1

INTRODUCTION
TO CONTROL
SYSTEMS
BY: ENGR. SARAH JANE E. DELGADO
COURSE INSTRUCTOR
 LEARNING OBJECTIVES 2

After completing this lesson, the student must be able to:

Define a control system and describe some
application.
Describe historical developments leading to modern
day control theory.
Describe the basic feature and configuration of
control systems
Describe control systems analysis and design
objectives
Describe a control systems design process
Describe the benefit from studying control systems.
CONTROL SYSTEM DEFINITION 3

CONTROL
To direct the actions or function of (something) : to
cause (something) to act or function in a certain
way.
A word usually taken to mean regulate, direct or
command.
SYSTEM
A group of parts combined to form a whole that
works or moves as a unit
A group of body organs or structures that together
perform one or more vital functions
CONTROL SYSTEM DEFINITION 4

CONTROL SYSTEM
A control system consists of subsystems
and processes (or plants) assembled
for the purpose of obtaining a desired
output with desired performance,
given a specified input.
An arrangement of physical
components connected or related in
such a manner as to command, direct
or regulate itself or another system.
In its simplest form, a control system
provides an output or response for a
given input or stimulus.
CONTROL SYSTEM DEFINITION 5

Input: Stimulus Output: Response

CONTROL SYSTEM

Desired Response Actual Response

ELEVATOR RESPONSE CURVE 6
MEASURES OF PERFORMANCE 7

1. TRANSIENT RESPONSE In the elevator system

passenger comfort and passenger patience are
dependent upon the transient response.

2. STEADY STATE-ERROR this is another important

performance specification since passenger safety
and convenience would be sacrificed if the
elevator did not properly level.
ADVANTAGES OF 8

CONTROL SYSTEMS
We build control systems for four primary
reasons:
Power Amplification
Remote Control
Convenience of input form
Compensation for disturbances
POWER AMPLIFICATION 9

For example, a radar antenna, positioned

by the low-power rotation of a knob at
the input, requires a large amount of
power for its output rotation. A control
system can produce the needed power
amplification or power gain.
REMOTE CONTROL 10

Robots designed by control system can

compensate for human disabilities.
Control systems are also useful in remote
or dangerous locations. For example, a
remote-controlled robot arm can be
used to pick up a material in a
radioactive environment.
CONVENIENCE OF INPUT 11

FORM
Control systems can also be used to
provide convenience by changing the
form of the input. For example, a
temperature control system, the input is
position on a thermostat. The output is
heat. Thus, a convenient position input
yields a desired thermal output.
COMPENSATION FOR 12

DISTURBANCES
Typically, we control such variables as
temperature in thermal systems, position
and velocity in mechanical systems, and
voltage, current, or frequency in
electrical systems. The system must be
able to yield the correct output eve with
a disturbance.
HISTORY OF CONTROL 13

SYSTEMS
a) Liquid-Level Control
b) Steam Pressure and Temperature Control
c) Speed Control
d) Stability, Stabilization and Steering
e) Twentieth-Century Developments
f) Contemporary Applications
a. LIQUID-LEVEL CONTROL 14

The Greeks began engineering

feedback systems around 300 B.C.
A water clock invented by
Ktesibios.
Oil lamp by Philon of Byzantium
b. STEAM PRESSURE AND 15

TEMPERATURE CONTROL
Regulation of steam pressure began
around 1681 with Denis Papins invention
of safety valve.
In 17th Century, Cornelis Drebbel in
Holland invented a purely mechanical
temperature control system for hatching
eggs.
c. SPEED CONTROL 16

In 1745, speed control was applied to a

windmill by Edmund Lee.
William Cubbit improved Lees idea in
1809.
In the 18th century, James Watt invented
the flyball speed governor to control the
speed of steam engines.
d. STABILITY, STABILIZATION 17

