FCS Lecture Notes - TIPQC - 01 - Introduction To Feedback Control Systems

Feedback Control System s 6/30/2021
Feedback Control Systems
Fernando Victor V. de Vera, ECE, MT

fvictor.devera@gmail.com
Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech
Fernando Victor V. de Vera, ECE, M.Tech

fvictordevera@yahoo.com
University of the East – Manila
College of Engineering
Electronics Engineering Department
Part 0 >>Feedback Control Systems

CLASS ORIENTATION

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Course Outline
1. Introduction to Feedback Control Systems.
2. Control system terminology.
3. Review of the Laplace transforms.
4. Introduction to system modeling and the transfer
function.
5. Introduction to LTI systems.
6. The concept of linearization.
Course Outline (cont’d)

7. Poles and zeros of transfer functions. The pole-zero
map.
8. Introduction to time response and different types of
test signals. First order LTI system transient response
analysis.
9. Second-order LTI system transient response analysis
10.Block diagram representation of systems and block
diagram algebra.

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Course Outline (cont’d)

11.Signal flow graphs.
12.Stability theory.
13.Steady-state errors.
14.Sensitivity and Disturbance rejection.
15.Root Locus.
16.Controllers, Compensators, PID Controller
17.Frequency response analysis: Bode plot, Nyquist
diagram, and Nichols chart.
References
• Nise, N.S., “Control Systems Engineering”, 6th Edition,
John Wiley and Sons, Inc ©2011
• Dorf, R.C., “Modern Control Systems”, 12th Edition,
Pearson ©2010
• Shaum’s Outline on Feedback and Control Systems

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Fernando Victor V. de Vera, ECE, M.Tech

fvictordevera@yahoo.com
University of the East – Manila
College of Engineering
Electronics Engineering Department
Part 1 >>Feedback Control Systems

INTRODUCTION TO CONTROL SYSTEMS
Control System
• SYSTEM
 an arrangement, set, or collection of things connected or related
in such a manner as to form an entirety or whole.
 an arrangement of physical components connected or related in
such a manner as to form and/or act as an entire unit.
• CONTROL
 To regulate, direct or to command.
• CONTROL SYSTEM
 an arrangement of physical components connected or related in
such a manner as to command, direct, or regulate itself or another
system.

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Practice Exercise No.__

A. What are the purpose, or advantages of a control
system? Explain and give examples on each.
Simplified Description of a Control System
• Input
 “stimulus”, “desired response”
• Output
 “actual response”
 Composed of the Transient Response and the Steady State
Response

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Output (Response)
• Transient Response
 System dependent
 Based on how the systems Acquires or Dissipates energy.
 Also the “Natural Response”
• Steady-State Response
 Input-dependent
 Also the “Forced Response”
• Steady-State Error
 The difference between the input and the steady-state
response
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Input – Output Relations

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Input-Output Relations
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Classifications of a Control System

• Open – Loop Control System
• Closed-Loop Control System

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Open – Loop Control System
• No problem with instability.

• Accuracy is dependent on calibration.
• No means of correcting errors.
15

Give 3 examples of Open Loop systems.
A. Indicate the system.

B. Draw its block diagram.
C. Explain briefly why it is an open-loop
system.

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Closed Loop System
• Feedback – the output is measured and

compared with the input for proper control.
• More accurate and can correct errors.
• Has a possibility of being unstable.
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Feedback
• A property of a closed-loop system which permits the
output (or some other controlled variable) to be
compared with the input to the system (or an input to
some other internally situated component or
subsystem) so that the appropriate control action may
be formed as some function of the output and input.

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Characteristics of Feedback
1. Increased accuracy. For example, the ability to faithfully
reproduce the input.
2. Tendency toward oscillation or instability.
3. Reduced sensitivity of the ratio of output to input to
variations in system parameters and other characteristics.
4. Reduced effects of nonlinearities.
5. Reduced effects of external disturbances or noise.
6. Increased bandwidth. The bandwidth of a system is a
frequency response measure of how well the system
responds to (or filters) variations (or frequencies) in the
input signal.
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Types of Feedback
• POSITIVE FEEDBACK
 A portion of the output is added to the input signal
 Can cause oscillation or instability
• NEGATIVE FEEDBACK
 A portion of the output is subtracted from the input signal
 Used in error-correction

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Positive Feedback
• The gain increases

• The system may oscillate or maybe unstable
• Noise and distortion increases
• Bandwidth decreases
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Negative Feedback
• Gain decreases
• System is stable
• Noise and Distortion decreases
• Bandwidth increases
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Components of Feedback Control
• INPUT TRANSDUCER – device (or sensor) that translates the

input (or “set-point”, “reference”) to a signal that the
controller understands.
• SUMMING JUNCTION – also “Mixer” or “Comparator”, a
device that adds or subtracts the input and feedback
signals for proper control.
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Components of Feedback Control
• PROCESS or PLANT – the device which delivers the

output or that subsystem that varies the output
parameter.
• OUTPUT TRANSDUCER – a sensor that measures the
output parameter.
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Describe typical sensors that can measure each of
the following:
A. Linear position
B. Velocity (or speed)
C. Nongravitational acceleration
D. Rotational position (or angle)
E. Rotational velocity
F. Temperature
G. Pressure
H. Liquid (or gas) flow rate
I. Torque
J. Force
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Classifications of
Control Systems
BASED ON ITS APPLICATIONS
• Process Control
 Also “INSTRUMENTATION”
 Parameters: Temperature, Pressure, Flow Rate, Liquid Level,
Acidity, Viscosity, etc.
 Used in manufacturing systems and similar industries
• Motion Control
 Also “Servo Systems”
 Parameters: Position, Speed, Acceleration
 Used in mechatronic systems, robotic applications, vehicular
systems, etc.

