by plant
operators,
t engineers,
i etc.,
t forf process monitoring
it i and d control.
t l
 The standard is intended to facilitate rapid comprehension by
the users of the information that is conveyed through displays
displays,
and to establish uniformity of practice throughout the process
industries.
 Resulting benefits are intended to be as follows:
 A decrease in operator errors
 A shortening of operator training
 Better communication of the intent of the control system
designer to the system users

Symbol of process equipments

Symbol of process equipments

Symbol of valves

Symbol of control valves

Symbol of electrial component (cont.)

Symbol of electrial component (cont.)

Symbol of measurement equipment and indicator

Symbol of power supply

Symbol of power supply (cont.)

Symbol of power supply (cont.)

Symbol of signals

Symbol of connection

Symbol of measument equipment

Symbol of level measurement equipment (cont.)

Symbol of level measurement equipment (cont.)

Symbol of flow measurement equipment

Symbol of flow measurement equipment (cont.)

Symbol of function blocks

Symbol of function blocks

Equipment Identification Label

Equipment Identification Label

Control process diagram – Example 1
PT100




Applications
pp of control systems
y

Applications of control theory
Feedback control can be found
f in many applications:
 Production system: cement plants, sugar mills, ....
 Industrial processes: temperature, flow, pressure, speed, ...
 Mechatronics: robot arms, computer numerical control
(CNC), ...
(CNC)
 Information systems
 Power
P generation
ti andd transmission
t i i
 Transportation systems: cars, trains, aircraft, spacecraft, ...
 Military equipments
 Measurement
 Home appliances: air conditioners, televisions, refrigerators,
washing machines, cameras, rice cookers, ...
 Medical
M di l equipments
i t
Temperature control
 Temperature control plays an important role in many

manufacturing systems: production of cement, ceramic tiles,
pulp and paper, rubber and plastic, oil and gas, food and
beverage,…
Cement factory Paper factory

Examples of temperature control
 Agricultural product drying system (coffee, cashew nut,

black pepper,…)
Agricultural product drying system

Block diagram of a temperature control system
Differential Power Heater

C
Controller
ll amplifier
amplifier
Measurement

Temperature controller and user interface
VCC
4.7k 4.7k 4.7k 4.7k
Q1 Q2 Q3 Q4
1k 1k
A1015 1k A1015 A1015 1k A1015
PORTD<5> PORTD<4> PORTD<6> PORTD<7>
D6
7
LED_7DOAN
VCC1
VCC2
VCC3
VCC4
. . . .
DOT
C
E
A
F
10
12
11
8
2
A
B
C
D
E
VCC F
G
DOT VCC
SW5 10k
10k
PIC16F877A
1 33 DOT
MCLR*/VPP RB0/INT 34 A SW4
2 RB1 35 B
V_sensor RA0/AN0 RB2 C
3 36
4 RA1/AN1 RB3/PGM 37 D SW4
5 RA2/AN2/VREF-/CVREF RB4 38 E
VREF+ RA3/AN3/VREF+ RB5 F
6 39
7 RA4/T0CKI/C1OUT RB6/PGC 40 G
RA5/AN4/SS*/C2OUT RB7/PGD SW3
15 19 SW4
16 RC0/T1OSO/T1CKI RD0/PSP0 20 SW3
17 C / OS /CC
RC1/T1OSI/CCP2 RD1/PSP1
/ S 21 SW2 SW3
PORTC<2> RC2/CCP1 RD2/PSP2 SW1
18 22
23 RC3/SCK/SCL RD3/PSP3 27
RC4/SDI/SDA RD4/PSP4 PORTD<4>
24 28
RC5/SDO RD5/PSP5 PORTD<5>
25 29 SW2
RC6/TX/CK RD6/PSP6 PORTD<6>
26 30
RC7/RX/DT RD7/PSP7 PORTD<7>
C16
13 SW2
OSC1/CLKIN 8
33p RE0/RD*/AN5
10MHz 9
C17 CRYSTAL RE1/WR*/AN6 10 SW1
14 RE2/CS*/AN7
RE2/CS /AN7
OSC2/CLKOUT
33p
12 11 SW1
VSS VDD VCC
31 32
VSS VDD

