Control Systems Engineering

Chapter 1: Introduction
Dr.-Ing. Witthawas Pongyart
 Introduction to Control System
• What is 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.
 Introduction to Control System
• Example of a control system: Elevator

When the fourth-floor button is

pressed on the first floor, the elevator
rises to the fourth floor with a
speed and floor-leveling accuracy
designed for passenger comfort.
 Introduction to Control System
• Example of a control system: Elevator
 Introduction to Control System
• Example of a control system: Elevator
Two major measures of performance:
(1) the transient response
(2) the steady-state error.
 Introduction to Control System
• Advantages of Control Systems
We build control systems for four
primary reasons:
1. Power amplification
2. Remote control
3. Convenience of
input form
4. Compensation for
disturbances
 Introduction to Control System
• Advantages of Control Systems
We build control systems for four
primary reasons:

1. Power amplification
2. Remote control
3. Convenience of input form
4. Compensation for disturbances
 Introduction to Control System
• Advantages of Control Systems

We build control systems for four

primary reasons:

1. Power amplification
2. Remote control
3. Convenience of input form
4. Compensation for disturbances
 Introduction to Control System
• Advantages of Control Systems
We build control systems for four
primary reasons:

1. Power amplification
2. Remote control
3. Convenience of input form
4. Compensation for disturbances
 Introduction to Control System
• System Configurations
We discuss two major configurations of control systems:
open loop and closed loop.

We can consider these configurations to be the internal

architecture of the total system shown in Figure 1.1.
 Introduction to Control System
• Open Loop System

Figure 1.6 (a)

 Introduction to Control System
• Open Loop System

Plant

Input transducer
and Controller

Figure 1.6 (a)

 Introduction to Control System
• Open Loop System

The distinguishing characteristic of an

open-loop system is that it cannot
compensate for any disturbances that
add to the controller's driving signal

Figure 1.6 (a)

 Introduction to Control System
• Open Loop System

Figure 1.6 (a)

 Introduction to Control System
• Open loop System

Figure 1.6 (a)

 Introduction to Control System
• Closed Loop System
 Introduction to Control System
• Closed Loop System (Feedback control)
Controller

Sensor

Actuator

Plant
 Introduction to Control System
• Closed Loop System (Feedback control)
 Introduction to Control System
• Closed Loop System (Feedback control)
 Introduction to Control System
• Open Loop System

valve
 Introduction to Control System
• Closed Loop System (Feedback control)
 Introduction to Control System
• Control System
 Summary
• A control system consists of subsystems and plants
assembled for the purpose of obtaining a desired
output with desired performance, given a specified
input
 Summary
• There are two major configurations of control
systems: open loop and closed loop.
 Summary
open-loop system
• The distinguishing characteristic of an open-loop system is
that it cannot compensate for any disturbances that add to
the controller's driving signal
 Summary
Closed loop system
• The closed loop system is less sensitive to the disturbance.
 Analysis and Design Objectives
• Analysis is the process by which a system's performance is
determined. For example, we evaluate its transient response
and steady-state error to determine if they meet the desired
specifications.
 Analysis and Design Objectives
• Design is the process by which a system's performance is
created or changed. For example, if a system's transient
response and steady-state error are analyzed and found not
to meet the specifications, then we change parameters or add
additional components to meet the specifications.
 Analysis and Design Objectives
• The major objectives of systems analysis and design:
1. Producing desired transient response
2. Reducing steady-state error
3. Achieving stability
 Analysis and Design Objectives
Stability A60801MW
• Control system is a dynamic system.
• Total response = Natural response + Forced response
translant response
 Analysis and Design Objectives
Stability
• Control system is a dynamic system.
• Total response = Natural response + Forced response
 Analysis and Design Objectives
Stability
• Control system is a dynamic system.
• Total response = Natural response + Forced response

