ELECTRONICS ENGINEERING DEPARTMENT

ELE-361 Control Systems

Spring-2022

Lecture 1
Introduction to Control Systems
Instructor
Dr. HAIDER ZAMAN
 Lecture 1

• Syllabus
• Introduction to control systems
• Advantages of feedback control systems
• Classification of control systems
• Analysis and design objectives
• Control system design steps
• Position control system: case study
• Vertical pendulum demonstration
• Definitions

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 Syllabus

Prerequisite:

Code Course Title Required Knowledge

Differential Higher order differential equation as system of first
BSI-231
Equations order differential equations, time constant.

Signals and Laplace transform, inverse Laplace transform, Pole-

ELE-322
Systems zero diagram, block diagrams

BSI-111 Linear Algebra Eigen values , Eigen vectors, positive definite matrix

Knowledge Area / Sub Area: Major Based Course (Breadth) / Breadth-VI

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 Syllabus

Objective: Introduce the concepts of open-loop and closed-loop systems and their transfer functions.
Teach the methods for the analysis and design of closed-loop feedback systems.

Course Outline:
• Introduction to control systems open-loop and closed-loop systems,
• Introduction to mathematical modelling, transfer functions, block diagrams, formation of
differential equations of electrical, mechanical and other systems, signal flow graphs;
• Steady-state and transient response of first-order, second-order and higher-order systems;
• Types and analysis of feedback control systems;
• Stability, Routh’s stability criterion, root locus, Bode plots, polar plots, Nyquist stability criterion,
gain and phase margins, Nichol’s chart;
• introduction to state-space concepts and design techniques, formation and solution of state
equations, eigenvalues and eigenvectors, transfer function matrices;
• controllers and compensators.

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 Syllabus

Bloom’s
CLO No. Description PLOs
Taxonomy
To illustrate a mathematical model using input/output
CLO-1 differential equations, Transfer Functions and state-space for C-3 PLO-2
LTI electrical and mechanical systems
To analyze the stability of LTI complex engineering systems
CLO-2 using Routh’s Criteria, Root Locus, Bode plots and State Space C-3 PLO-2
analysis.
To design a compensator to achieve desired closed loop
CLO-3 response for a system using, Root Locus, Bode plots and State C-5 PLO-3
Space

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 Syllabus

S. No. Description
Nise, Norman S. “Control systems engineering,” seventh edition, John Wiley &
1
Sons, 2020.
Franklin, Gene F., J. David Powell, and Abbas Emami-Naeini. “Feedback control of
2
dynamic systems,” seventh edition, Pearson, 2015.

Katsuhiko Ogata, “Modern Control Engineering,” Fourth Edition, Prentice Hall,

3
2002.

Strang, Gilbert “Linear algebra and its applications”. Belmont, CA: Thomson,
4
Brooks/Cole, 2006.

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 Introduction to Control System

• A control system consists of subsystems and processes (or plants) assembled for the
purpose of obtaining a desired output with desired performance, given a specified
input.

• In short its about controlling a systems dynamic characteristics

• Process – The device, plant, or system under control.

Input Output / response

Controller Process
Reference/ desired Actual response
response

Control System

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 Introduction to Control System: System Configurations

Input Output
Input
Controller Process
transducer

Open-loop Control System

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 Introduction to Control System: System Configurations

With disturbance

Disturbance 1: Change in voltage applied to heater

Disturbance 2: Temperature changes from surrounding conditions

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 Introduction to Control System: System Configurations

Input Output
Input
Controller Process
transducer

Sensor

Closed-loop Control System

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 Introduction to Control System: System Configurations

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 Advantages of feedback control systems
Cruise Control Example: The purpose of the cruise control system is to maintain a constant vehicle
speed despite external disturbances, such as changes in wind or road grade. This is accomplished by
measuring the vehicle speed, comparing it to the desired or reference speed.

w (%)
w u(deg)
r (mph) y (mph)

Input Output
Control System
Speed in mph (y)
Reference speed (r)

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 Advantages of feedback control systems
Cruise Control Example: 1. After measuring the speed of the vehicle on a level road at 65 mph, we find that
a 1◦ change in the throttle angle (our control variable, u) causes a 10 mph change in speed.
2. From observations while driving up and down hills, it is found that when the grade changes by 1%, we
measure a speed change of 5 mph.
r u y
1/10 o
10
65 mph 6.5 65 mph

If r = 65 and the road is level, then w = 0 and the speed will be

65 with no error. However, if w = 1 corresponding to a 1%
Open-loop control grade, then the speed will be y=60 and we have a 5-mph error

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 Advantages of feedback control systems
Cruise Control Example:
u(deg) w (%)
r (mph) y (mph)

• Thus the feedback has reduced the sensitivity of the speed

error to the grade by a factor of 101 when compared with
the open-loop system. Note, however, that there is now a
small speed error on level ground because even when w = 0,

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 Advantages of feedback control systems

Accuracy

Disturbance rejection

Programmable transient response

Programmable steady state error

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 Classification of control systems

Linear
Non-linear

Time-
varying Time-
invariant

Continuous
Discrete

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 Analysis and design objectives

We will go for a bottom-up design approach: components analysis first

and overall picture at the end

Analysis
• A process to determine system
performance
Design
• A process to create or change system
performance
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 Analysis and design objectives

Input and output

(an elevator case)

General output response

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 Control system design steps

Differential equations

Transfer function

State-space model

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 Position control system: case study

(a) Concept, (b) Layout, (c) Schematic, (d) Block Diagram

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 Vertical pendulum demonstration

Credit: https://www.youtube.com/watch?v=meMWfva-Jio

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 Definitions
Manual control
• A person controlling a machine

Automatic control
• A system that involves machines only for controlling

Servo systems
• Systems designed to track a reference signal are called tracking or servo
systems.
Regulators
• Systems designed to hold an output steady against unknown disturbances

Robustness
• Ability to achieve desired performance even if some change in system
parameters occur.
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