AND STEERING
In 1868, James Clerk Maxwell published the stability
criterion for a third-order system based on the
coefficients of the differential equations.
In 1874, Edward John Routh, using a suggestion from
William Kingdon Clifford that was ignored earlier by
Maxwell, was able to extend the stability criterion to
fifth-order systems.
In 1877, the topic for the Adams Prize was The
Criterion of Dynamical Stability. Routh submitted a
paper entitled A Treatise on the Stability of a Given
State of Motion and won the prize. (Routh-Hurwitz
criterion for stability)
d. STABILITY, STABILIZATION 18

AND STEERING
Alexander Michailovich Lyapunov, extended the
work of Routh to nonlinear systems in his 1982
doctoral thesis, entitled The General Problem of
Stability of Motion.
In 1874, Henry Bessemer, using a gyro to sense a
ships motion and applying power generated by the
ships hydraulic system, moved the ships saloon to
keep it stable.
Other efforts were made to stabilize platforms for
guns as well as to stabilize entire ships, using
pendulum to sense the motion.
e. 20
CENTURY
TH 19

DEVELOPMENTS
In early 1900s automatic steering of ships was
achieved.
In 1922, the Sperry Gyroscope Company installed
an automatic steering system that used the
elements of compensation and adaptive control
to improve performance.
Nicholas Minorsky, a Russian born in 1885,
developed the theory applied to the automatic
steering of ships that led to what we call today
proportional-plus-integral-plus derivative (PID), or
three-mode controllers.
e. 20
CENTURY
TH 20

DEVELOPMENTS
In the late 1920s and early 1930s, H.W. Bode and
H. Nyquist at Bell Telephone Laboratories
developed the analysis of feedback amplifiers.
In 1948, Walter R. Evans , developed a graphical
technique to plot the roots of a characteristic
equation of a feedback system whose
parameters changed over a particular range of
values.
This technique, now known as the root locus,
takes its place with the work of Bode and Nyquist
in forming the foundation of linear control systems
analysis and design theory.
f. CONTEMPORARY 21

APPLICATIONS
Control systems applications today is in the
guidance, navigation, and control of missiles and
spacecraft, as well as planes and ships at sea.
Process control industry, regulating liquid-levels in
tanks, chemical concentration in vats, as well as
the thickness of the fabricated material.
Modern developments have seen widespread
use of digital computer as part of control systems.
The space shuttle contains numerous control
systems operated by an on-board computer on a
time-shared basis.
Control systems are also used at home, e.g. home
heating system, home entertainment system
SYSTEM CONFIGURATIONS 22
Open-Loop Systems

Close Loop Systems

SYSTEM CONFIGURATIONS: 23

Open-Loop Systems
Functional Block Diagram

Command Input Output

Reference Selector Dynamic Unit

Physical Arrangement

Input Output
Controller Motor Powering
Device
SYSTEM CONFIGURATIONS: 24

Open-Loop Systems
INPUT sometimes called the reference. It is the stimulus,
excitation, or command applied to a control system,
typically from an external source, usually in order to
produce a specified response from the control system.
INPUT TRANSDUCERS a subsystem which converts the
form of the input to that used by the controller.
CONTROLLER drives the process or a plant.
PLANTS - It may be a piece of equipment, perhaps just a
set of machine functioning together, the purpose of
which is to perform a particular operation. It is a system
to be controlled.
SYSTEM CONFIGURATIONS: 25

Open-Loop Systems
DISTURBANCES - A signal that tends to
adversely affect the value of the output of a
system.
SUMMING JUNCTIONS yield the algebraic
sum of their input signals using associated
signs.
OUTPUT sometimes called as the controlled
variable. It is the actual response obtained
from the control system. It may or may not
be equal to the specified response implied
by the input.
SYSTEM CONFIGURATIONS: 26

Open-Loop Systems
The distinguishing characteristic of an
open-loop system is that it cannot
compensate for any disturbances that
add to the controllers driving signal.
They do not correct for disturbances
and are simply commanded by the
input.
The control action is independent of
the output.
SYSTEM CONFIGURATIONS: 27

