ME160P-2

Introduction to Control Systems

INTRODUCTION TO CONTROL SYSTEMS
SYSTEM OPEN & CLOSED LOOP SYSTEMS
CONTROL SYSTEM FEEDBACK CHARCATERISTICS
EXAMPLES OF CONTROL SYSTEM SYSTEM REPRESENTATIONS
HISTORY OF CONTROL SYSTEM BLOCK DIAGRAMS
INPUT & OUTPUT CONTROL LAWS AND ALGORITHMS
SISO & MIMO

Silde No 2 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

 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.

ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay] Slide No. 3

 CONTROL SYSTEM
An arrangement of physical components connected
or related in such a manner as to command, direct, or
regulate itself or another system.
ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay] Slide No. 4
Toilets

Source:
https://www.youtube.com/watch?v=4woMFz7g5hg
Silde No 5 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]
EXAMPLES OF A CONTROL SYSTEM:
BATHROOM TOILET TANK

Silde No 6 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM:
BATHROOM TOILET TANK

Silde No 7 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

CENTRIFUGAL GOVERNOR

Source:
https://www.youtube.com/watch?v=B01LgS8S5C8
Silde No 8 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]
STEAM ENGINE WITH CENTRIFUGAL
GOVERNOR

Silde No 9 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM:
STEAM ENGINE WITH A CENTRIFUGAL
GOVERNOR

Silde No 10 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

Input Output

◦ stimulus, excitation or command applied ◦ actual response obtained from a control

to a control system, typically from an system. It may or may not be equal to
external energy source, usually in order the specified response implied by the
to produce a specified response from input.
the control system.

◦ Examples:
Examples:
Actual water level for a bathroom toilet
Preset water level for a bathroom toilet tank.
tank.
Actual velocity for a steam engine
Desired velocity for a steam engine governor.
governor.
Actual room temperature
Thermostat setting for an air-
conditioned.

Silde No 11 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

 SISO
Single-Input, Single Output System

ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay] Silde No 12

Single-Input, Single Output System
◦ a single output is controlled by a single input.

Silde No 13 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

Example of SISO System:
AIRCRAFT LANDING SYSTEM

Silde No 14 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

 MIMO
MULTIPLE-INPUT, MULTIPLE OUTPUT SYSTEM

ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay] Silde No 15

MULTIPLE-INPUT, MULTIPLE OUTPUT SYSTEM
◦ more than one controlled output and command input.
◦ also called multivariable system

Silde No 16 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

Example of MIMO System:
AUTOMOBILE DRIVING CONTROL SYSTEM

Silde No 17 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

OPEN-LOOP CONTROL
SYSTEMS
the control action is independent of the output.

ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay] Silde No 18

OPEN-LOOP CONTROL SYSTEMS
FEATURES OF OPEN-LOOP CONTROL SYSTEMS

◦ Their ability to perform accurately is determined by their calibration. To calibrate means to establish or
reestablish the input-output relation to obtain a desired system accuracy.
◦ They are not usually troubled with the problems of instability.

Silde No 19 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

OPEN-LOOP CONTROL SYSTEMS
◦ OVEN TOASTER

The time required for a well-done cooking must be

first estimated by the user.
Silde No 20 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]
 CLOSED-LOOP
CONTROL SYSTEMS
the control action is somehow dependent on the
output.
ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay] Silde No 21
CLOSED-LOOP CONTROL SYSTEMS

Silde No 22 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

 FEEDBACK
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.
ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay] Silde No 23
FEEDBACK
CHARACTERISTICS
1. Increased accuracy.
2. Reduced sensitivity of the ratio of output to input to variations in system parameters and other
characteristics.
3. Reduced effects of nonlinearities.
4. Reduced effects of external disturbances or noise.
5. Increased bandwidth.
6. Tendency toward oscillation or instability.

Silde No 24 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

CONTROL SYSTEM
MODELS OR
REPRESENTATIONS
Control System models or representations
◦ Mathematical models, in the form of differential equation (difference equation), and/or other
mathematical relations, for example, Laplace transform ( z-transform).
◦ Block diagrams.
◦ Signal flow graphs.

Silde No 26 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

 BLOCK DIAGRAM
shorthand, pictorial representation of the cause-
and-effect relationship between the input and
output of a physical system.
ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay] Silde No 27
Block Diagram

Silde No 28 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

Block Diagram
◦ Arrows represent the direction of
information or signal flow.