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Give an example of a process control system.
A. Describe the system based on its

application and the parameter that is
being controlled.
B. Draw the control system block diagram.
27

Give an example of a motion control system.
A. Describe the system based on its

application and the parameter that is
being controlled.
B. Draw the control system block diagram.

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Types of Control Systems

BASED ON ITS NATURE OR CONSTRUCTION
1. Man-Made
 All components are man made (does not occur naturally)
2. Natural including Biological
 No part is made nor intervened by humans.
3. Both Man-made and Natural
 There is a human intervention in the control.
 Or, a naturally occurring phenomenon is being controlled by
a man-made device.
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Example No. ___

Man-Made Control Systems
• All components are man made (does not occur
naturally)
A. Automatic Air Conditioning system (Temperature Control)
B. Dam (Water Level Control)
C. Antenna Positioning System (Position Control)
D. AGC – Automatic Gain Control (Signal Level Control)
E. Power Supply Units (Voltage regulation)

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Example No. ___

Natural (Including Biological) Control
Systems
• No part is made nor intervened by humans.
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Example No. ___

Natural (Including Biological) Control Systems
• No part is made nor intervened by humans.

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Example No. ___

Both Man-made and Natural (Hybrid) Control Systems
• Man riding a Bike
Desired
Speed and
Direction
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Analog and Digital Control Systems

• ANALOG Control Systems
 Process only continuous time or continuous data signals
(analog).
• DIGITAL Control Systems
 Processes (at one or more points in the system) signals that
are discrete time, discrete data or sampled data.
 The signals are discrete in time and in amplitude.

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Examples of Early Control Systems
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Float Regulators
• The first applications of feedback control
appeared in the development of FLOAT
REGULATOR mechanisms in Greece in the period
300 to 1 B.C.
• The water clock of Ktesibios used a float
regulator.
• An oil lamp devised by Philon in approximately
250 B.C. used a float regulator in an oil lamp for
maintaining a constant level of fuel oil.
• Heron of Alexandria, who lived in the first
century A.D., published a book entitled
Pneumatics, which outlined several forms of
water-level mechanisms using float regulators.

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Water-Level Float Regulator

• The first historical
feedback system,
claimed by Russia, is
the WATER-LEVEL
FLOAT REGULATOR
said to have been
invented by
I.Polzunov in 1765 .
The float detects the
water level and
controls the valve that
covers the water inlet
in the boiler.
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First Automatic Feedback Controller

• The first automatic
feedback controller
used in an industrial
process is generally
agreed to be James
Watt's FLYBALL
GOVERNOR,
developed in 1769
for controlling the
speed of a steam
engine.

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Selected Historical Developments of Control

Systems
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Selected Historical Developments of Control

Systems (Cont’d)

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Automatic Control Systems

• MANUAL CONTROL
 Control with human intervention.
• AUTOMATIC CONTROL
 A device or a process that work by itself.
 No human intervention or control.
• AUTOMATION
 The control of a process by automatic means.
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Example No. ___

• An ELECTRIC SWITCH is a manufactured control system,
controlling the flow of electricity. By definition, the
apparatus or person flipping the switch is not a part of
this control system.
• Flipping the switch on or off may be considered as the
input. That is, the input can be in one of two states, on
or off.
• The output is the flow or non-flow (two states) of
electricity.

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Example No. ___

• A simple control
system which
automatically turns
on a room lamp at
dusk, and turns it
off in daylight.
Draw the functional
block diagram.
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Example No. ___

• A Human
being
reaching an
object.

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Example No. ___

• Automobile steering control system
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Example No. ___

• Aircraft’s attitude
varies in roll, pitch
and yaw.
• Roll stabilization
control system:

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Example No. ___

• A temperature control system operates by sensing the
difference between the thermostat setting and the
actual temperature and then opening a fuel valve
proportional to this difference.
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Example No. ___

• Rotating Disk Speed Control (Open-Loop)

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Example No. ___

• Rotating Disk Speed Control (Closed-Loop)
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Example No. ___

• A closed-loop automatic toaster. Draw the functional
block diagram.