Open-Loop Systems
2 Outstanding Features
1. Their ability to perform accurately is
determined by their calibration. To
calibrate means to establish or
reestablish the input-output relation to
obtain a desired system accuracy.
2. They are not usually troubled with
problems of instability.
SYSTEM CONFIGURATIONS: 28

Open-Loop Systems
EXAMPLE OF OPEN-LOOP CONTROL SYSTEM
Most automatic toasters are open-loop systems
because they are controlled by a timer. The time
required to make good toast must be estimated
by the user, who is not part of the system. Control
over the quality of toast (the output) is removed
once the time, which is both the input and the
control action, has been set. The time is typically set
by means of a calibrated dial or switch.
SYSTEM CONFIGURATIONS: 29
Closed-Loop (Feedback Control) Systems

Functional Block Diagram

Command Input Output

Reference Selector Dynamic Element

Feedback Element

Physical Arrangement
Input Output
Error Detector Controller Powering Device

Output Measuring Device Output or Load

SYSTEM CONFIGURATIONS: 30
Closed-Loop (Feedback Control) Systems

The control action is somehow dependent on the output. It is

commonly called feedback control system.
OUTPUT TRANSDUCER OR SENSOR measures the output
response and converts it into the form used by the controller.
FEEDBACK PATH The return path from the output to the
summing junction.
ACTUATING SIGNAL The result of the subtraction of the output
signal from the input signal at the summing junction. Also
called as ERROR in systems where both the input and output
transducers have unity gain, in which the actuating signals
value is equal to the actual difference between the input and
the output.
SYSTEM CONFIGURATIONS: 31
Closed-Loop (Feedback Control) Systems

FEEDBACK
It is the property of a closed loop system which
permits the output (or some other controlled
variable) to be compared with the input to the
system (or an input to some other internally
situated component or subsystem) so that the
appropriate control action may be performed as
some function of the output and input.
 GENERAL CLASSIFICATION OF CONTROL SYSTEM
32
Characteristics of Feedback
1. Increased accuracy.
2. Tendency toward oscillation or instability.
3. Reduced sensitivity of the ratio of output to input to
variations in system parameters and other
characteristics.
4. Reduced effects of nonlinearities.
5. Reduced effects of external disturbances or noise.
6. Increased bandwidth. The bandwidth of the system is a
frequency response measure of how well the system
responds to (or filters) variations (or frequencies) in the
input signal.
SYSTEM CONFIGURATIONS: 33
Closed-Loop (Feedback Control) Systems
EXAMPLE OF CLOSED-LOOP CONTROL SYSTEM
An autopilot mechanism and the airplane it
controls is a closed-loop (feedback) control system.
Its purpose is to maintain a specified airplane
heading, despite atmospheric changes. It performs
this task by continuously measuring the actual
airplane heading, and automatically adjusting the
airplane control surfaces (rudder, ailerons, etc.) as
to bring the actual airplane heading into
correspondence with the specified heading. The
human pilot or operator who presets the autopilot is
not part of the control system.
SYSTEM CONFIGURATIONS: 34
Computer-controlled Systems
In this system the controller or the compensator is a
digital computer.
ADVANTAGES
Many loops can be controlled or compensated by
the same computer through time sharing.
Any adjustments made to yield a desired response
can be made by changes in software rather that
hardware.
Computer can also perform supervisory function.
EXAMPLES OF CONTROL SYSTEMS 35

An electric switch is a manufactured control

system, controlling the flow of electricity. By
definition, the apparatus or person flipping the
switch is not a part of this control system.

The input to this system is the flipping of the

switch On or Off.

The output is the flow or nonflow of electricity.