indeed
 Analysis and Design Objectives
Stability
• Total response = Natural response + Forced response
• The nature response is dependent only on the system,
not the input.
 Analysis and Design Objectives
Stability
• If the natural response keeps increasing, the system is
unstable.
 Analysis and Design Objectives
Stability
• For a control system to be useful, the natural response must
eventually approach zero, thus leaving only the forced response,
or oscillate. Hence the control systems must be designed to be
stable.
 Analysis and Design Objectives
• The major objectives of systems analysis and design:
1. Producing desired transient response
2. Reducing steady-state error
3. Achieving stability
• Other considerations:
– Disturbance rejection
– Robustness.
 Case Study: Antenna Azimuth
Antenna Azimuth: a position control system
• The radio telescope antennas in the figure is one
example of a system that uses position control systems
 Case Study: Antenna Azimuth
Antenna Azimuth: a position control system
System Concept: The purpose of
this system is to have the
azimuth angle output of the
antenna follow the input angle
of the potentiometer.

Detailed Layout:
The potentiometer converts the
angular displacement into a
voltage. The output angular
displacement is converted to a
voltage by the potentiometer
in the feedback path.
 Case Study: Antenna Azimuth
Antenna Azimuth: a position control system
Detailed Layout:
- The potentiometer converts the angular displacement into a voltage.
- The output angular displacement is converted to a voltage by the
potentiometer in the feedback path.
- The signal and power amplifiers boost the difference between
the input and output voltages.
-This amplified actuating signal
drives the plant.
-The system normally operates
to drive the error to zero.
When the input and output
match, the error will be zero,
and the motor will not turn.
 Case Study: Antenna Azimuth
Antenna Azimuth: a position control system
Detailed Layout:
Thus, the motor is driven only when the output and the input
do not match. The greater the difference between the input
and the output, the larger the motor input voltage, and the faster the
motor will turn.

If we increase the gain of

the signal amplifier, will
there be an increase in the
steady-state value of the
output?
 Case Study: Antenna Azimuth
Antenna Azimuth: a position control system
Detailed Layout:
If we increase the gain of the signal amplifier, will there be an
increase in the steady-state value of the output?
 Case Study: Antenna Azimuth
Antenna Azimuth: a position control system
Detailed Layout:
Steady-state error is the difference between the input and the
output after the transients have effectively disappeared.
Typically, the steady-state error decreases with an increase in
gain and increases with a decrease in gain.
 Case Study: Antenna Azimuth
Antenna Azimuth: a position control system
Detailed Layout:
Gain adjustments can affect performance and sometimes lead
to trade-offs between the performance criteria.
 Case Study: Antenna Azimuth
Antenna Azimuth: a position control system
Schematic:
- Schematic is a better way to show the
system than the detailed layout.
- However it is not convenience to draw
the schematic.
 Case Study: Antenna Azimuth
Antenna Azimuth: a position control system
Block diagram:
- The diagram is suitable for
system analysis and design.
- In Control Engineering, the
systems are shown by using
block diagram.
 Analysis and Design Objectives
Antenna Azimuth: a position control system
Note: Before analysis and design, the system must be displayed
in block diagram. Then the mathematical model of each block has
to be defined.
 Analysis and Design Objectives
Summary:
• Our design objectives and the system's performance revolve
around the transient response, the steady-state error, and
stability.
 Introduction
• The Design Process
 Conclusion
• A control system has an input, a process, and an
output. Control systems can be open loop or closed
loop.

• Open-loop systems do not monitor or correct the

output for disturbances.
• Closed-loop systems monitor the output and
compare it to the input.
 Conclusion
• Control systems analysis and design focuses
on three primary objectives:
1. Producing the desired transient response
2. Reducing steady-state errors
3. Achieving stability
 Conclusion
The design of a control system follows these steps:
1. Determine a physical system and specifications
from requirements.
2. Represent the physical system as a schematic.
3. Use the schematic to obtain a mathematical
model, such as a transfer function.
4. Reduce the block diagram.
5. Analyze and design the system to meet specified
requirements and specifications that include
stability, transient response, and steady-state
performance.