Automatic Control Systems (JCB 22504)

Chapter 1
 Automatic Control Systems (JCB 22504)

 Automatic control systems, open-loop

and closed-loop control
 Negative feedback control theory
 The classifications and composition of
automatic control systems
 Basic requirements for automatic
control systems
 Automatic Control Systems (JCB 22504)

• Body temperature
• Blood sugar level
Nature • Adrenaline (fight/flight
response)
• Grasping object

• Furnace
• Self-guided vehicle
Artificial •
•
Phone charger
Space shuttle
 Automatic Control Systems (JCB 30703)

MANUAL AND AUTOMATIC

Manual Control System Automatic Control System

A system that employs an A system that involves

operator controlling a machines only.
machine.
 Automatic Control Systems (JCB 22504)

ADVANTAGES OF AUTOMATIC CONTROL SYSTEM

 Power amplification
 Remote control
 Convenience of input form
 Compensation for disturbance
 Automatic Control Systems (JCB 22504)

“... if every instrument could

accomplish its own work,
obeying or anticipating the will
of others... if the shuttle weaved
and pick touched the lyre
without a hand to guide them,
chief workmen would not need
servants, nor masters slaves.”

Aristotle, 350 BC, Politics, Chapter

3, Book 1.

System
 A system is an arrangement,
set, or collection of things
connected or related in such
a manner as to form an
entirety or whole.
 A system is an arrangement
of physical components
connected or related in such
a manner as to form and/or
act as an entire unit.
Automatic Control Systems (JCB 30703)
Control System
 A control system is an
arrangement of physical
components connected or
related in such a manner as
to command, direct, or
regulate itself or another
system
 Control system is a device, or
number of devices that can
be manage, regulate
command the behaviour of a
plant (a system)
 Often consists of subsystems
and processes (plant)
assembled together to obtain
desired output based on the
specified input, with desired
performance.

Input
The input is the stimulus,
excitation or command
applied to a control system,
typically from an external
energy source, usually in
order to produce a specified
response from the control
system.
Automatic Control Systems (JCB 30703)
Output
 The output is the actual
response obtained from a
control system.
 It may or may not be equal
to the specified response
implied by the input.
 Automatic Control Systems (JCB 30703)

THE OBJECTIVES OF

 Transient Response: the case when the plant change from one
state to another, when there are changes in the input signal

 Stability: A system that can produce a consistent/steady output

is a stable system. An unstable system is harmful to the plant
and may cause serious accidents.

 Steady-State Response: Steady state response only exists for

stable systems. An important characteristic for design is the
steady state error.
 Automatic Control Systems (JCB 30703)

NATURAL AND FORCE RESPONSES

 The total response of a system consist of natural and force
responses.
Total response = Natural response + force response
 Natural response describes the way the system dissipates or
acquires energy. The form or nature of this response is
dependent only on the system, not the input.
 Forced response is dependent on the input.
 The system is stable if the natural response eventually
approach to zero, leaving force response.
 The system is not stable if the natural response becomes larger
or oscillates.
 Automatic Control Systems (JCB 30703)

THE OBJECTIVES OF AUTOMATIC CONTROL SYSTEM

 Factor affecting hardware selection

 Motor sizing
 Sensor accuracy

 Financial consideration
 Automatic Control Systems (JCB 22504)

THE OBJECTIVE OF

Example: Elevator

Stability
response

• If the controller in not design properly, the transient

response can be too fast, causing sickness to the passenger.
If it too slow, it will be inconvenient.
• If the stability in not achieve, the elevator still
moving/oscillating even when arrived at the desired floor.
• If there is steady-state response is not properly designed,
the elevator may stop between 3rd and 4th floor.
 Automatic Control Systems (JCB 30703)

Desired Output
Output
Response

Open Loop Control System (Without feedback)

Desired
Output Output
Response

Feedback loop
Closed Loop Control System (With feedback)
 Automatic Control Systems (JCB 30703)

Example:
Heating A Room
Open-Loop

Closed-Loop
 Automatic Control Systems (JCB 22504)

Open-Loop

Closed- Loop
 Automatic Control Systems (JCB 22504)

Characteristics Open-Loop Closed-Loop

Structure Simple Complicated
Cost Cheap Expensive
Accuracy Not accurate Accurate (if
designed
properly)
Sensitivity to Sensitive Less Sensitive
parameter
variation
Disturbance Cannot Handle Can Handle
THE DEFINITION OF

A closed-loop control system is one in

which the control action is somehow
dependent on the output.
 Automatic Control Systems (JCB 22504)

