CONTROL SYSTEMS

Outlines of course
Topics Covered:
Feedback Control System Characteristics: open loop & closed
loop systems, sensitivity to parameter variation, control of
transient response, disturbance signals, steady state errors, and
cost of feedback.
The Performance Of Feedback Control Systems: test signals,
performance of 2nd order systems, damping ratio estimation, s-
plane, steady state errors, linear system simplification, Routh-
Herwitz stability criterion, stability of state variable systems, Root
Locus Method, parameter design by root Locus method
The Frequency Response Methods: bode plots, performance
specifications, Log magnitude and phase diagrams
Stability In Frequency Domain: Nyquist Criterion, System
bandwidth, Stability of control systems with time delays
Projects
Projects will be assigned after mid exam
Control System
Control systems are an integral part of
modern society. Numerous applications
are all around us:
The rockets fire, and the space shuttle
lifts off to earth orbit;
a self-guided vehicle delivering material
to workstations in an aerospace
assembly plant glides along the floor
seeking its destination.
Text books
Norman S. Nise control system
engineering fifth edition
Natural Control Systems
Within our own bodies are numerous control
systems,
such as the pancreas, which regulates our
blood sugar.
In time of fight or flight, our adrenaline
increases along with our heart rate, causing
more oxygen to be delivered to our cells.
Our eyes follow a moving object to keep it in
view; our hands grasp the object and place
it precisely at a predetermined location
Control System Definition

A control system consists of subsystems

and processes (or plants) assembled for
the purpose of obtaining a desired
output with desired performance, given
a specified input
Example
For example, consider an elevator.When
the fourth-floor button is pressed on the
first floor, the elevator rises to the fourth
floor with a speed and floor-leveling
accuracy designed for passenger
comfort. The push of the fourth-floor
button is an input that represents our
desired output,
 History

Greece (BC) Float regulator mechanism

Holland (16th Century) Temperature regulator

Watts Flyball Governor

(18th century)
History

Water-level float regulator

History
18th Century James Watts centrifugal governor for the speed
control of a steam engine.
1920s Minorsky worked on automatic controllers for steering ships.
1930s Nyquist developed a method for analyzing the stability of
controlled systems
1940s Frequency response methods made it possible to design
linear closed-loop control systems
1950s Root-locus method due to Evans was fully developed
1960s State space methods, optimal control, adaptive control and
1980s Learning controls are begun to investigated and developed.
Present and on-going research fields. Recent application of modern
control theory includes such non-engineering systems such as
biological, biomedical, economic and socio-economic systems
Examples of Modern Control Systems

(a) Automobile
steering control
system.
(b) The driver uses
the difference
between the
actual and the
desired direction
of travel
to generate a
controlled
adjustment of the
steering wheel.
(c) Typical
direction-of-travel
response.
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
Examples of Modern Control Systems
 Two major measures of performance are apparent:
(1) the transient response
(2) the steady-state error.
In our example, passenger comfort and passenger
patience are dependent upon the transient response.
If this response is too fast, passenger comfort is
sacrificed; if too slow, passenger patience is
sacrificed.
The steady-state error is another important
performance specification since passenger safety and
convenience would be sacrificed if the elevator did
not properly level.
Advantages of Control
Systems
With control systems we can move large
equipment with precision that would
otherwise be impossible.
We can point huge antennas toward the
farthest reaches of the universe to pick up
faint radio signals; controlling these
antennas by hand would be impossible.
Because of control systems, elevators
carry us quickly to our destination,
automatically stopping at the right floor
Advantages(Contd)
We build control systems for four
primary reasons:
1. Power amplification
2. Remote control
3. Convenience of input form
4. Compensation for disturbance
Advantages(Contd)
For example, a radar antenna, positioned by
the low-power rotation of a knob at the
input, requires a large amount of power for
its output rotation. A control system can
produce the needed power amplification, or
power gain.
Control systems are also useful in remote or
dangerous locations. For example, a remote-
controlled robot arm can be used to pick up
material in a radioactive environment
 Control systems can also be used to provide
convenience by changing the form of the input. For
example, in a temperature control system, the input is
a position on a thermostat. The output is heat. Thus, a
convenient position input yields a desired thermal
output.
Another advantage of a control system is the ability to
compensate for disturbances. Typically, we control
such variables as temperature in thermal systems,
position and velocity in mechanical systems, and
voltage, current, or frequency in electrical systems.
The system must be able to yield the correct output
even with a disturbance