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Automatic Control: Chapter 1: Objectives
Automatic Control: Chapter 1: Objectives
OBJECTIVES
The objectives of this subject/course are to enable you to:
Terminology:
Control system.
Open-loop systems.
Closed loop systems.
Transfer function and characteristic equation.
System.
Discuss how a specific open-loop system can be
altered to form a closed-loop system.
INTRODUCTION
1. What is a Control System?
Daily life requires numerous objectives that need
to be accomplished through control e.g:
◦ Regulation of temperature and humidity to make our
homes and buildings comfortable to live in.
◦ Control automobiles and planes to reach our
destinations safely.
◦ Control of industrial processes to achieve satisfactory
precision and cost-effectiveness.
◦ Human beings have in-built senses which control their
own actions, the actions of others, and also the actions
of machines.
INTRODUCTION
The control mechanism is based on the ability
to measure the output of a system, and to take
corrective action if its value deviates from some
desired value.
This necessitates the need for a sensing
device.
Definition: We define a control system as a
system with the ability to measure the output
and to regulate any deviations from the desired
value.
Alternatively, we define a control system as a
device or set of devices to manage, command,
direct or regulate the behavior of other
INTRODUCTION
2.What are the benefits of Control?
Some of the benefits of control are:
◦ Path following.
◦ Stabilization.
◦ Performance improvement.
◦ Robustness to plant uncertainty: be able to
maintain system response and error signals
within prescribed tolerances (despite
disturbance effects on plant, noise, modeling
errors due to nonlinearities and time-varying
parameters).
INTRODUCTION
3. Concept of System
a. What is a System?
System means different things integrated
together for a common purpose.
Systems normally perform tasks through
coordinated actions.
All systems have certain things in common:
◦ They require inputs and outputs to be specified.
◦ They have boundaries.
A typical system is as shown on next slide.
INTRODUCTION
Inputs System
Outputs
Boundary
Fig. 5. Solar tracking for Electric power generation for water extraction
INTRODUCTION
The collector dish must track the sun accurately.
The movement of the collector dish has to be controlled
by a sophisticated control system(s).
The controller uses the sun’s rate and sun sensor
information as inputs to generate proper motor commands
to adjust the controller.
◦ The important components of sun-tracking control
system are shown below.
or (Actual)
Desired
output
x(t ) y (t )
Syste
m
System
Differentiation
System
INTRODUCTION
Integration
x(t ) Integral x(t )dt
System
Fig. 13. Effects of a system on a Signal
x( s ) q( s) y( s)
G1 ( s) G2 ( s)
parallel.
q1 ( s)
G1 ( s)
x( s ) y( s)
G2 ( s) q2 ( s)
x( s )
Since is common to the two systems;
INTRODUCTION
q1 ( s) x( s)G1 ( s)
q2 ( s) x( s)G2 ( s)
y ( s) q1 ( s) q2 ( s) x( s)G1 ( s) x( s)G2 ( s)
y( s)
G1 ( s) G2 ( s) ...Gn ( s) .
x( s )
INTRODUCTION
Closed-Loop Control System
Consider a closed-loop system with negative feedback loop
or control.
Let the forward transfer function be G(s).
Let H(s) be the transfer function of the feedback
network/system/device.
Error detector/
summing junction
x( s ) e( s ) y( s)
+ G( s)
-
z ( s)
H (s)
Fig.15.Closed-Loop Control System
INTRODUCTION
From the diagram above we can deduce the
overall transfer gain/function of the system as
follows:
e( s ) x ( s ) z ( s ) (1)
z (s) y(s) H (s) (2)
y ( s) e( s)G ( s) (3)
We therefore need to come up with a
relationship
x(s), yincluding
(s), G(s)andH (s) .
Substituting (1) in (3) we get:
y(s) [ x(s) z (s)]G(s) (4)
INTRODUCTION
Substituting for z(s) in (4), we get:
y(s) [ x(s) y(s) H (s)]G(s) (5)
Equating and dividing we obtain:
y( s) G(s)
G ' ( s)
x( s) 1 H ( s)G( s) (6)
H(s)
Measuring Device