ME406/406L
Control Systems
MODULE : 1
INTRODUCTION TO CONTROL SYSTEMS
Compiled and Prepared by: Publication Notice (2022).
This is a government work.
No part of this publication may be reproduced for profit without the
Engr. Mervin E. Albalate, M. Sc. written permission of the Bulacan State University through its
Innovation and Technology Support Office (ITSO).
Electronics Engineering Department
You may reach the ITSO at the following
College of Engineering address:
[email protected]Bulacan State University
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INTENDED LEARNING OUTCOMES (ILO)
• Explain the concept and use of control systems.
• Discuss the advantages of having control systems
• Recognize the control function of a certain part in a system.
• Compare and contrast the early and modern control systems
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OVERVIEW OF CONTROL SYSTEMS
• Definition of Control
Control is defined “to exercise
restraining or directing influence over” is
applicable to both man and machine.
We shall apply this term in this
course in its generally positive, good
and purposive context.
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OVERVIEW OF CONTROL SYSTEMS
• Importance of Control
One analogy is that in our own body, we have at
least10 major body systems each with a specific
function to maintain life.
If does not “control” through restrictions like healthy
diet and lifestyle by the individual;
One or two body systems may encounter a damage,
thus greatly affects the body as a whole.
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OVERVIEW OF CONTROL SYSTEMS
• Definition of Control Systems
In its simplest form,
control systems Stimulus Response
provide an output or
response for a given
input or stimulus.
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OVERVIEW OF CONTROL SYSTEMS
• Definition of Control Systems
Control System
consists of subsystems
and processes (or
plants) assembled for the Subsystems and Processes
purpose of controlling the
outputs of the processes.
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OVERVIEW OF CONTROL SYSTEMS
• Importance of Control Systems
Control systems are an
integral part of modern
society.
Mostly we are familiar
with the automated
control systems that we
have in our household and
in our industries.
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OVERVIEW OF CONTROL SYSTEMS
• Importance of Control Systems
In the field of man-made systems
of machines and electronic devices,
engineers design processes and
devices via design and plans, with
the expectation that these will
work ideally or flawless, but then
again nothing is truly “perfect”.
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OVERVIEW OF CONTROL SYSTEMS
• Importance of Control Systems
These “defects” to man-made
systems can be attributed to
“errors” within the mentioned
system, it may be a small
millimeter at the input, but may be
carried to the system and be
magnified within the process and
producing an undesirable effect at
the output.
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OVERVIEW OF CONTROL SYSTEMS
• Importance of Control Systems
The presence of the control system
in a device for the purpose of
detecting and correcting these
errors.
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The control system usually is a
section or part of the device and
sometimes can be a stand-alone
device itself.
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 1. Liquid Level Control
Water Clocks
The Greeks began
engineering control
systems around 300 BC. A
water clock invented by
Ktesibios (Ctesibius)
operated by having water
trickle into a measuring
container at a constant
rate.
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 1. Liquid Level Control
Water Clocks
Water is the input, the process
is when water flowing out of its
container at constant rate, and
the output of time is based on
reading the time markings
aligned with level of water
either remaining from the
container or in the catching
container This Photo by Unknown Author is licensed under CC
BY-NC
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 2. Steam Pressure and Temperature Controls
Safety Valve
Regulation of steam pressure
began around 1681 with Denis
Papin's invention of the safety
valve.
The concept was further
elaborated on by weighting the This Photo by Unknown Author is licensed under CC BY-SA
valve top
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licensed under CC BY-SA
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 2. Steam Pressure and Temperature Controls
Safety Valve
If upward pressure did not
exceed the weight, the valve did
not open, and the pressure
inside the boiler is increased.
If the upward pressure from the
boiler exceeded the weight, the
valve opens and steam was
released, and the pressure is
decreased.
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 2. Steam Pressure and Temperature Controls
Safety Valve
If upward steam pressure did
not exceed the weight, the valve
did not open, and the pressure
inside the boiler is increased.
If the upward steam pressure
from the boiler exceeded the
weight, the valve opens and
steam was released, and the
pressure is decreased.
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 2. Steam Pressure and Temperature Controls
Safety Valve
This is an early automated
control system wherein the
output condition of
steam/pressure release is based
on when the force of exiting
steam becomes equal or
greater than the weight on the
top of the valve.
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 2. Steam Pressure and Temperature Controls
Safety Valve
It can be said that this is a very
basic and primitive form of what
we call today as “automation”.
In fact, this safety valve is still
used in today’s pressure cookers
or boilers.
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 2. Steam Pressure and Temperature Controls
Mechanical Incubator
In the seventeenth century,
Cornelis Drebbelin of
Holland invented a purely
mechanical temperature
control system for hatching
eggs. This Photo by Unknown Author is licensed
under CC BY-SA
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 2. Steam Pressure and Temperature Controls
Mechanical Incubator
The device used a vial of
alcohol and mercury
with a floater inserted
in it. The floater was
connected to a damper This Photo by Unknown Author is licensed
that controlled a flame.
under CC BY-SA
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 2. Steam Pressure and Temperature Controls
Mechanical Incubator
A portion of the vial was inserted
into the incubator to sense the heat
generated by the fire.
As the heat increased, the alcohol
and mercury expanded, raising the
floater, closing the damper, and
reducing the flame.
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BY STEVEN ASHLEY APRIL 7, 2014 Illustrations By Jonathon Rosen
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 3. Speed Control
Windmills Improved
Windmill
In 1745, speed control was
applied to a windmill by
Edmund Lee.
