Introduction To Control Engineering: Rafael E. Vásquez, PH.D

Introduction
Dynamic Systems Modeling

Differential Equations
Control System
Cruise Control Example
Introduction to Control Engineering
Rafael E. Vásquez1 , Ph.D.
1 Grupo de Automática y Diseño A+D

Escuela de Ingenierías
Universidad Pontificia Bolivariana
1/34
Introduction
Control System
Outline
1 Introduction
Motivation
Control Systems
2 Dynamic Systems Modeling
Conservation Laws
Definitions
Examples
3 Differential Equations
Linear Time Invariant Systems
Transfer Functions
State–Space Models
Characteristic Equation
4 Control System
Feedback PID Control
5 Cruise Control Example
2/34
Introduction
Motivation
Control Systems
Control System
Outline
1 Introduction
Motivation
Control Systems
Conservation Laws
Definitions
Examples
Transfer Functions
4 Control System
3/34
Introduction
Motivation
Control Systems
Control System
Control, Control Theory and Automation
Control Control Theory

To adjust to a The mathematical study of how to
requirement; regulate. manipulate the parameters
www.thefreedictionary.com affecting the behavior of a system
to produce the desired or optimal
outcome.
http://mathworld.wolfram.com
Automation
1. The automatic operation or control of equipment, a process,
or a system. 2. The techniques and equipment used to achieve
automatic operation or control.
www.thefreedictionary.com
4/34
Introduction
Motivation
Control Systems
Control System

outcome.
Automation
4/34
Introduction
Motivation
Control Systems
Control System

outcome.
Automation
4/34
Introduction
Motivation
Control Systems
Control System
Why we study control?
How do we maintain process variables in desired values?

For example how do we keep the temperature in an oven
at the reference value?
How do we manufacture products with consistently high
quality when raw material properties change?
How do we avoid dangerous situations in industry?
5/34
Introduction
Motivation
Control Systems
Control System
Where we apply control?
Power generation.
Manufacturing.
Plant operation.
Vehicle control.
Biological
systems.
Hydroelectric power generation requires

frequency control.
Source:
http://ga.water.usgs.gov/edu/hyhowworks.html
6/34
Introduction
Motivation
Control Systems
Control System
Power generation.
Manufacturing.
Plant operation.
Vehicle control.
Biological
systems.
Precision machining requires control.

Source:
http://www.precisionenginetech.com/products/2009/10/29/billet-cranks-from-mittler/
6/34
Introduction
Motivation
Control Systems
Control System
Power generation.
Manufacturing.
Plant operation.
Vehicle control.
Biological
systems.
Automated assembly requires control.
Source:
http://www.sta-gmbh.ch/artikel-en.php?catid=1104
6/34
Introduction
Motivation
Control Systems
Control System
Power generation.
Manufacturing.
Plant operation.
Vehicle control.
Biological
systems.
Aircraft autopilots require control.
Source:
http://www.boeing.com/commercial/787family/
6/34
Introduction
Motivation
Control Systems
Control System
Power generation.
Manufacturing.
Plant operation.
Vehicle control.
Biological
systems.
The pancreas controls blood sugar levels.
Source: http://www.umm.edu/imagepages/19264.htm
6/34
Introduction
Motivation
Control Systems
Control System
Outline
1 Introduction
Motivation
Control Systems
Conservation Laws
Definitions
Examples
Transfer Functions
4 Control System
7/34
Introduction
Motivation
Control Systems
Control System
Control Systems
“A control system is an interconnection of components

forming a system configuration that will provide a desired
system response.”
Source: Dorf, R.C., and Bishop, R.H., 2011. Modern Control Systems, 12th ed. Prentice Hall.
Basic actions Multivariable control system

Measurement
Decision
Actuation
8/34
Introduction
Motivation
Control Systems
Control System
Control Systems

system response.”

Measurement
Decision
Actuation
8/34
Introduction
Motivation
Control Systems
Control System
Control Systems

system response.”

