Modern Control Systems Eleventh Edition

Linear Control Systems
EEE 338 A
Reference: Dorf, R. C. & Bishop, R. H. ,
Modern Control Systems
FATIH UNIVERSITY
Faculty of Engineering
Electrical & Electronics Department
Copyright ©2008 by Pearson Education, Inc.
Modern Control Systems, Eleventh Edition Upper Saddle River, New Jersey 07458
Richard C. Dorf and Robert H. Bishop All rights reserved.
Control and System
• Control is the process of causing a system
variable (e. temperature, position) to conform
to some desired value or trajectory .
Example: driving a car implies controlling the vehicle to
follow the desired path and arrive safely at a planned
destination
System:
Electrical, Mechanical,
Hydraulic, Pneumatic,
Biological, Thermal, etc…

Introduction to Linear Control
A control system is an interconnection of components
forming a system configuration that will provide a desired
system response
The basis for analysis of a system is provided by linear

system theory, which assumes a cause-effect relationship for
the components of a system. The process to be controlled
can be represented by a block. The input/output relationship
represent the cause and effect relation ship of the process

Open and closed Loop control system
An open-loop control system utilizes an actuating
device to control the process directly without using
feedback
A closed-loop control system uses a measurement of

the output and feedback of this signal to compare it
with the desired output

Multivariable control system.
MIMO / SISO
For some systems the interrelationship of many
input variables may be considered which result in
complex systems as the one shown below, that
result in MIMO system

History of autmatic control
H
The first automatic feedback
controller used in an industrial
process is generally agreed to be
Watt’s fly ball governor; 1769
The first historical feedback system

claimed by Russia is the water- level
float regulator (I. Polzunov)
Figure 1.5 Watt’s flyball governor.

Manual and Automatic Control
• If you drive the car yourself, you are performing a manual control of the car.
If you design a machine (or use a computer) to do it, then you build an
automatic control system

Indian
Richard C. Dorf and Robert H. Institute
Bishop of Information Technology - Allahabad All rights reserved.
Example of Modern Control Systems-1
• 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
Figure 1.7 (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.

Example of Modern Control Systems -2
Automatic and Manual control system

Automation is the control of the industrial process
autmatically rather than by human (without
interference of human)
A manual control system for regulating the level of fluid
A manual control system for regulating the level of fluid in a tank by adjusting the output valve. The operator views the level of fluid
through a port in the side of the tank.


Figure 1.9 The Honda P3 humanoid robot. P3

walks, climbs stairs, and turns corners. Photo
courtesy of American Honda Motor, Inc.

Figure 1.10 A three-axis control system for inspecting individual semiconductor wafers with a highly sensitive camera.

Figure 1.11 Coordinated control system for a boiler–generator.

Figure 1.12 The Obrero robot is responsive to the properties of the object it holds and does not rely on vision as the
main sensor but as a complement. Obrero is part of the Humanoid Robotics Group at the MIT Computer Science and
Artificial Intelligence Laboratory.

Figure 1.14 An unmanned aerial vehicle. (Used with permission. Credit: DARPA.)
It is not so simple flying object. It is

under automatic control
Antenna Positioning Control System
• The system to be controlled is antenna with electric
motor drive systems as actuator.
• Objective:
To direct the antenna to a desired
reference direction.
• Control variable:
Drive motors voltages.
• Outputs:
The elevation and azimuth of
the antenna.
• Disturbances:
Wind, rain, snow.

Exampe-8 Antenna Positioning Control System
a. system concept;
b. detailed layout;
c. schematic;
d. functional block diagram

Exampe-8 Antenna Positioning Control System

Control System Design
The control system design process is illustrated in the shown flow chart
Can be
grouped into
three sections
The performance specification

describes how the closed loop
system will perform and include:
Good regulation against
disturbances
Desirable response to commands
Low sensitivities and robustness
Design Examples
Design1:the objective is to maintain the disk to rotate at constant speed
(a) Open-loop (without feedback) control of the speed of a rotating disk. (b) Block diagram model.