◦ Block contains the description of or

name of the element, or the symbol
for the mathematical operation to be
performed on the input to yield the
output.

Silde No 29 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

Summing Point
◦ use in adding or subtracting signals

Adding Subtracting Both

Silde No 30 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

TAKE-OFF POINT
◦ use to have the same signal or variable be an input to more than one block or summing point.

Silde No 31 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM OF A
FEEDBACK CONTROL
SYSTEM
BLOCK DIAGRAM OF A FEEDBACK CONTROL
SYSTEM

Silde No 33 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM OF A FEEDBACK CONTROL
SYSTEM
◦ an external signal applied to the
feedback control system, usually at
the first summing point, in order to
command a specific action of the
plant. It usually represents ideal (or
desired) plant output behavior.

Feedback Path

Silde No 34 04/21/2021 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM OF A FEEDBACK CONTROL
SYSTEM
◦ reference input signal r plus or minus
the primary feedback signal b. The
control action is generated by the
actuating (error signal in a feedback
control system.

◦ Note: In an open-loop system the

actuating signal is equal to r.

Feedback Path

Silde No 35 04/21/2021 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM OF A FEEDBACK CONTROL
SYSTEM
◦ components of the forward path that
generate the control signal u or m
applied to the plant. Typically include
controllers, compensators (or
equalization elements), and/or
amplifiers.

Feedback Path

Silde No 36 04/21/2021 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM OF A FEEDBACK CONTROL
SYSTEM
◦ output signal of the feedforward
elements g1 applied as input to the
plant g2.

Feedback Path

Silde No 37 04/21/2021 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM OF A FEEDBACK CONTROL
SYSTEM
◦ system, subsystem, process, or object
controlled by the feedback control
system.

Feedback Path

Silde No 38 04/21/2021 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM OF A FEEDBACK CONTROL
SYSTEM
◦ is the output variable of the plant,
under the control of the feedback
control system.

Feedback Path

Silde No 39 04/21/2021 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM OF A FEEDBACK CONTROL
SYSTEM
◦ establish the functional relationship
between the controlled output c and
the primary feedback signal b.
Typically include sensors of the
controlled c, compensators, and/or
controller elements.

Feedback Path

Silde No 40 04/21/2021 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM OF A FEEDBACK CONTROL
SYSTEM
◦ a function of the controlled output c,
algebraically summed with the
reference input r to obtain the
actuating (error) signal e, that is e=r+b

Feedback Path

Silde No 41 04/21/2021 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM OF A FEEDBACK CONTROL
SYSTEM
◦ Negative feedback means the
summing point is a subtractor e=r-b.
◦ Positive feedback means the summing
point is an adder e=r+b

◦ Note: An open-loop system has no

primary feedback signal

Feedback Path

Silde No 42 04/21/2021 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM OF A FEEDBACK CONTROL
SYSTEM
◦ The transmission path from the
summing point to the controlled
output c.

Feedback Path

Silde No 43 04/21/2021 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

BLOCK DIAGRAM OF A FEEDBACK CONTROL
SYSTEM
◦ The transmission path from the
controlled output c back to the
summing point.

Feedback Path

Silde No 44 04/21/2021 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

 CONTROLLER OR
COMPENSATOR
Elements of the forward path, between the actuating
(error signal e and the control variable u ).
ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay] Silde No 45
CONTROL LAWS (ALGORITHMS)
◦ On-off controller

Silde No 46 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

CONTROL LAWS (ALGORITHMS)
◦ Proportional controller

Silde No 47 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

CONTROL LAWS (ALGORITHMS)
◦ Derivative controller

◦ Integral controller

◦ Phase-Lead/Lag compensator

Silde No 48 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

Silde No 49 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]
REFERENCES:
◦ Schaum’s Outline Series “Feedback and Control Systems”, 2nd edition, by DiStefano III, J.J., Stubberud
A.R., and Williams I.J.
◦ Control Systems Principle and Design, 2nd ed., by Gopal M.,
◦ Control Systems Engineering, 3rd edition, by Nise N.S.
◦ eedback Control Systems, 4th edition, by Philips C.L., and Harbor R.D.
◦ Control System Design Lecture Notes for ME 155A, by Åstrom K.J.

Silde No 50 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]

 End of Presentation
Thank you!

51 ME160P-2 – INSTRUMENTATION AND CONTROL ENGINEERING [JADCNohay]