AV-356

FEEDBACK CONTROL SYSTEMS

Lecture No 01

Introduction to Subject & System

Modelling
Text Book : Feedback Control Systems by Phillips and Parr,
5th Edition, Pearson, 2010
Chapter 1-2

Instructor: Dr Qasim Ali

Academic Week No 01/18
Number of Slides: 24
 Lecture Objectives

• Introduction with the class

• General instructions
• Grading policies
• Introduction to control systems
• Familiarization with open loop and closed loop
systems

2
 General Instructions

• Don’t do work unrelated to this class

• Don’t read material other than the subject in
the class
• Don’t talk to anyone other than the instructor
• Don’t arrive late or try leaving early – this can
lead to you being marked absent from the
class
• Don’t sleep in class
• Don’t violate CAE Code of Student Conduct
3
 Grading Policies
• Quizzes will be announced & unannounced
• Quizzes: 10-
•Zero or minimum of the class average / student’s
15%
own average
• 2 OHTs would be conducted in 8th & 13th week
• OHT: 30-40% • Make up OHTs would be more difficult
• Labs would be conducted individually
• Lab evaluation would be done on the spot
• Lab Work: 20% • Crisp & to-the-point Lab Reports to be submitted
• Class State would be signed at the end of Lab
• 5% deduction of marks per day for late submission

• Individual Assignments
• Assignment: 5- • 5% deduction of marks per day for late
10% submission

4
• ESE : 35-40%
 Text Book and Ref Material
Text Book: Feedback Control Systems by Phillips &
Parr, 5th Edition, Pearson, 2010
Reference Books: Control Systems Engineering by
Norman S Nise, 7th Edition, John Wiley & Sons, 2015

• Text book would be followed for lectures

• Assignments may be given from reference book as well
• Text book is to be brought by every student for lecture

5
 Course Outline
• Ch 1
– Introduction (Self Study)
• Ch 2
– Mathematical modeling
– Transfer function
– Laplace transform
• Ch 4
– Time response of 1st & 2nd order systems
– Time response specifications in design
• Ch 5
– Desired characteristics of a closed loop system
– Stability, sensitivity, disturbance rejection & steady state accuracy
– 1st OHT
• Ch 6
– Stability Analysis through Routh-Hurwitz stability Criterion 6
 Course Outline (Cont’d)
• Ch 7
– Root Locus Analysis & Design
– Phase Lead & Phase Lag Compensator/ Controller Design
– PID design
– 2nd OHT
• Ch 8
– Frequency Response Analysis
– Bode Diagrams
– Nyquist Stability Criterion
• Ch 9
– Frequency Response Design of
• Phase Lead Controller
• Phase lag Controller
• PID Controller Design
7
 Control Engineering

• An exciting and a challenging field

• It is a multidisciplinary subject having its

applications in diversified fields

• A core course in engineering curriculum

• It requires strong mathematical foundation

8
 Basic Concepts
• Analysis and design of closed-loop control systems

• Analysis: Given a system, determine its characteristics

and behavior

• Design: Specify the desired system characteristics or

behavior, configure the system in such a way so that it
exhibits these desired characteristics

• Closed-loop system: System inputs are functions of

system outputs and vice versa 9
• Process (plant) to be controlled:

• Open-loop control system:

• Closed-loop control system:

10
Open Loop System

11
Closed Loop System

12
 Closed Loop System

Here is a system designed to monitor the temperature of a car radiator. When

the radiator temperature becomes too high the voltage from the temperature
sensor and sensor unit changes. The comparator detects this change in
voltage and activates the transducer. The transducer driver provides enough
power for the motor to operate, cooling the car radiator

13
 Closed Loop System
For students in a school, a closed loop school environment is shown in a block
diagram. This type of system is for regular check on the students. If there are
no quizzes, home assignments, midterm exams, we call that system as
an ………………………………………………………….
Disturbance
Disturbance
Parties, Games,
TV, Chitchat….

Parties, Games,
TV, Chitchat

School Students
School Environment
Plant
Environment

Plant

Students

14
Automobile Steering Control System

15
 Mechanical
Pilot Input : Mechanical Control
Pilot input Transmission surface
output

Fly Control linkage

BY Output :Mechanical
Control surface
Wire Control colum n

OR

More
Electrical
Aircraft

16
17
 Hydraulic
Pilot Input : Mechanical actuator

Hydraulic servo
valve Output :Mechanical
Mechanical Hydraulic
Transmission Supply
Mechanical to Hydraulic
Drive (Actuator)
Analog Fly By Wire
Pilot Input : Mechanical
Output :Mechanical
Electrical
Supply
Mechanical to Electrical
(Potentiometer)

Analogue Electro-hydraulic
wire Computer wire servovalve
Side-stick Hydraulic Electrical to Hydraulic
18
controller Analog Electrical
Supply Drive (Actuator)
Transmission
 Pilot Input : Mechanical
Output :Mechanical
Analog Electrical
Transmission
Analog Electrical
Electrical Transmission
Supply
Digital Electrical
Transmission
Complete
A/D Digital
D/A Fly By Wire
Computer
By Using
Electrical to Hydraulic
Electrical
Hydraulic Drive (Actuator)
Digital Digital Actuators
Mechanical to Supply
Analog Electrical
data bus data bus
(Potentiometer)

Digital Fly By Wire

19
Closed Loop
System

20
21
The logic diagram is shown below. A micro-switch (pressure pad) is used as one input
device and a dark sensing circuit as the other. The AND gate has two inputs. If both are
activated - the dark sensor and the micro-switch - the logic state of the output changes
to high and the motor releases food to the hungry dog. 22
 Mechatronics

• Mechatronics is at the intersection between

several disciplinary areas, as represented by
these Venn diagrams

23
 Relevant Subjects

Flight Control Design for Manned

And Unmanned Aerial Vehicles

Sensors and Transducers

Industrial Automation

Robotics

Mechatronics

Electromechanical Systems

Micro Electro Mechanical Systems (MEMS)

Nano Electro Mechanical Systems (NEMS) : Nano Technology

24