Original
Windmill
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BY-NC
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 3. Speed Control
Windmills
Increasing winds pitched the
blades farther back, so that less
area was available. As the wind
decreased, more blade area was
available.
He is also responsible for the
fantail that positioned the blades
to automatically face the wind.
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 3. Speed Control
Windmills
William Cubitt improved on the
idea in 1809 by dividing the
windmill sail into movable
louvers.
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 3. Speed Control
Flyball Speed Governor
In the eighteenth century,
James Watt invented the
flyball speed governor to
control the speed of
steam engines (and
windmills). https://www.nationalgalleries.org/art-and-
artists/4074/0/james-watt-1736-1819-engineer- https://creativecommons.org/licenses/by-sa/3.0
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 3. Speed Control
Flyball Speed Governor
In this device, two spinning flyballs rise
as rotational speed increases.
A steam valve connected to the flyball
mechanism closes with the ascending
flyballs and opens with the descending
flyballs, thus regulating the speed.
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EVOLUTION OF CONTROL SYSTEMS
• Early Control Systems : 3. Speed Control
Flyball Speed Governor
In this version of the device,
used for windmills, the same
principles applies, but instead of
a throttle valve at the end, a
friction-based braking system is
found.
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EVOLUTION OF CONTROL SYSTEMS
• Modern Control Systems : 1. Control Systems Theory
Control systems theory as we know it today began to
appear in the latter half of the nineteenth century.
Modern control systems owes its existence from
mathematical modelling and theories which were later on
applied to create computer algorithm and computer
programs.
The combination and use of analog and digital signals is main
trait for the modern control system
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EVOLUTION OF CONTROL SYSTEMS
• Modern Control Systems : 1. Control Systems Theory
Stability Criterion
In 1868, James Clerk Maxwell
published “On Governors”
which contained the stability
criterion for a up to third-
order systems based on the
coefficients of the differential Public Domain Image
equation.
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index.php?title=File:On_Governor
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EVOLUTION OF CONTROL SYSTEMS
• Modern Control Systems : 1. Control Systems Theory
Stability Criterion
In 1874, Edward John
Routh, using a was able
to extend the stability
criterion to fifth-order
systems. Public Domain Image
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01routgoog/page/n6/mode/2up
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EVOLUTION OF CONTROL SYSTEMS
• Modern Control Systems : 1. Control Systems Theory
Stability Criterion
In 1877, the topic for the Adams
Prize was "The Criterion of
Dynamical Stability“.
In response, Routh submitted a
paper entitled “A Treatise on the
Stability of a Given State of
Motion” and won the prize. Public Domain Image
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EVOLUTION OF CONTROL SYSTEMS
• Modern Control Systems : 2. Automatic Steering
Automatic Steering
The general theory used today to
improve the performance of
automatic control systems is
attributed to Nicholas Minorsky, a
Russian born in 1885.
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EVOLUTION OF CONTROL SYSTEMS
• Modern Control Systems : 2. Automatic Steering
Automatic Steering
It was not until the early 1900s that
automatic steering of ships was
achieved. One of his invention
patents shown here for “Antirolling
stabilization of ships” which basically
decreases pitch, roll, or like
unwanted vessel movements at sea.
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EVOLUTION OF CONTROL SYSTEMS
• Modern Control Systems : 2. Automatic Steering
Automatic Steering
It was his theoretical development
applied to the automatic steering
of ships that led to what we call
today as proportional-plus- This Photo by Unknown Author is licensed under CC BY-NC
integral-plus-derivative (PID) or
three-mode controllers.
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EVOLUTION OF CONTROL SYSTEMS
• Modern Control Systems : 3. Contemporary Applications
Contemporary Applications
Today, control systems find
widespread application in the This Photo by Unknown This Photo by Unknown Author is
guidance, navigation, and control of
Author is licensed under CC licensed under CC BY-SA
BY-SA
missiles and spacecraft, as well as
planes and still ships at sea.
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COMPUTER CONTROL SYSTEMS
Modern developments have seen
widespread use of the digital computer as
part of control systems. For example,
computers in control systems are for
industrial robots, spacecraft, and the
process control industry.
It is now hard to visualize a modern
control system that does not use a digital
computer or component.
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COMPUTER CONTROL SYSTEMS
In this modern system, the controller
part of the system is handled by a
digital computer or microprocessor.
The advantage this is that many control
loops (functions) can be controlled by
the one and the same computer https://www.sciencedirect.com/topics/engineering/digital-controller
through time sharing.
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COMPUTER CONTROL SYSTEMS
Furthermore, any adjustments of the
control parameters required to yield a
desired output/response can be made
by changes in software rather than
hardware. The computer can also
https://www.omron.com.au/
products/family/1772/lineup.
html
perform supervisory functions, such as https://www.hackster.io/semere-
scheduling many required applications. beyene/automatic-room-temperature-
controller-e2bb79
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End Of Module 1
INTRODUCTION TO CONTROL SYSTEMS
REFERENCE BOOK: N. S. Nise, Control Systems Engineering, 8th ed. Wiley, 2019.
ONLINE REFERENCES: wikipedia.org
Compiled and Prepared by: Publication Notice (2022).
This is a government work.
No part of this publication may be reproduced for profit without the
Engr. Mervin E. Albalate, M. Sc. written permission of the Bulacan State University through its
Innovation and Technology Support Office (ITSO).
Electronics Engineering Department
You may reach the ITSO at the following
College of Engineering address:
[email protected]Bulacan State University
Work of Government (2022) Bulacan State University