Measurement
Decision
Actuation
8/34
Introduction
Motivation
Control Systems
Control System
Open–loop control
An open-loop control system

utilizes an actuating device to Example
control the process directly.
Open–loop control
9/34
Introduction
Motivation
Control Systems
Control System
Open–loop control
An open-loop control system

utilizes an actuating device to Example
control the process directly.
Open–loop control
Source: http://morningcamp.blogspot.com/2008/04/introduction-to-control-systems.html
9/34
Introduction
Motivation
Control Systems
Control System
Feedback (closed–loop) control
A closed-loop control system

uses a measurement of the Example
output and feedback of this
signal to compare it with the
desired output (reference or
command).
10/34
Introduction
Motivation
Control Systems
Control System
Feedback (closed–loop) control
A closed-loop control system

uses a measurement of the Example
output and feedback of this
signal to compare it with the
desired output (reference or
command).
Source: http://morningcamp.blogspot.com/2008/04/introduction-to-control-systems.html
10/34
Introduction
Motivation
Control Systems
Control System
Control Objectives
1 Safety
2 Environmental protection
3 Equipment protection
4 Smooth operation
5 Product quality
6 Profit
7 Monitoring and diagnosis
11/34
Introduction
Motivation
Control Systems
Control System
Control Objectives
1 Safety
4 Smooth operation
5 Product quality
6 Profit
11/34
Introduction
Motivation
Control Systems
Control System
Control Objectives
1 Safety
4 Smooth operation
5 Product quality
6 Profit
11/34
Introduction
Motivation
Control Systems
Control System
Control Objectives
1 Safety
4 Smooth operation
5 Product quality
6 Profit
11/34
Introduction
Motivation
Control Systems
Control System
Control Objectives
1 Safety
4 Smooth operation
5 Product quality
6 Profit
11/34
Introduction
Motivation
Control Systems
Control System
Control Objectives
1 Safety
4 Smooth operation
5 Product quality
6 Profit
11/34
Introduction
Motivation
Control Systems
Control System
Control Objectives
1 Safety
4 Smooth operation
5 Product quality
6 Profit
11/34
Introduction
Dynamic Systems Modeling Conservation Laws
Differential Equations Definitions
Control System Examples
Outline
1 Introduction
Motivation
Control Systems
Conservation Laws
Definitions
Examples
Transfer Functions
4 Control System
12/34
Introduction
Conservation Laws
Input + Generation = Output + Accumulation + Consumption
Conservation of mass
Conservation of energy
Conservation of linear momentum
Conservation of angular momentum
Conservation of electric charge
13/34
Introduction
Conservation Laws
13/34
Introduction
Conservation Laws
13/34
Introduction
Conservation Laws
13/34
Introduction
Conservation Laws
13/34
Introduction
Outline
1 Introduction
Motivation
Control Systems
Conservation Laws
Definitions
Examples
Transfer Functions
4 Control System
14/34
Introduction
Definitions
A model is a mathematical representation of a physical,

biological or information system. Models allow us to
reason about a system and make predictions about how a
system will behave.
A dynamical system is one in which the effects of actions
do not occur immediately. For example, the temperature in
a room does not rise instantaneously when a heater is
switched on.
15/34
Introduction
Outline
1 Introduction
Motivation
Control Systems
Conservation Laws
Definitions
Examples
Transfer Functions
4 Control System
16/34
Introduction
Mass–Spring–Damper System
Conservation of linear
momentum
X dP dẋ
F= =m = ma
dt dt
Source: http://control.me.cmu.edu/CTMS. Considering viscous friction
The input is the force
F − kx − bẋ = mẍ
F (t) and the output is
chosen as the mass Reorganizing, we get
position x(t).
mẍ + bẋ + kx = F (t)
17/34
Introduction
Tank and Electrical Circuit
Source: http://web.mit.edu/2.151/www/.
Conservation of electric
Source: http://web.mit.edu/2.151/www/.
charge
Conservation of mass X
Vi = 0
dm
ṁin − ṁout =
dt
dVc (t) 1
+ Vc (t) = V (t)
dQo (t) 1 dt RC
+ Qo (t) = Qi (t)
dt ARf
18/34
Introduction
Transfer Functions
Control System
Ordinary Differential Equations
Dynamic systems can be classified:

Concentrated parameters: represented by ordinary
differential equations ODEs.
Distributed parameters: represented by partial differential
equations PDEs.
In Control Theory we are interested in the dynamic behavior
of the systems, so we are trying to solve initial–value
problems and we often use Ordinary Differential Equations
(ODEs) to describe interaction between the input and the
output of the system.
19/34
Introduction
Transfer Functions
Control System
Outline
1 Introduction
Motivation
Control Systems
Conservation Laws
Definitions
Examples
Transfer Functions
4 Control System
20/34
Introduction
Transfer Functions
Control System

A Linear Time Invariant System (LTIS) can be represented in
general by
dn y dn−1 y dm u dm−1 u
+ a n−1 + · · · + a 0 y = + b m−1 + · · · + b0 u,
dtn dtn−1 dtm dtm−1
where: y(t) is the output and u(t) is the input.
ODE representation
There are several techniques to analyze the differential
equation. The most commonly used in classical and modern
control are:
Transfer functions
State–space models
21/34
Introduction
Transfer Functions
Control System
Outline
1 Introduction
Motivation
Control Systems
Conservation Laws
Definitions
Examples
Transfer Functions
4 Control System
22/34
Introduction
Transfer Functions
Control System
Transfer Functions
The transfer function represents the relation between the output

and the input the complex frequency (s) domain.
For an nth –order system, the transfer function can be obtained
using the Laplace Transform L (for zero initial conditions),
hence (for a SISO system)
Y (s) sm + bm−1 sn−1 + · · · + b0

G(s) = = n
U (s) s + an−1 sn−1 + · · · + a0
The system is causal if m ≤ n.
23/34
Introduction
Transfer Functions
Control System
Outline
1 Introduction
Motivation
Control Systems
Conservation Laws
Definitions
Examples
Transfer Functions
4 Control System
24/34
Introduction
Transfer Functions
Control System
Any nth –order system can be represented by n first–order
differential equations provided a definition of n state variables
T
which form the state vector x = x1 x2 · · · xn .
    
ẋ1 a11 a12 ··· a1n x1  
b1
 ẋ1   a21 a22 a2n  x2 
..  u(t).
= +
     
 .. .. .. ..  .. . 
 .   . . .  . 
bn
ẋn an1 an2 ··· ann xn
This equation is called the State Differential Equation. For a
SISO system, the state–space model:
ẋ = Ax + Bu.
y = Cx + Du.
25/34
Introduction
Transfer Functions
Control System
Mass–Spring–Damper System
Second–order linear differential equation with constant

coefficients
mẍ + bẋ + kx = F (t)
Transfer Function State–Space Model
X(s) 1

= ẋ1 0 1 x1 0
2 = k b + 1 F (t)
F (s) ms + bs + k ẋ2 −m −m x2 m

x1
y= 1 0
x2
26/34
Introduction
Transfer Functions
Control System
Outline
1 Introduction
Motivation
Control Systems
Conservation Laws
Definitions
Examples
Transfer Functions
4 Control System
27/34
Introduction
Transfer Functions
Control System
The characteristic equation determines the behavior of the
dynamic system, depending on where the roots are located in
the complex plane.
sn + an−1 sn−1 + · · · + a0 = 0
Second–Order System Example
s2 + 2ζωn s + ωn2 = 0
1.5
ζ = 0.25
ζ = 0.5
ζ > 1, overdamped
y(t)
ζ = 1, critically damped 0.5 ζ =1
0 < ζ < 1, underdamped 0

