ME-301

CONTROL ENGINEERING
LECTURE 01
INTRODUCTION

Dr. Shahbaz Mahmood Khan

Assistant Professor, Department of Mechanical Engineering,
School of Mechanical and Manufacturing Engineering
National University of Sciences and Technology, Islamabad
[email protected]

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ABOUT THE COURSE
Instructor: Dr. Shahbaz Mahmood Khan
PhD, Virginia Tech, USA
Assistant Professor, DoME, SMME, NUST

Email: [email protected]

Office: 215-H SMME

Lectures: Thursdays: 1400 – 1550 AM (Classroom No. 315)

Office Hours: Monday: By Appointment

Tuesday: By Appointment
Wednesday: 1130 – 1300, 1500 – 1700
Thursday: 1000 – 1300
Friday: 1000 – 1300

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ABOUT THE COURSE
Text: Control Systems Engineering by Norman S. Nise - 6th Edition

Additional: Modern Control Engineering by Katsuhiko Ogata - 3rd Edition

Feedback Control Systems by Charles Phillips & Royce Harbor

Assessments: Quizzes: 10% (About 5)

Assignments: 10% (About 5)
Mid Semester Exam: 30%
End Semester Exam: 50%

fe41bni 3
HONOR CODE (CODE OF
CONDUCT)
o The university has provided a detailed publication on the “Code
of Ethics”.
o As a teacher and student, we both pledge to follow this and
avoid Academic Dishonesty.
o You are required to follow the conduct mentioned in the
document (page 16 – 22). Especially, note the prohibited actions
mentioned in Sections for Academic Misconduct (item: I),
Endangering Health and Safety (item: II) , Dishonest Conduct
(item: V).
o For all assessments, you will be required to sign a
“Pledge of Honor” that the submission is your own
work.
o You are encouraged to work with your friends.
However, you are responsible to handing over your
own work. Copying assignments from another student is
an honor violation.

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COURSE OUTLINE AND LEARNING
OBJECTIVES
Course Outline:
o To provide basic understanding of the feedback control systems with which everyone comes
across in daily life.
o The study of instrumentation needed to measure and analyze the output and sent it back to
feedback control system.
o To apply the basic control systems principles of modelling, analysis and design to simple
feedback control systems.

Course Learning Objectives:

o CLO1: APPLY the knowledge of open/ close loop system to solve the given problem.
o CLO2: DESIGN flow diagram/ mechanical system based on graphical/mathematical modelling.
o CLO3: PERFORM root locus analysis and stability for an engineering system.

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COURSE CONTENTS
o Introduction to Control Systems
o Modeling in the Frequency Domain
o Modeling in the Time Domain
o Time Response
o Stability
o Steady-State Errors
o Root Locus Design
o Frequency Design
o State Space Design
o Digital Control Systems

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LET’S BEGIN!

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FIRST TERMS IN CONTROL
System:
o “A combination of different physical components that
are connected/related to form a unit for a certain goal”

Control:
o “Regulate and command a system to achieve a certain
goal.”

Plant/process: Input; stimulus Plant/ Output; response

o “Portion of the system to be controlled.” Desired response Process Actual response
o It is fixed and your job to assure it operates as it
should.

Inputs:
o “The applied or excitation signal to “usually” ensure the
desired response is obtained from the system.”

Output:
o “The actual response upon the input. It may or may

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not be the desired/implied one”
 CONTROL SYSTEMS IN NATURE

Eye dilation on light stimulus

Blood sugar control Reflexive control

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SIMPLE CONTROL SYSTEMS AROUND US

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 IDENTIFYING INPUTS AND OUTPUTS

Input: press button Output: Equipment turns on

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 IDENTIFYING INPUTS AND OUTPUTS

Input: incident light source Output: Reflected light

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 IDENTIFYING INPUTS AND OUTPUTS

Input: incident light source Output: Splits light into its

spectrum of colors

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 IDENTIFYING INPUTS AND OUTPUTS

Input: moving curtain up Output: Adjust the amount of

and down light within the room

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 IDENTIFYING INPUTS AND OUTPUTS

Input: smoke detection Output: Sounding of alarm

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 IDENTIFYING INPUTS AND OUTPUTS

Input: heat from element Output: toasting of bread

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 IDENTIFYING INPUTS AND OUTPUTS

Input: open the valve Output: control the amount

of water

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 IDENTIFYING INPUTS AND OUTPUTS

Input: door open Output: No microwave

Input: exposure time Output: amount of temp. rise

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 IDENTIFYING INPUTS AND OUTPUTS

Input: rotating knob Output: speed of fan

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CONTROL SYSTEM DEFINITION
Elevator Example:
o You are at the 4th floor of the building and want to
return to the ground floor.
o The elevator is currently on the first floor
o You press the down button to call the elevator to
4th floor.

How does the elevator respond?:

o Input: pressing the call button.
o Input (desired response): move the elevator to
the 4th floor from the 1st floor.

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CONTROL SYSTEM DEFINITION
Elevator Example:
o You are at the 4th floor of the building and want to
return to the ground floor.
o The elevator is currently on the first floor
o You press the down button to call the elevator to
4th floor.

