Introduction to Control Systems

Folorunso T.A
Lecture 1 Department of Mechatronics Engineering
(DOME)
 Introduction to Control

Basically there exist numerous control applications around us. Lets start by considering the human
body wherein we have numerous pancreas as well as sub systems that regulates the sugar level in our
body, temperature etc.
In the like manner, we also have Control systems as integral part of our modern society . The
application ranges from the PCs, Ovens, washing machine, phones, applications and subsystems in
our cars, the rocket fire, the space shuttle lifts off to earth orbit; self guided vehicles and rockets; the
mobile Robots we develop and lots more.
Before we go deep into these control applications lets consider the definition of control systems.
Basically A control system consists of subsystems and processes assembled for the purpose of
obtaining a desired output with desired performance given a specified input.
 Introduction to Control

The controlled variable is the quantity or condition that is measured and controlled.

The manipulated variable is the quantity or condition that is varied by the controller so as to
affect the value of the controlled variable. Normally, the controlled variable is the output of the
system.

Control means measuring the value of the controlled variable of the system and applying the
manipulated variable to the system to correct or limit deviation of the measured value from a
desired value.
 Introduction to Control

Manipulated Variable

Input
or
Output
Set point
Or
or Controller Process Controlled Variable
reference

Plants. A plant may be a piece of equipment, perhaps just a set of machine parts functioning
together, the purpose of which is to perform a particular operation. Any physical object to be
controlled (such as a mechanical device, a heating furnace, a chemical reactor, or a spacecraft) a
plant.
 Introduction to Control

Process is a natural, progressively continuing operation or development marked by a series of

gradual changes that succeed one another in a relatively fixed way and lead toward a particular
result or end; or an artificial or voluntary, progressively continuing operation that consists of a
series of controlled actions or movements systematically directed toward a particular result or end.
Any operation to be controlled a process. Examples are chemical, economic, and biological
processes.

That is a device, plant, or system under control. The input and output relationship represents the
cause-and-effect relationship of the process.

Input Process Output

 Introduction to Control

A system is a combination of components that act together and perform a certain objective. A
system is not limited to physical ones. The concept of the system can be applied to abstract,
dynamic phenomena such as those encountered in economics. The word system should, therefore,
be interpreted to imply physical, biological, economic, and the like, systems.

In general, a system is an interconnection of elements and devices for a desired purpose.

Disturbance is a signal that tends to adversely affect the value of the output of a system. If a
disturbance is generated within the system, it is called internal, while an external disturbance is
generated outside the system and is an input.
 Introduction to Control

Having defined the fundamentals as it relates to control. So now what is a control system.

Basically a Control System can be defined as any of the following ;

A system Controlling the operation of another system.

A system that can regulate itself and another system.

A control System is a device, or set of devices to manage, command, direct or regulate the
behaviour of other device(s) or system(s).

That means that a control system would be a interconnection of components forming a system
configuration that will provide a desired response.
 Introduction to Control

Feedback control refers to an operation that, in the presence of disturbances, tends to reduce the
difference between the output of a system and some reference input and does so on the basis of this
difference. Here only unpredictable disturbances are so specified, since predictable or known
disturbances can always be compensated for within the system.

Performance: There are the metrics to which a judgment on a control system is made. It is two
forms namely Transient response and Steady State error.

Take for instance: The lift or escalator system passenger comfort and passenger patience are
dependent on these two metrics. If the response is too fast the passenger comfort is sacrificed ; if
too slow the patience is also sacrificed. The steady state error is another factor that can sacrifice the
safety and convenience of the passenger if the lift did not level well.
Introduction to Control
Introduction to Control : System Configurations

Control Systems are

classified into two
configurations namely the
Open Loop Control System Open Loop Control System
and the Closed Loop
Control System
Control System.

Closed Loop Control System

Introduction to Control : System Configurations
Open Loop Control System.
Eg: Washing machine, Toaster,
Electric Fan, Microwave oven

Closed Loop Control System

Eg: Refrigerator, Electric Iron
and Air conditioner
 Introduction to Control : System Configurations

Comparison of CLCS AND

Open Loop Control
• Compensation : The System
does not have the capability
and cannot compensate for
any disturbance at the
controller end.
• Noisy Output: The output of
the open loop is corrupted by
the disturbance at the output
and the signal that
contributes to the Controller.
Closed Loop Control OLCS
• Solves all the challenges of the • Accuracy : The CLC has a grater accuracy than
Open Loop system. the open loop.
• The input transducer converts • Noise Sensitivity : The CLCS is better than the
the input form to the form of the OLCS.
controller.
• Simplicity and Cost: The OLCS is better off the
• An output transducer measures CLCS
the output response and converts
it to a suitable form used by the
controller. (Feedback)

• Examples : Toaster, • CLC compensates for the

Mechanical damper and disturbance by the feedback path.
spring systems The difference btw the output
and input is effected through the
actuating signal.
Introduction to Control : Design

Control System Design Steps

• Transform requirement into a Physical System
• Draw a functional block Diagram
• Create a schematic
• Develop a mathematic model
• Model Reduction
• Analyze and Design
Introduction to Control : Types of Control Models

Classical Control System

Control System

Modern Control System

 Control Systems Types
Natural Control System Man-Made Control Systems

The Universe

Aeroplane

Human Body
 Control Systems Types
Manual Control System Automatic Control Control Systems

Water Heater Systems

Water Level Control
Multivariable Control Systems
Outputs
Temp
Humidity Comparator Controller Process
Pressure

Measurements
 Feedback Control Systems

• A system that maintains a prescribed relationship between the output and some reference
input by comparing them and using the difference (i.e. error) as a means of control is
called a feedback control system.

Input error
+ Controller Process Output
-

Feedback

• Feedback can be positive or negative.

 Servo Control Systems

• A Servo System (or servomechanism) is a feedback control system in which the output is
some mechanical position, velocity or acceleration .

Modular Servo System

Antenna Positioning System

 Linear and Non-Linear Control Systems

• A Control System in which output varies linearly with the input is called a linear control
system.

u(t) Process y(t)

y(t )  2u(t )  1 y(t )  3u(t )  5

y=-2*u(t)+1
5 y=3*u(t)+5
35

0 30

-5 25
y(t)

20

y(t)
-10

15
-15
10
-20
0 2 4 6 8 10 5
u(t) 0 2 4 6 8 10
u(t)
 Time invariant vs Time variant Control Systems

• When the characteristics of the system do not depend upon time itself then the system
is said to time invariant control system.

y(t )  2u(t )  1

• Time varying control system is a system in which one or more parameters vary with
time.

y(t )  2u(t )  3t
 Continuous Data Vs Discrete Data System Control Systems

• In continuous data control system all system variables are function of a continuous time
t. x(t)

• A discrete time control system involves one or more variables that are known only at
discrete time intervals.
X[n]

n
 Deterministic vs Stochastic Control Systems
• A control System is deterministic if the response to input is predictable and repeatable.
x(t) y(t)

t t

• If not, the control system is a stochastic control system

z(t)

t
Control Systems Classification
Credits:

Control systems Engineering :- Noman Nise

THANKS!
Dr. Imtiaz Hussain :- Mehran Uni of Engineering
and Technology, Jamshoro Pakistan

For the Attention

Folorunso Taliha Abiodun
Funso.taliha@futminna.edu.ng
inspiredtalhah@gmail.com
Department of Mechatronics Engineering
School of Engineering and Engineering Technology (SEET)
Federal University of Technology Minna, Niger State.