0 0.2 0.4 0.6 0.8 1
ζ < 0, unstable Normalized time
28/34
Introduction
Differential Equations Feedback PID Control
Control System
Outline
1 Introduction
Motivation
Control Systems
Conservation Laws
Definitions
Examples
Transfer Functions
4 Control System
29/34
Introduction
Differential Equations Feedback PID Control
Control System
The most used algorithm among the feedback techniques is the

called Proportional-Integral-Derivative (PID)
Z
de(t)
u(t) = Kp e(t) + Ki e(t)dt + Kd
dt
where:
e(t) = r(t) − y(t), error.
Kp : proportional gain.
Ki : integral gain.
Kd : derivative gain.
30/34
Introduction
Control System
Cruise Control Modeling
Example Transfer function
V (s) 1
G(s) = =
U (s) ms + b
State–space model
Conservation of linear
momentum b 1
ẋ = v̇ = − [v] + [u] .
m m
mv̇(t) + bv(t) = u(t)
y = [1] [v] .
31/34
Introduction
Control System
PI Control
Proportional–Integral Controller’s transfer

Controller: function:
Z
U (s) Kp s + Ki
u(t) = Kp e(t)+Ki e(t)dt Gc (s) = =
E(s) s
Closed–loop transfer function
This transfer functions relates the actual velocity v(t) and the
desired velocity vd (t) (set–point)
V (s) Gc (s)G(s) Kp s + Ki
= =
Vd (s) 1 + Gc (s)G(s) ms2 + (b + Kp )s + Ki
32/34
Introduction
Control System
Closed–Loop Differential Equation
Car dynamics:
mv̇(t) + bv(t) = u(t)

From the closed–loop transfer function:
mv̈ + (b + Kp )v̇ + Ki v = Kp v̇d + Ki vd

When we introduced the PI controller, the differential equation
is modified and now some parameters can be adjusted in order
to modify the behavior, i.e. modify the roots of the characteristic
equation.
33/34
Introduction
Control System
Simulation
System parameters System response

m = 1000 kg 12
b = 50 N s/m 10
8
Control parameters
v(t) (m/s)
6
vd = 10 m/s
4
Kp = 800
2
Ki = 40
0
0 2 4 6
Time (sec)
34/34

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Introduction

Dynamic Systems Modeling

Introduction to Control Engineering

Rafael E. Vásquez1 , Ph.D.

1 Grupo de Automática y Diseño A+D

Control, Control Theory and Automation

Control Control Theory

Control, Control Theory and Automation

Control Control Theory

Control, Control Theory and Automation

Control Control Theory

Why we study control?

How do we maintain process variables in desired values?

Where we apply control?

Hydroelectric power generation requires

Where we apply control?

Precision machining requires control.

Where we apply control?

Where we apply control?

Where we apply control?

“A control system is an interconnection of components

Basic actions Multivariable control system

“A control system is an interconnection of components

Basic actions Multivariable control system

“A control system is an interconnection of components

Basic actions Multivariable control system

An open-loop control system

An open-loop control system

Feedback (closed–loop) control

A closed-loop control system

Feedback (closed–loop) control

A closed-loop control system

Input + Generation = Output + Accumulation + Consumption

Input + Generation = Output + Accumulation + Consumption

Input + Generation = Output + Accumulation + Consumption

Input + Generation = Output + Accumulation + Consumption

Input + Generation = Output + Accumulation + Consumption

A model is a mathematical representation of a physical,

Tank and Electrical Circuit

Ordinary Differential Equations

Dynamic systems can be classified:

Linear Time Invariant Systems

The transfer function represents the relation between the output

Y (s) sm + bm−1 sn−1 + · · · + b0

Second–order linear differential equation with constant

Transfer Function State–Space Model

Second–Order System Example

0 < ζ < 1, underdamped 0

ζ < 0, unstable Normalized time

Feedback PID Control

The most used algorithm among the feedback techniques is the

Cruise Control Modeling

Example Transfer function

Proportional–Integral Controller’s transfer

Closed–Loop Differential Equation

mv̇(t) + bv(t) = u(t)

mv̈ + (b + Kp )v̇ + Ki v = Kp v̇d + Ki vd