Temperature measurement using thermocouple
5V
U1
5V
1
VC C
U2
LM35
7
1
VOUT
2 3 + V2 R1
6
C1 2 -
25k
OP07
GND
10uF 5V
4
8
-5V U4 5V
7
1
U5
V3
3
7
1
3 +
0 6 3 + Vout
2 - R5 6
0 OP07 2 - PA0/ADC0
100 OP07
5V
4
8
-5V
4
8
U3 -5V
Thermo couple
7
1
R4
J1 3 + R2 1.8k R6
1 6 V1 R3
2 -
C2 100 100 3 9k
3.9k
OP07
10uF
4
8
-5V 0
0 0

Power circuit
R3 FUSE Heater
+12V
470
6
1
U15
2 MOC3020 Q2 220Vac
BTA16 0Vdc
Q1
4
PORTC<2>
R1
Q2SC1815
47k
R2
330

An industrial temperature control system
Temperature Furnace
controller
Thermocouple

Motor control
 Motors (DC
(DC, AC) are one of the most common actuators used
machinery and manufacturing factory.
 Three basic control problems: speed control
control, position control
control,
torque control

Antenna position control
P t ti
Potentiometer
t
Antenna
i((t))
o(t)
Desired
azimuth angle Azimuth
angle
input
output
Differential amplifier
and power amplifier
Motor Potentiometer

Analog PID control of DC motor

Digital PID control of DC motor

An industrial DC motor control system
DC Motor
Encoder
DC D
Driver
i

Level control
 Level control can be found in industrial processes such

as food and beverage,
g , waste water treatment,…,
 Level control, flow control
 Sensor:
 Level sensor: presure sensor
sensor, capacitor sensor
sensor, ultra
sonic
 Flow sensor: ultra sonic

Level control system in industry
LC
LV
LT
Liquid tank
LC: Level Controller

LT: Level Transmitter
LV: Level Valve
Pulp concentration control

Pitch angle control

Block diagram of pitch angle control system

CNC diagram

Block diagram of CNC control system

Distillation Process

Steam Power Generator

R i
Review off complex
l
variables
i bl and
d matrix
t i theory
th

Review
 Complex variables: Appendix B, Feedback Control of

Dynamic Systems, Franklin, Powell, and Emami-Naeini, 6th
ed., Prentice Hall, 2009
 Matrix theory: Appendix C,
C Feedback Control of Dynamic
Systems, Franklin, Powell, and Emami-Naeini, 6th ed.,
Prentice Hall,
Hall 2009

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Lecture Notes

Fundamentals of Control Systems

Course coordinator: Assoc. Prof. Dr. Huynh Thai Hoang

Instructor: Lecturers of Dept

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1

 The course provides students with fundamental

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 2

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 3

 Textbook: Lý thuyết điều khiển tự động, Nguyễn Thị

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 4

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 5

 Student are allowed to use hand-written references in the

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 6

Assessment Learning Outcomes

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 7

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 9

 What is control system?

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 10

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 11

Find examples of control systems?

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 12

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 13

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 14

Control is the process of getting information,

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 15

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 16

R(s) E(s) Y(s)

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 17

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 18

LC: Level Controller

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 19

10 January 2016 © H. T. Hoàng - ÐHBK TPHCM 20

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 21

 Real systems consist of different kind of basic systems.

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 22

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 24

The course focuses

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 25

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 26

r(t) u(t) y(t)

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 27

r(t) e(t) u(t) y(t)

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 28

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 29

r(t) e(t) y(t)

 This combined control scheme is widely used in

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 30

 This control scheme is also refered as Cascade Control

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 31

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 32

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 33

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 34

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 35

 Continuous system: All signals in the system are continous.

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 36

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 37

 In principle, mathematic models are not required in design

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 40

 The course Fundamental of Control Systems mainly

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 41

 To be able to design the control system at the

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 42

10 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 43