Chapter 6
Introduction to Control
Systems
Definitions
Control system is a device or set of devices used to manage,
command, direct or regulate the behavior of other devices or
systems.
Control engineering is based on the foundations of feedback
theory and linear system analysis, and it generates the concepts
of network theory and communication theory.
Accordingly, control engineering is not limited to any
engineering discipline but is applicable to aeronautical, chemical,
mechanical, environmental, civil, and electrical engineering.
There are three things that define control systems: input, systems
and output.
Control System Representation
We can represent a control system in block diagrams, in
terms of input, system and output.
The output may or may not be equal to the specified response by
the input.
Thus, the purpose of control system is regulate the system to
produce the desired output.
Types of Control System
Broadly speaking, there are three major type of control
systems:
-Man made control system
- Natural control system
- Mixed (combination) control system
Man Made Control System
The system (technology) is created by human.
Example : electrical switch
Natural Control System
Also called biological control.
The type of control is available in nature.
Example : pointing a finger.
Input : precise direction of the object
Output : actual pointed direction
Mixed (Combination) Control System
The system is controlled by nature (human) through man-
made technology.
Example : driving a car
Application Examples
Type of Control System
Two types : open loop and closed loop.
Open loop : systems that utilizes a device to control the process without using
feedback.
Closed loop : systems that uses a measurement of the output (usually a
sensor) and compares it with the desired input.
Open Loop System
Typical Open Loop Block Diagram
Example 1 : Kettle
Closed Loop System
Example Application of Closed-Loop System
Example : Air Conditioner Control
Example : Water Level System
Input and Output System
Sometimes, we might have one input and one output, but
there are cases where we might have multiple input and
multiple output.
The one (single) input and one (single) output is sometimes
called the SISO system.
On the other hand, the multiple input and multiple output is
sometimes called the MIMO system.
Example : SISO and MIMO system
Cont’d
Classes of Control Systems
We can also categorize a control system in two (2) classes:
servomechanism and regulators.
Servomechanism is a power amplifying feedback device in
which the controlled variable is a mechanical position or
time derivative of position such as velocity or acceleration.
A regulator is a system where the reference input is
constant for a long period of time.
Servomechanism
Cont’d
Cont’d
Example : Remote Antenna Positioning System
Example : Industrial Robot
Example : Regulators
Static System
A static system is a deterministic system. The effects of inertia is ignored.
Statics is branch of mechanics dealing with analysis of behavior (usually in
terms of displacements, strains, stresses and forces) of bodies (mechanical
systems, structures) while neglecting inertia effects. It is based on equilibrium
conditions and the quantity time plays no role in the analysis.
For a static system, the output response to an input that does not change with
time i.e. the input is held constant. Mathematically:
The output signal, y(t), at time t, depends on the value of input at time “t”.
Dynamic System
Dynamics is a branch of mechanics where due emphasis is paid to inertial effects
as opposed to statics where such effects are ignored.
A dynamic system may or may not be a deterministic and predictable system. It
is a system that evolve or change with respect to time.
Generally, this particular system is described by differential equations.
Mathematically:
The output signal y(t), at time t, depends on past values of the input.
Static vs Dynamic
Consider Figures (a) and (b) below:
For the resistor in Figure (a), the output e(t) is given as e(t)=R i(t). This output
depends only upon the input at that time so the resistor represents memory-less
or static system.
In the case of the capacitor, the output is expressed as:
It is evidently clear that a capacitor is a dynamic system. The output depends on
all past inputs.
Stable and Unstable System
If a system is brought to any particular initial condition (or state) and its
response decays continuously to zero state, the system is said to be stable of a
particular kind called asymptotically stable.
If a system grows out of bound without any limit, then the system is an
unstable system.
Linear vs Non-linear System
Linear system is a type of system that satisfies the principle of superposition
and homogeneity.
A non-linear system is not a linear system. Mathematically, it is a set of non-
linear equations where the variables to be solved cannot be written as a linear
combination of independent components.
Analysis of Control System
The main objective of a control system is to produce a
desired system, reducing errors and achieving system’s
stability.
What do we analyze in control system?
– Transient (temporary) response
– Steady-state response
– Stability
Transient Response
Also known as the natural response (remember differential
equations?) – it is the homogeneous solution.
Example : consider an elevator going from the first floor to
the fourth floor.
If a transient response is:
– Too slow – passenger would be angry
– Too fast – you would be scared
Steady State Response
An approximation to the desired response.
It is also the response that exist for a long time following the
given input signal.
In the previous lift example, the steady state response is
when the lift is about to reach the fourth floor.
We will also examine the steady state error, which is how
accurately the system performs.
Output Response of Control System
Consider an example of an elevator going from the first floor
to the fourth floor.
The output of the elevator can be represented as follows (Nise,
2007)
Analogy
Stability
It is a performance measure of a system.
If a system is stable, then it should operate properly.
An unstable system would lead to self-destruction or chaos. For example, in
flight control system, if it is unstable, it would crash.
The total response of the system is given by:
For a particular control system to be useful, we want the natural response to
either approach to zero or oscillate. Sometimes, the natural response will go out
of bound, hence the system would be unstable.
We can use mathematical techniques to analyze and control the stability of a
particular control system.
Control System Design Process
The following are the steps as outlined by Nise(2007) in his
book:
Cont’d
An alternative version is provided by Dorf & Bishop in his
textbook:
Mathematical Modeling
It uses mathematical language to describe a particular system.
Why?
– Important to gain understanding and further insight to the system, hence
enabling us to perform analysis.
– Useful for prediction, formulation and simulation.
– Useful for estimation and prediction of unforeseeable event that could
somehow affect the system.
How to Start Modeling
Uses conservation laws – a set of principles describing
certain quantities within an isolated system that does not
change with time.
It is a preserved (conserved) quantity.
Among the aspects conserved : mass, momentums, energy,
charges etc.
Example : Kirchoff’s Voltage and Current Laws.
Control System Design Example
Cont’d
Cont’d
Cont’d