EXAMPLES OF CONTROL SYSTEMS 36

A thermostatically controlled heater or furnace

automatically regulating the temperature of a room or
enclosure is a control system.
The input to this system is a reference temperature,
usually specified by appropriately setting a thermostat.
The output is the actual temperature of the room or
enclosure.
When the thermostat detects that the output is less than
the input, the furnace provides heat until the
temperature of the enclosure becomes equal to the
reference input. Then the furnace is automatically
turned off.
When the temperature falls somewhat below the
reference temperature, the furnace is turned on again.
EXAMPLES OF CONTROL SYSTEMS 37

TEMPERATURE CONTROL SYSTEM

EXAMPLES OF CONTROL SYSTEMS 38

Devise a control system to fill a container

with water after it is emptied through a
stopcock at the bottom. The system must
automatically shut off the water when the
container is filled.
 39

Pulleys
Cords

Stopper
Container

Water

Stopcock

Ball Float
EXAMPLES OF CONTROL SYSTEMS
40

OPERATION

The ball floats on the water. As the ball

gets closer to the top of the container, the
stopper decreases the flow of water. When
the container becomes full, the stopper
shuts off the flow of water.
EXAMPLES OF CONTROL SYSTEMS 41

Devise a simple control system which

automatically turns on a room lamp at
dusk, and turns it off in daylight.
Room 42

Lamp

Window

Photocell facing outdoors

Receptacles
EXAMPLES OF CONTROL SYSTEMS 43

OPERATION

At dusk, the photocell, which functions as

a light-sensitive switch, closes the lamp
circuit, thereby lighting the room. The lamp
stays lighted until daylight, at which time
the photocell detects the bright outdoor
light and opens the lamp circuit.
EXAMPLES OF CONTROL SYSTEMS 44

JAMES WATTs SPEED CONTROL SYSTEM

EXAMPLES OF CONTROL SYSTEMS
45

ROBOT USING A PATTERN-RECOGNITION

EXAMPLES OF CONTROL SYSTEMS
46

CHALLENGER

Devise a control system to automatically

raise and lower a lift-bridge to permit ships
to pass. No continuous human operator is
permissible. The system must function
entirely automatically.
SYSTEM CONFIGURATIONS 47

SEATWORK 1
How are the following open-loop systems calibrated:

A. automatic washing machine?

B. automatic toaster?
C. ohmmeter?

Explain how a closed-loop automatic washing

machine might operate.
ANALYSIS AND DESIGN 48
OBJECTIVES
Control systems engineering consists of analysis
and design of control systems configurations.

ANALYSIS
- is the process by which a systems performance
is determined. For example, we evaluate its transient
response and steady-state error to determine if they
meet the desired specifications.
- It is the investigation of the properties of an
existing system.
ANALYSIS AND DESIGN 49
OBJECTIVES
DESIGN
- The process by which a systems performance is
created or changed. For example, if a systems
transient response and steady-state error are
analyzed and found not to meet the specifications,
then we change the parameters or add additional
components to meet the specifications.
- It is the choice and arrangement of system
components to perform a specific task.
ANALYSIS AND DESIGN 50
OBJECTIVES
Design by Analysis
It is accomplished by modifying the
characteristics of an existing or standard
system configuration.

Design by Synthesis
It is by defining the form of the system
directly from its specifications.
 ANALYSIS AND DESIGN 51
OBJECTIVES
A control system is dynamic: it responds to an input by
undergoing a transient response before reaching a
steady-state-response that generally resembles the input.

3 MAJOR OBJECTIVES OF SYSTEM ANALYSIS AND

DESIGN
1. Producing the desired transient response.
2. Reducing steady-state error.
3. Achieving stability
ANALYSIS AND DESIGN 52
OBJECTIVES
1. Producing the desired transient response
First, we establish quantitative definition
for transient response. Then, analyze the
system for its existing transient response.
Finally, we adjust parameters or design
components to yield a desired transient
response.
ANALYSIS AND DESIGN 53
OBJECTIVES
2. Reducing steady-state error
- We first define steady-state errors
quantitatively, analyze systems steady state
error and then design corrective action to
reduce the steady-state error.
ANALYSIS AND DESIGN 54
OBJECTIVES
3. Achieving stability
- The total response of system is the sum of
the natural response and the forced response (in
linear DE these responses are referred to as
homogenous and particular solutions
respectively).
NATURAL RESPONSE describes the way the
system dissipates or acquires energy. The form
or nature of this response is dependent only on
the system, not the input.
ANALYSIS AND DESIGN 55
OBJECTIVES
3. Achieving stability
NATURAL RESPONSE describes the way
the system dissipates or acquires energy.
The form or nature is dependent only on
the system, not the input.
FORCED RESPONCED The form or nature
is dependent on the input.
ANALYSIS AND DESIGN 56
OBJECTIVES
3. Achieving stability
For a linear system:
Total Response = Natural response + Force Response