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50

Give an example of a natural (including biological)
system that employs
A. negative feedback and
B. positive feedback.
For each example, draw (and label) the block diagrams

and explain their operation.
51

Give an example of a control system that you think does not
yet existed in home use. Or it is existing already but needs to
be redesigned.
A. Draw and explain the system.
B. Identify the input and output
parameter/variables.
C. Draw the open-loop control system block
diagram.
D. Remodel the system to make it a closed loop
system, and draw the control system block
diagram.
E. Explain why the system should be made (or
not) into a closed loop system.
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Answer the following questions:
A pressurized tank must maintain a gas at 325 psi. A
pressure sensor is used to measure the condition of
the controlled variable. As the gas cools, the
pressure in the tank decreases. When it drops to 300
psi, a valve is opened, which allows steam to flow to
a heat exchanger inside the tank. The additional
steam heats the gas and causes the pressure to rise.
Identify:
A. The manipulated variable
B. The input signal
C. The controller
D. The process or plant
E. The feedback transducer
53

A “sun tracking” automatic closed-loop mechatronic system
is to be used to position a solar panel so that the sun’s ray is
always normal to its surface.
A. What is the input signal?
B. What should be the input transducer? How should it work?
C. What should be the process/ plant? How can it provide the
actual response?
D. What is the input transducer?
E. How can the error signal be derived?

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The Design Process

The control system design process is itself a closed-loop
system.
1. Transform requirements to physical systems.
2. Draw a functional block diagram.
3. Create a schematic.
4. Develop a mathematical model (block diagram or a
signal flow graph).
5. Reduce the block diagram (or find the transfer
function).
6. Analyze and (Re)Design.
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Example No. ___

• Antenna Azimuth position control system.
System Concept

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Example No. ___

• Antenna Azimuth position control
system.
Detailed layout.
57
Example No. ___

• Antenna Azimuth position control system.
Schematic
diagram:

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Example No. ___

• Antenna Azimuth position control system. (Continued)
Functional
Block Diagram:
59

A “sun tracking” automatic closed-loop mechatronic
system is to be used to position a solar panel so that the
sun’s ray is always normal to its surface.
A. Transform requirements to physical systems.
B. Draw a functional block diagram.

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Analysis and Design Objectives

• Transient Response
 The transient time should not be too fast or too slow. The
transient time objective depends on the application.
• Steady-State Response
 The steady state error should be zero (ideal) for the designed
input type to the system.
• Stability
 The system should be stable, otherwise, it will not be useful.
61
Test Waveforms Used in

Control Systems Design

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Control Systems Design (cont’d)
63

Control Systems Design (cont’d)

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Consider the input signal for a position control system.
Give an example (and explain each) of an object, a system
or anything that gives a signal considered as:
A. Step
B. Ramp
C. Parabolic
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Design Methods
• Design by Analysis
 Accomplished by modifying the characteristics of an existing
or standard system configuration.
• Design by Synthesis
 Accomplished by defining the form of the system directly
from its specifications.

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An autofocus camera will adjust the distance of the lens
from the film by using a beam of infrared or ultrasound to
determine the distance to the subject.
A. Sketch a block diagram of this open-loop control
system, and briefly explain its operation.
67

Land-based public utility transportation system in the
future can be “intelligent”. Every PUV such as taxis,
jeepneys, and buses operating in Mega Manila can be
equipped with a device that automatically measure its
present location, traffic condition, road condition
(flood, roadblocks, etc), passenger info (current load,
passenger waiting queue on stations, etc) and local
weather situation. Data from these measurements will
be uploaded periodically towards a network of data
hubs which collects, analyze and gives information
back to individual PUVs for proper routing and
guidance to where they should be deployed to pick-up
passengers, and generally to ease-out the traffic. Draw
the functional block diagram of this control system.
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A common example of a two-input control system is a
home shower with separate valves for hot and cold
water. The objective is to obtain a desired temperature of
the shower water and a desired flow of water. Sketch a
block diagram of the closed-loop control system.
69

Control systems are aiding humans in maintaining their
homes. The robotic vacuum cleaner is an example of a
mechatronic system under active control that relies on
infrared sensors and microchip technology to navigate
around furniture. Describe a closed-loop feedback
control system that guides the robotic vacuum cleaner to
avoid collisions with obstacles.

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End of Part 1
Introduction to Control Systems

17 Examples
15 Practice Exercises
71
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Feedback Control System s 6/30/2021

Feedback Control Systems

Fernando Victor V. de Vera, ECE, MT

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Fernando Victor V. de Vera, ECE, M.Tech

Part 0 >>Feedback Control Systems

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Course Outline (cont’d)

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Course Outline (cont’d)

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Fernando Victor V. de Vera, ECE, M.Tech

Part 1 >>Feedback Control Systems

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Simplified Description of a Control System

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Input – Output Relations

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Classifications of a Control System

• Closed-Loop Control System

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Open – Loop Control System

• No problem with instability.

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

A. Indicate the system.

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Closed Loop System

• Feedback – the output is measured and

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

• The gain increases

Components of Feedback Control

• INPUT TRANSDUCER – device (or sensor) that translates the

Components of Feedback Control

• PROCESS or PLANT – the device which delivers the

Practice Exercise No.__

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

A. Describe the system based on its

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Practice Exercise No.__

A. Describe the system based on its

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Types of Control Systems

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Example No. ___

Feedback and Control System © Fernando Victor V. de Vera, ECE, M.Tech

Analog and Digital Control Systems