Course Objectives

 To provide a general understanding

of the characteristics of dynamic
systems and feedback control.
 To teach classical methods for
analysing control system accuracy,
stability and dynamic performance.
 To teach classical control system
design methods.
 Course Contents
 Introduction to control systems
 Modelling of the physical systems
 Time domain analysis, Laplace
transforms, Transfer functions, System
Responses
 Closed loop control systems
 Classical design in the s-domain
 Classical design in the frequency domain
 Digital control systems
 Nonlineer control systems, on/off control
 Design examples
 Course Book

Advanced Control Engineering

Roland S. Burns
Butterworth-Heineman
Paperback, 464 pages, publication date: OCT-2001
ISBN-13: 978-0-7506-5100-4
ISBN-10: 0-7506-5100-8
http://www.elsevier.com/wps/find/bookdescription.cws_home/677158/description#description
Introduction to
Control Systems
Control System Concepts
 A system is a collection of
components which are co-ordinated
together to perform a function.
 Systems interact with their
environment across a separating
boundary.
 The interaction is defined in terms of
variables.
 system inputs
 system outputs
 Systems

Disturbance Inputs
System Outputs
Subsystem

System

t
en
Engineering systems

nm
Biological systems

ro
Information systems

vi
Control Inputs
En
 System Variables
 The system’s boundary depends
upon the defined objective function
of the system.
 The system’s function is expressed
in terms of measured output
variables.
 The system’s operation is
manipulated through the control
input variables.
 The system’s operation is also
affected in an uncontrolled manner
 Car and Driver Example
 Objective function: to control the
direction and speed of the car.
 Outputs: actual direction and speed
of the car
 Control inputs: road markings and
speed signs
 Disturbances: road surface and
grade, wind, obstacles.
 Possible subsystems: the car alone,
power steering system, braking
 Antenna Positioning
Control System
 Original system: the antenna with
electric motor drive systems.
 Control objective: to point the
antenna in a desired reference
direction.
 Control inputs: drive motor voltages.
 Outputs: the elevation and azimuth
of the antenna.
 Disturbances: wind, rain, snow.
 Antenna Control System
Functional Block Diagram
Wind force
Antenna System
volts torque Angular
volts power
Ref. + position
input Diff. Power
_
amp amp Motor Antenna
Error

volts
Angle
Feedback Path sensor

Information Variables Physical Variables

 Control System
Components
 System or process (to be controlled)
 Actuators (converts the control signal
to a power signal)
 Sensors (provides measurement of the
system output)
 Reference input (represents the
desired output)
 Error detection (forms the control
error)
 Controller (operates on the control
error to form the
control signal, sometimes called
 Feedback System
Characteristics
 Consider the following speed control
system
Disturbance
torque
Open loop system Td
+
wr + u Amp Motor Tm + Load wo

Reference
Ka Km Kl
_
speed

Speed sensor
Ks
Feedback Path
 Open Loop System
Characteristics Disturbance
torque
Open loop system Td
+
u Amp Motor Tm + Load wo
Ka Km Kl

w o  K l (Tm  Td )
 K a K m K l u  K lTd
The accuracy of the open loop system depends
upon the calibration of the gains and prior
knowledge of the disturbance (choose the control
u to give the desired wo ).
Problems:
 nonlinear or time varying gains
 unknown and varying disturbances
 Closed Loop
Characteristics
Now consider the case with feedback Disturbance
torque
Open loop system Td
+
wr u Tm Load wo
+ Amp Motor +

_
Ka Km Kl
Reference
speed

Speed sensor
Ks
Feedback Path

w o  K l (Tm  Td )
 K a K m K l (w r  K sw o )  K lTd
or
Ka Km Kl Kl
w o wr  Td
1  Ka Km Kl K s 1  Ka Km Kl K s
 Closed Loop
Characteristics
If Ka is very large such that,
1  K a K m Kl K s  K a K m Kl K s

1 1
then, w
w
o r Td
K
s K K
K
ams

rad/s volts 0
Ks is the sensor gain in units of volts per
rad/s.
The input/output relationship is not very
sensitive to disturbances or changes in
Closed Loop Characteristics

System Error
The control error is
e  (w r  K sw o )
 Ka Km Kl K s  Kl K s
 1  w r  Td
 1  K a K m Kl K s  1  Ka Km Kl K s
1 Kl K s
 wr  Td
1  Ka Km Kl K s 1  Ka Km Kl K s

Again, if the loop gain, Ka Km Kl Ks is

large, then the error is small.
 Note: Gain Definitions

forward gain: Ka Km Kl
feedback gain: Ks
loop gain: Ka Km Kl Ks
closed loop gain: forward gain
1 + loop gain
 System Dynamics
 Consider a sudden change in the speed
reference, wr .
 The output speed, wo will not respond
instantaneously due to the inertial
characteristics of the motor and load,
i.e. their dynamic characteristics.
 The motor and load need to be
represented by dynamic equations
rather than simple gains.
 The output response will generally lag
the input and may be oscillatory.
 System Dynamics
Step Responses
Ka = 2 Ka = 20
Step Response, Ka=2 Step Response, Ka=20
1 2

0.9

wr wo
wo
0.8 1.5

0.7
wr
0.6 1

0.5

0.4 0.5
Tm
0.3
Tm
0.2 0

0.1

0 -0.5
0 2 4 6 8 10 0 2 4 6 8 10

Assume Ks = 1.0
 Control System Design
Objectives
 Primary Objectives:
1. Dynamic stability
2. Accuracy
3. Speed of response
 Addition Considerations:
4. Robustness (insensitivity to parameter
variation)
5. Cost of control
6. System reliability
 Control System Design
Steps
 Define the control system objectives.
 Identify the system boundaries.
 define the input, output and
disturbance variables
 Determine a mathematical model for
the components and subsystems.
 Combine the subsystems to form a
model for the whole system.
 Control System Design
Steps
 Apply analysis and design
techniques to determine the control
system structure and parameter
values of the control components, to
meet the design objectives.
 Test the control design on a
computer simulation of the system.
 Implement and test the design on
the actual process or plant.
Control System Design
Steps
 Examples of Control
Systems
Room Temperature Control System
 Proportion
al mode:
Better
accuracy,
complex

 On/Off
control
mode:
Thermostati
c control,
simple, low
accuracy
 Examples of Control
Systems
Aircraft Elevator Control System
 Hydraulic
servomechani
sms have a
good
power/weight
ratio, and are
ideal for
applications
that require
large forces
to be
produced by
small and
light devices.
 Examples of Control
Systems
Computer Numerically Controlled
(CNC) Machine The purpose
of this latter
device, which
produces an
analog signal
proportional
to velocity, is
to form an
inner, or
minor control
loop in order
to dampen, or
stabilize the
response of
the system.
Examples of Control
Systems
Ship Autopilot Control System
 Actual heading is
measured by a
gyro-compass (or
magnetic
compass),
compared with
desired value.
Error are send to
autopilot (Course-
keeping system)
 Actual rudder
angle is sensed,
and autopilot
controls the ship
course by