(a) Closed-loop control of the speed of a rotating disk. (b) Block diagram model.

Design2: Insulin delivery control system
Control in Biomedical Fields:
Regulate blood pressure, blood sugar level, heart rate
A common application is drugs delivery as shown below:
Objective: design a
system to regulate the
blood sugar
concentration of a
diabetic by controlling
dispensing of insulin
Variable to be controlled is
blood glucose concentration
Figure 1.23 The blood glucose and
insulin levels for a healthy person.

Design2: Insulin delivery control system
Figure 1.24 (a) Open-loop (without feedback) control and (b) closed-loop control of blood glucose.

General Structure of Control Systems
Elements in control systems: Properties of control systems:

• System/Plant/Process
• Stability
• Sensors
• Performance
• Actuators
• Controllers • Robustness
Control System Components
• System, plant 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 compensators)

Basic Integrants in Control Systems
• Analysis – Given a system, to analyze the system’s
1. Stability
2. Dynamic characteristics
3. Steady-state characteristics
• Design (Synthesis) – Design a new system or compensate

(modify) an existing system for
1. Stability guarantee
2. Good dynamic performance
3. Satisfactory steady-state performance
Methods of Analysis and Design in Linear control
system Course
• Mathematical Models of Systems
Laplace transforms and transfer functions, state-space model
• Feedback Characteristics and Performance
– Time-domain performance specifications
– Stability, transient and steady-state responses
• Complex-domain method
Root locus method for analysis and design of control systems
• Frequency-domain method
– Frequency-domain performance specifications
– Bode and Nyquist plots diagrams for analysis and design of control systems
• Design of control system
Control System Design Objectives
• Primary objectives:
1. Dynamic stability
2. Accuracy
3. Speed of response
• Additional considerations:
4. Robustness (insensitivity to parameter variation)
5. Cost of control
6. System reliability

Control System Design Process

PROBLEMS
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Linear Control Systems

Reference: Dorf, R. C. & Bishop, R. H. ,

Modern Control Systems

Copyright ©2008 by Pearson Education, Inc.

The basis for analysis of a system is provided by linear

Copyright ©2008 by Pearson Education, Inc.

A closed-loop control system uses a measurement of

Copyright ©2008 by Pearson Education, Inc.

Copyright ©2008 by Pearson Education, Inc.

The first historical feedback system

Figure 1.5 Watt’s flyball governor.

Copyright ©2008 by Pearson Education, Inc.

Copyright ©2008 by Pearson Education, Inc.

• Objective function: To control the

Copyright ©2008 by Pearson Education, Inc.

Automatic and Manual control system

Copyright ©2008 by Pearson Education, Inc.

Copyright ©2008 by Pearson Education, Inc.

Figure 1.9 The Honda P3 humanoid robot. P3

Copyright ©2008 by Pearson Education, Inc.

Copyright ©2008 by Pearson Education, Inc.

Copyright ©2008 by Pearson Education, Inc.

Copyright ©2008 by Pearson Education, Inc.

It is not so simple flying object. It is

Copyright ©2008 by Pearson Education, Inc.

Copyright ©2008 by Pearson Education, Inc.

Copyright ©2008 by Pearson Education, Inc.

The performance specification

Copyright ©2008 by Pearson Education, Inc.

Copyright ©2008 by Pearson Education, Inc.

Copyright ©2008 by Pearson Education, Inc.

Copyright ©2008 by Pearson Education, Inc.

Elements in control systems: Properties of control systems:

Copyright ©2008 by Pearson Education, Inc.

• Design (Synthesis) – Design a new system or compensate

Copyright ©2008 by Pearson Education, Inc.

Copyright ©2008 by Pearson Education, Inc.

Copyright ©2008 by Pearson Education, Inc.

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