How does the elevator respond?:

o The actuation system is activated, and the lift
starts rising to 4th floor. (Sensors and actuators).
o It is not instantaneous as the input.

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CONTROL SYSTEM DEFINITION
Elevator Example:
o You are at the 4th floor of the building and want to
return to the ground floor.
o The elevator is currently on the first floor
o You press the down button to call the elevator to
4th floor.

Control system basic components?:

o Sensors: Floor leveling accuracy sensor
o Actuation systems: Motors or hydraulics.

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CONTROL SYSTEM DEFINITION
Elevator Example:
o You are at the 4th floor of the building and want to
return to the ground floor.
o The elevator is currently on the first floor
o You press the down button to call the elevator to
4th floor.

Steady-state vs transient response?:

o Steady-state: Near constant response wrt. Time.
o Transient: Response changing with time.

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CONTROL SYSTEM DEFINITION
Elevator Example:
o You are at the 4th floor of the building and want to
return to the ground floor.
o The elevator is currently on the first floor
o You press the down button to call the elevator to
4th floor.

Elevator Performance:
o Transient response: Too fast or too slow??
o Steady-state error: error range?

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CONTROL SYSTEM DEFINITION
Elevator Example:
o You are at the 4th floor of the building and want to
return to the ground floor.
o The elevator is currently on the first floor
o You press the down button to call the elevator to
4th floor.

Elevator Performance:
o Transient response: Too fast or too slow??
o Steady-state error: error range?

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APPLICATIONS OF CONTROL SYSTEMS
Applications:
o Power amplification
o Remote control
o Convenience of input form
o Compensation for disturbances

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APPLICATIONS OF CONTROL SYSTEMS
Applications:
o Power amplification
o Remote control
o Convenience of input form
o Compensation for disturbances

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APPLICATIONS OF CONTROL SYSTEMS
Applications:
o Power amplification
o Remote control
o Convenience of input form
o Compensation for disturbances

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APPLICATIONS OF CONTROL SYSTEMS
Applications:
o Power amplification
o Remote control
o Convenience of input form
o Compensation for disturbances

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APPLICATIONS OF CONTROL SYSTEMS
Applications:
o Power amplification
o Remote control
o Convenience of input form
o Compensation for disturbances

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FIRST TERMS IN CONTROL
Controller:
o “Internal or external element of the system
used to control the plant or process. The
controller generates plant input signals
designed to produce the desired outputs.”

Input; stimulus Plant/ Output; response

Desired response Process Actual response

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FIRST TERMS IN CONTROL
Controller:
o “Internal or external element of the system
used to control the plant or process. The
controller generates plant input signals
designed to produce the desired outputs.”

Input; stimulus Plant/ Output; response

Desired response Controller Control inputs Actual response
Process

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FIRST TERMS IN CONTROL
Disturbances:
o “A disturbance is an uncontrolled input that has
an undesired effect on the desired output of the
system. It may be internal (produced within the
system) or external.”

Disturbance

Input; stimulus Plant/ Output; response

Desired response Controller Control inputs Actual response
Process

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FIRST TERMS IN CONTROL
Summation junction:
o “Point where various inputs are added.”

Disturbance

+
Input; stimulus + Plant/ Output; response
Controller Actual response
Desired response Control Process
inputs
Summation
Junction

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 FIRST TERMS IN CONTROL
Input transducer:
o “Responds to a change in the environment and
converts it into an electrical signal which can be
read.”

Disturbance

Input +
Input + Plant/ Output; response
Controller Actual response
transducer Control Process
inputs
Summation
Junction

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 FIRST TERMS IN CONTROL
Open-loop control system:
o A system in which the control inputs are not
influenced by the plant outputs i.e., there is no
feedback around the plant.
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Actual Speed (m/s)

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60
55
50
45
40
0 20 40 60 80 100 120
Disturbance
Time

Input +
Input + Plant/ Output; response
Controller Actual response
transducer Control Process
inputs
Summation
Junction

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 FIRST TERMS IN CONTROL
Closed-loop control system:
o A system in which the control inputs are
influenced by the plant outputs i.e., a path (or
loop) is provided from the output back to the
controller.

Disturbance

Input +
Input + + Plant/ Output; response
Controller Actual response
transducer - Control Process
inputs
Summation
Junction

Output
transducer

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 EXAMPLE (AIR CONDITIONING)

Reference Error Heater Room Room

Value Signal Temperature
(Td) (Td - Ta) (Ta)

Comparator

Actuator
Room Room
Temperature Temperature
System (Ta) Temperature (Ta)
Measuring
Device
Sensor OBJECTIVE
To make the system OUTPUT and the desired
REFERENCE as close as possible, i.e., to make
the ERROR as small as possible. 38
 EXAMPLE (AIR CONDITIONING)

Reference Error Heater Room Room

Value Signal Temperature
(Td) (Td - Ta) (Ta)

Comparator

Actuator
Room Room
Temperature Temperature
System (Ta) Temperature (Ta)
Measuring
Device
Sensor KEY ISSUES
1) How to describe the system to be controlled?
(Modelling)
2) How to design the controller? (Control) 39
 EXAMPLE (CRUISE CONTROL)

Comparator

Actuator

System

Sensor

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SIMPLE CONTROL SYSTEMS AROUND US

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