Control Systems

Dr Yahya Zweiri
y.zweiri@kingston.ac.uk
 Lecture Notes and Text Books

Notes

https://studyspace.kingston.ac.uk/

Text Books

1. Richard C Dorf and Robert H Bishop, ‘Modern Control Systems’,

Prentice Hall.
http://dl.offdownload.ir/ali/Modern%20Control%20Systems.pdf

2. Katsuhiko Ogata, ‘Modern Control Engineering’

2
 Control Systems
We will study in this course the following topics:

• Introduction
• Laplace Transform
• Dynamic Response
• Feedback Control
• Frequency Response Design
• PID

3
 Why Study Control?
• Control Applications are numerous.

• Most modern engineering systems use

CONTROL TECHNOLOGY

• Automatic control of machines and systems

Speed, Temperature, Trajectory

4
 Control Applications
• NC Machine Tools
• Robot Manipulators
• Robot Vehicles
• Aircraft
• Cars
• CD / DVD Players

5
Unmanned Air Vehicle

6
 Mars Rover

Unmanned Ground Vehicle

7
QUBE-Servo inverted Pendulum Experiment

8
Control of the bank angle of an airplane using differential deflections of the ailerons .

9
Cars – Steering Control

Automobile Steering control system

10
Robotic Vacuum Cleaner.

11
Robot Hand

Utah/MIT Dextrous Robotic Hand

12
Hybrid Vehicles.

The hybrid fuel automobile

13
 Flyball Governor

Watt’s flyball governor, developed in 1769 for controlling the speed of a steam engine
14
 Foundations of Automatic Control Theory

• The foundations of control theory were partly laid at King's College London
in 1868 where James Clerk Maxwell's experiments with the Fleeming Jenkin
governor lead to his seminal Royal Society paper [1].

• James Clerk Maxwell formulated a mathematical theory related to control

theory using a differential equation model of a governor. Maxwell’s research
was concerned with the effect of various system parameters had on the
system performance.

[1] J.C. MAXWELL: ON GOVERNORS, Proceedings of the Royal Society,

No.100, pp. (1-12), 1868.

15
 Liquid Level Manual Control

A manual control system for regulating the level of fluid in a tank

16
 Liquid Level Control

The first historical feedback system, claimed by Russia, is the Water-level float regulator,
invented in 1765
17
 NC Machine Tools

A three-axis control system for inspecting semiconductor wafer with a camera

18
Turntable speed Control – Open Loop

Open-loop control of the speed of a turntable

19
Turntable speed Control – Closed Loop

Closed-loop control of the speed of a turntable

20
Future Evolution of Control Systems and Robotics

21
 Practice of Control
• Building Blocks

(a) Machine - System

(b) Power - Actuators
(c) Sensors - Encoder, Camera
(d) Controllers- Computers

22
 Open Loop Control

Process to be controlled

Open-loop control system

23
Control of the bank angle of an airplane using differential deflections of the ailerons .

24
 Closed Loop Control

Closed-loop feedback control system

25