For a control system to be useful, the

natural response must
1. Eventually approach zero, or
2. Oscillate
ANALYSIS AND DESIGN 57
OBJECTIVES
3. Achieving stability
INSTABILITY The condition wherein the
natural response is so much greater than
the forced response that the system is no
longer controlled. It could lead to self-
destruction of the physical device if limit
stops are not part of the design.
If the system is stable, the proper transient
response and steady-state error
characteristics can be designed.
ANALYSIS AND DESIGN 58
OBJECTIVES
4. Other considerations
Hardware selection
Choice of sensors for accuracy
Finances or cost
Robust design
 THE DESIGN PROCESS 59

Step 1:
Determine a Step 3:
Step 2:
physical system Transform the
Draw a functional
and specifications physical system
block diagram.
from the into a schematic.
requirements.

Step 4:
Step 6: Step 5:
Use the schematic
Analyze, and test If multiple blocks,
to obtain a block
to see that reduce the block
diagram to a single
diagram, signal-
requirements and
block or closed- flow diagram, or
specifications are
loop system. state-space
met.
representation.
THE DESIGN PROCESS 60

Step 1: Transform Requirements into a

Physical System
Using the determined system requirements,
the design specifications, such as desired
transient response and steady-state
accuracy, are determined
THE DESIGN PROCESS 61
Step 1: Transform Requirements into a
Physical System
THE DESIGN PROCESS 62

Step 2: Draw a Functional Block Diagram

The qualitative description of the system is
now translated into a functional block
diagram that describes the component
parts of the system (Function and/or
hardware) and shows their
interconnection.
THE DESIGN PROCESS 63

Step 2: Draw a Functional Block Diagram

THE DESIGN PROCESS 64

Step 3: Create a schematic

The control system engineer must make
approximations about the systems and
neglect certain phenomena.
The designer starts with a simple schematic
representation and, check the assumptions
made about the physical systems through
analysis and computer simulation.
THE DESIGN PROCESS 65
Step 3: Create a schematic
THE DESIGN PROCESS 66
Step 4: Develop a Mathematical Model
(Block Diagram)
The designer then uses physical laws, such
as Kirchoffs laws for electrical networks
and Newtons law for mechanical systems,
along with simplifying assumptions, to
model the system mathematically.
THE DESIGN PROCESS 67
Step 4: Develop a Mathematical Model
(Block Diagram)
Kirchoffs and Newtons laws lead to
mathematical models that describe the
relationship between the input and the
output of dynamic systems.
a) Linear, time-invariant diferrential equation
b) Transfer Function (derived using Laplace
Transform)
c) State-space Representation
THE DESIGN PROCESS 68
Step 4: Develop a Mathematical Model
(Block Diagram)
In order to produce a mathematical model
for a system, knowledge of the parameter
values, such as equivalent resistance,
inductance, mass and damping is
required.
THE DESIGN PROCESS 69

Step 5: Reduce the Block Diagram

In order to evaluate system response, we
need to reduce large system block
diagrams to a single block with a
mathematical description that represents
the system from its input to its output.
THE DESIGN PROCESS 70

Step 6: Analyze and Design

The engineer analyzes the system to see if
the response specification and
performance requirements can be met by
simple adjustments of system parameters.
Test input signals are used both analytically
and during testing, to verify the design
THE DESIGN PROCESS 71
Step 6: Analyze and Design
Test Waveforms used in control systems
THE DESIGN PROCESS 72
Step 6: Analyze and Design
Test Waveforms used in control systems (continued)
THE DESIGN PROCESS 73
Step 6: Analyze and Design
Test Waveforms used in control systems (continued)