EL 3015 SISTEM

KENDALI
Control Systems
SM II 2014/15
Carmadi Machbub (Kelas 1)
Iyas Munawar (Kelas 2)
Pranoto Hidaya Rusmin (Kelas 3)
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1st Course: INTRODUCTION

Control systems surrounding us

History technology and theory
Control system configurations
Topics and courses organization
- Syllabus

- References
- Pre-requisites
- Labs
- Learning outcomes
Assessment
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Control systems surrounding us

Float valve (flush toilet, water tank,
liquid level system)
Air conditionning, lift
Disk, CD, DVD, hard disk,
Washing machines
Car - vehicle: power steering, anti-lock
braking system (ABS), suspension
control, energy management system
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 Machine tools
Electrical power control system: power
generation, load-frequency control, .....
Industrial control (car, chemical, )
Internet control (congestion control, ...),
control over internet (wireless sensor, ..)
Antenna control, radar control,
Mobile robot, humanoid robot, robot soccer,
under water robot, ..
Air craft control, rocket control, satellite control,
missile control

etc.

Natural control systems:

In human body: blood circulation
control (glucose, acid uric, nutrition,
etc.)
Bird flying control,...
Swarming formation

History technology and theory

[Franklin, Nise, Ogata]
Chronicle: since 300 BC until the Middle Ages,
found in Greek, China and the Middle East
(Bagdad): control of fluid flow rate to regulate
a water clock and the control of liquid level
using the float valve.
1620: Cornellis Drebbel invented a system to
control the temperature of a furnace used to
heat an incubator for hatching chicken eggs.
1788: Fly-ball governor of James Watt for his
famous steam engine to control the steam flow.

1868: Maxwell, Flyball stability analysis

1877: Routh, Stability
1890: Lyapunov, Nonlinear stability
1910: Sperry, Gyroscope and autopilot
1922: Minorsky, Steering ships, stability from
differential equations
1927: Black, Feedback electronic amplifier;
Bush, Differential analyzer
1932: Nyquist, Nyquist stability criterion
1934: Hazen, Servomechanism
1938: Bode, Frequency response methods
1940s: Ziegler and Nichols, Tuning rules PID
controllers
1942: Wiener, Optimal filter design. Cybernetics
concept was also introduced by him.
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 1947: Hurewicz, Sampled data systems

Nichols, Nichols chart
1948: Evans, Root locus
1950: Kochenberger, Nonlinear analysis
1956: Pontryagin, Maximum principle
1957: Bellman, Dynamic programming
1960: Draper, Inertial navigation
Kalman, Optimal estimation
1965: Zadeh, Fuzzy logic
1969: Hoff, Microprocessor
.
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Control theory development

Until late of 1950 the classical control theory had
been developped based on calculus/ordinary differentian
equation representing the single input-single output
(SISO) linear model of systems. Laplace transformation of
the model to a transfer function permit us to make
system analysis and design in the frequency domain.
Since the early 1960 the so called modern control
theory was also developped. System under
consideration is represented in a set of first ODE and
forms a state space equation of multi-input multi-output
(MIMO) system.
The development of computing machines has push this
approach and now combination of both approach give
many contibution to the development of control theory
and application.
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 The optimal control theory for

deterministic system as well as for
stochastic system have beed developped
in the period of 1980.
In the period of 1990, robust control was
developped.
1990- until now: learning based controller,
intelligent control, agent/multi-agent
controller
Fast internet, cloud computing, WSN etc.
make us possible to solve complex , large,
even multi-layer system.
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System configurations
Open loop and closed loop systems

inpu
t

SYSTEM

outpu
t

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Open loop and closed loop systems

[Nise]

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Closed loop system state space representation

[Franklin]

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Closed loop digital system

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Design procedure
Problem formulation and specification
Modeling and representation
- Functional scheme
- Mathematical modeling (differential equation, transfer
function)
- Block diagram and simplification
Analysis
- Time response and frequency response
- Root locus and Bode plot analysis
Design
- Roots location based on desired spec.
- Gap between desired location of roots and those of the plant.
- Compensator design
Implementation, testing and fine tuning
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Antenna azimuth position control

[Nise]

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Short syllabus [Curr. 2013]

The course covers control systems
analysis and design for linear
systems in case of stability or
performance. System analysis and
design are implemented using
traditional approach in time and
frequency domain. Introduction to
concept of state space and digital
control system are also provided in
the course.

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Learning outcomes
Ability to analyse and design of control
system concepts including modeling,
transient analysis, steady-state and linier
systems stability, and designing control
system in time and frequency domain.
Ability to use state space concept for
modelling and its connection with transfer
function model
Ability to analyze and design of simple
digital control system
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Syllabus
Basic elements of a control system, concept of feedback,
open and closed-loop systems
Mathematical modeling of physical SISO systems, linearized
models, and transfer function
Time-domain analysis and stability of control systems
PID controller design for SISO systems
Feedback control system analysis & design via root-locus
method
Feedback control system analysis & design via frequency
domain method.
Introduction to sampled data systems, discrete equivalents,
and sample rate selection.
Introduction to state space representation, analysis and
design
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Pre-requisites and related

activities

EL2007 Signal and systems (prerequisite)

EL3215 Practical Lab. (corequisite)
Matlab

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Main references
Norman S. Nise, Control System
Engineering, John Wiley, 2011, 6th
edition
Katsuhiko Ogata, Modern Control
Engineering, Prentice Hall, 2010, 5th
edition

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Assessment

Otherwise a final exam should be

followed.

Maximum of Grade2 is B.
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Schedule
Monday, 11.00 12.40 (LSKK)
Thursday, 9.00-10.40 (LSKK)
ME 1: Thursday, 8st week
ME 2: Thursday, 15st week
FE
: Comply to UAS schedule given
by ITB
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