• The measured value is called the feedback loop

• The measured value can be added or subtract from the
reference value.
• If subtract, it is called negative feedback. If added, it is called
positive feedback
• Negative feedback is used to obtained the error signal:
𝐸𝑟𝑟𝑜𝑟 𝑠𝑖𝑔𝑛𝑎𝑙 = 𝑅𝑒𝑓𝑒𝑟𝑒𝑛𝑐𝑒 𝑣𝑎𝑙𝑢𝑒 − 𝑀𝑒𝑎𝑠𝑢𝑟𝑒𝑑 𝑣𝑎𝑙𝑢𝑒
BALANCING TRIPLE PENDULUM
LANDING A ROCKET
• Conventional rocket only being used once.
• This new rocket able to land, thus can be used multiple time, which reduce
the cost of space exploration.
 Automatic Control Systems (JCB 22504)

 Fundamental Block

 Summing Junction & Take-Off Point

 Signals
 Automatic Control Systems (JCB 22504)

1. Comparison Element - produce error signal

2. Control Element –decide what to do with the error signal
3. Correction Element – produce change to the process
4. Process Element – the plan that being controlled
5. Measurement Element – measured the value that being
controlled
 Automatic Control Systems (JCB 22504)

Closed-Loop
Element Example 1:
Automatic Water
Level Control
 Automatic Control Systems (JCB 22504)

Closed-Loop Element
Example 2:
Shaft Speed Control
 Automatic Control Systems (JCB 30703)

 Based on signal
 Based on mathematical model
 Based on Group
 SISO and MIMO
 Based on Signal
Continuous Discrete

 Signal is in time domain, t  Signal in discrete or digital

form
 Analysis in t-domain or s-
domain  Analysis in z-domain
 Based on Mathematical Model
Linear
 An ideal system
 Used during analysis and
design phase
 Have several tool/technique
to solve the control problem
Non-Linear
 Exist in real world
 Difficult to analyse
 No general method to find
the solution
 Approximation is made so
that the system behave like
linear system, which allow
analysis and design
 Based on Group
Kinetic (Tracking) Process (Regulating)

 Control variable:  Control variable:

displacement/position, temperature, flow, level,
speed, acceleration pressure
 Fast response  Slow response
Single Input Single Output
(SISO)
 Has single input and output
 Simple control design
Multivariable Control
System
 Has multiple input and
output
 Complex control design
 Automatic Control Systems (JCB 30703)

OF CONTROL SYSTEM
 Automatic Control Systems (JCB 30703)

EXAMPLE: ANTENNA POSITIONING

Step 1: Transform Requirements into

Physical System

Step 2: Draw a functional block diagram Step 3: Create a schematic

 Automatic Control Systems (JCB 30703)

EXAMPLE: ANTENNA POSITIONING

Step 4: Create mathematical models
• Potentiometer: pure gain
• Differential & power amplifier: pure
gain
• DC motor: pure gain
• Load: Require mathematical model
of inertia and viscous damping

Step 3: Create a schematic

• Potentiometer: neglect mechanical
Step 5: Reduce block diagram
effect (friction/inertia). Voltage
change is assume instantaneous.
• Differential & power amplifier:
assume rapid response compared to
motor, assume pure gain.
• DC motor: Speed proportional to
voltage applied to armature circuit
(resistance and inductor). Inductor
effect is neglected.
• Load: consist of rotating mass and
bearing fiction.

Step 6: Analysis and design

 Automatic Control Systems (JCB 30703)

ANALYSIS AND DESIGN

 Test input signal are used
to verify the design.
 Impulse: can be used to
derive mathematical
model.
 Step: constant command
(position, velocity,
acceleration).
 Ramp: linearly increase
command (tracking
movement)
 Automatic Control Systems (JCB 22504)

Open-Loop Closed-Loop
𝐶(𝑠) 𝐶(𝑠) 𝐺 𝑠
𝐺 𝑠 = =
𝑅(𝑠) 𝑅(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠)
R(s) C(s)
G(s)
 Automatic Control Systems (JCB 22504)

CLOSED-LOOP TRANSFER FUNCTION

E(s) = R(s) - H(s)C(s)

C(s) = G(s)E(s) = G(s) [R(s) - H(s)C(s)]

C(s) = G(s)R(s)-G(s) H(s)C(s)
C(s) [1 + G(s)H(s)] = G(s)R(s)

𝐶(𝑠) 𝐺 𝑠
=
𝑅(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠)
 Automatic Control Systems (JCB 22504)

CLOSED-LOOP TRANSFER FUNCTION

𝐶(𝑠) 𝐺 𝑠
= , let G(s)H(s) = -1
𝑅(𝑠) 1+𝐺 𝑠 𝐻(𝑠)

𝐺 𝑠
𝐶(𝑠) = 𝑅 𝑠
1+(−1)

𝐺 𝑠
𝐶(𝑠) = 𝑅 𝑠 =∞𝑅 𝑠
0
Overview and Introduction