Control Engineering

Dr. Ramkrishna Pasumarthy

Electrical Engineering Dept.
IIT Madras
Module 1: Lecture 1
Introduction
to
Systems and Control
 What is a System?
A collection of physical, biological or abstract components which together
perform an intended objective
A system gives an output (also called response) for an input (also called
excitation)

Input / System Output /

Excitation Response
System can be a collection of multiple sub-systems
SS2
Input / Output /
SS1 + SS3
Excitation Response
SS4
System (with 4 sub-systems)
Module 1: Lecture 1 3
Examples of System
Motor
Input Electrical energy (voltage)
Output Mechanical energy (Torque / Rotation)

Air conditioner
Input Electrical energy (voltage)
Output Heat energy (Changes the ambient temperature)

Human body infected with a virus

Input Drug administration
Output Drug distribution & effect on the body

Vehicle (car or bus)

Input Acceleration or Deceleration
Output Vehicle displacement

Module 1: Lecture 1 4
 Nomenclature
Some of the basic symbols to be used in this course:
S.No. Variable Name Symbol Description

1 Time Time instant

2 Input () Input signal given to the system at time
3 Output () Output signal of the system at time
4 Delay Time delay in a signal
5 Disturbance () Disturbance affecting the system at time
6 Function A defined relation between a set of variables

Module 1: Lecture 1 5
 Classification of Systems
Variety of classifications are possible based on system
features and applications
Some of the important classifications include:
Linear and non-linear systems
Static and dynamic systems
Time invariant and time variant systems
Causal and non-causal systems

Module 1: Lecture 1 6
 Linear Vs Non-Linear Systems
Linear systems
Output of the system varies
linearly with input
Satisfy homogeneity and
superposition
E.g. Resistor : =
Non-linear systems
Output of the system does
not vary linearly with input
Do not satisfy homogeneity
and superposition
E.g. Diode: = 0 ( 1)

I I

Module 1: Lecture 1 7

 Static Vs Dynamic Systems
Static systems Dynamic systems
At any time, output of the Output of the system depends
system depends only on on present as well as past inputs
present input
Presence of memory can be
Memory less systems observed
= ( , 1 ,
= ( ) 2 ,)
E.g. Resistor: E.g. Inductor:
()
() = 1
() = ()
0
Module 1: Lecture 1 8
 Time Invariant Vs Time Variant Systems
Time invariant systems Time variant systems
Output of the system varies
Output of the system is
dependent on the time at which
independent of the time at
input is applied
which the input is applied
= + =
= + =
( + )
( + )
E.g. Aircraft: Mass () of aircraft
E.g. An ideal resistor
( + ) changes as fuel is consumed
= + ()
Acceleration: =
()
Module 1: Lecture 1 9
 Causal Vs Non-causal Systems
Causal systems
Output is only dependent on
inputs already received (present
or past)
Non-anticipatory system
= ( , 1 , . . )
E.g.
Thermostat based AC
Motor or generator
Module 1: Lecture 1
Non-causal systems
Output depends on future
inputs as well
System anticipates future
inputs based on past
= ( , + 1 , . . )
E.g.
Weather forecasting system
Missile guidance system
10
 What is a Control System?
A system or mechanism which directs the input to other
systems and regulates their output
Control system alters the response of a plant or system as
desired
Desired Control Plant or Output
Reference Controller Input System
Control System To be controlled

Module 1: Lecture 1 11
 Disturbance
Unwanted signals which affect the output of the system
E.g. People entering and leaving an AC room disturbs room
temperature
Controller has to eliminate the effects of disturbance
Disturbance

Desired Control Plant or Output

Reference Controller Input System
Control System To be controlled

Module 1: Lecture 1 12
 Feedback in Control
Feedback senses the plant output and gives a signal which can
be compared to the reference
Controller action (control input) changes based on feedback
Feedback enables the control system in extracting the desired
performance from the plant even in presence of disturbance
Disturbance

Desired Control Plant or Response /

Reference Controller Input Output
System
Control System To be controlled
Feedback
Module 1: Lecture 1 13
 Examples of Control Systems

Actual
Temp On
Air temp
Setting Off Room
Conditioned
knob Switch

What is the process or plant?

What is the output?
What is the desired input?
What are the subsystems?
What is the actuator?

Module 1: Lecture 1 14
 Examples of Control Systems
Air conditioner maintaining desired temperature:
Plant : Room
Control system : Air Conditioner
Reference : Desired temperature
Control Input : Compressor ON/OFF
Output : Output temperature
Disturbance : Factors affecting ambient temperature
Feedback : Measured temperature
People in the Room
Temperatur
Desired ON OFF Air
e Setting Room
Temperature Switch Conditioner Actual
Knob
Temperature

Module 1: Lecture 1 15
 Examples of Control Systems
Human steering an automobile:
Plant : Vehicle or automobile
Control system : Human control
Reference : Desired destination
Control Input : Steering mechanism
Output : Actual position
Disturbance : Traffic conditions
Feedback : Sensing (Human Senses) Traffic conditions

Desired Human Steering Vehicle / Actual position

Destination Control Mechanism Automobile
Sensing
Module 1: Lecture 1 16
 Overview
Summary : Lecture 1 Contents : Lecture 2
System with examples Model & its significance
Classification of systems Types of math models
Control system & examples Methods of modelling systems
Feedback & its significance Steps of modelling systems

Module 1: Lecture 1 17