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Control System

This document provides an introduction to a course on control systems. It outlines the course mechanics including the instructor, schedule, textbooks, learning objectives, and assessment. Key topics that will be covered in the course include obtaining mathematical models of physical systems, analyzing system behavior, and designing compensators using root locus and frequency domain approaches. The document also provides brief introductions to what a control system is, different control system configurations, the history of feedback control systems, and why learning control systems is important.

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msm158
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323 views

Control System

This document provides an introduction to a course on control systems. It outlines the course mechanics including the instructor, schedule, textbooks, learning objectives, and assessment. Key topics that will be covered in the course include obtaining mathematical models of physical systems, analyzing system behavior, and designing compensators using root locus and frequency domain approaches. The document also provides brief introductions to what a control system is, different control system configurations, the history of feedback control systems, and why learning control systems is important.

Uploaded by

msm158
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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Ghulam Mustafa

Spring 2014

Lecture-1 Introduction Course Mechanics What is a Control System? Control System Congurations History of Feedback Control Systems Why Learn Control Systems?

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Course Mechanics
Instructor: Dr. Ghulam Mustafa, Senior Engineer in Electrical Engineering Oce: SE-302 DTD Building Phone: (051) 2207381 x3403 Email: [email protected] Web: www.pieas.edu.pk/gm Schedule: Monday-Wednesday: 10:35am11:30am (SE-313) Oce Hours: Tuesday and Wednesday, 2-3pm Prerequisites: A basic course on control systems.

Course Mechanics

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Recommended Texts: 1. K. Ogata, Modern Control Engineering, 5th edition, Prentice Hall, 2009. 2. R.C. Dorf and R.H. Bishop, Modern Control Systems, 12th edition, Prentice Hall, 2010. 3. F. Golnaraghi and B.C. Kuo, Automatic Control Systems, 9th edition, Wiley, 2009. 4. G.C. Goodwin, S.F. Graebe and M.E. Salgado, Control System Design, Prentice Hall, 2000. Learning Objectives: In this course, students will: 1. Learn how to obtain mathematical models for dierent types of physical systems 2. Learn how to analyze the behavior of a system, i.e., stability, transient and steady-state responses
Course Mechanics 1-3

3. Study the design of controllers to achieve the desired response of the system using root locus method 4. Study the design of compensators utilizing the frequency domain approach Learning Outcomes: This course will enable the students to design compensators for SISO systems. The students will be able to utilize the root locus and frequency domain approaches to design lead, lag, lead-lag compensators. They will also be able to design very commonly used PID controller.

Course Mechanics

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Assessment: Students performance in this course will be assessed as follows:


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Homework: 10 Sessional Exams: 40 Final Exam: 50

Computer Aided Control Systems Analysis and Design:


Computers are playing an important role in the design of modern engineering systems. MATLAB is a popular software package developed by Mathworks, Inc., USA for numerical computation, visualisation and programming. It provides a number of toolboxes for the analysis and design of control systems. In this course, we shall use MATLAB together with its control systems toolbox for most computations. A good source to learn using MATLAB for the analysis and design of control systems is to use the tutorials at http://ctms.engin.umich.edu/CTMS. These tutorials were originally developed by Prof. Bill Messner at Carnegie Mellon (CMU) and Prof. Dawn Tilbury at the University of Michigan and later revised by Asst. Prof. Rick Hill at U Detroit-Mercy and PhD Student JD Taylor at CMU.

Course Mechanics

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What is a Control System?


No standard denition! What is Control?
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As a noun, control means the power to inuence or direct peoples behavior or the course of events As a verb, control means determine the behavior or supervise the running of (something)

What is a System?
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A set of connected things or parts forming a complex whole A set of things working together as parts of a mechanism or an interconnected network
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What is a Control System?

A control system is an interconnection of components forming a conguration that will provide a desired response. (Dorf) A control system consists of subsystems and processes assembled for the purpose of obtaining a desired output with desired performance, given a specied input. (Nise)

What is a Control System?

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Control System Congurations


Mathematically, a system can be viewed as a mapping from a set of input signals to a set of output signals:

Output

System/Process/Plant

Input

The behavior of this system is controlled by manipulating its input. There are two conguration of the control system:
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Open-loop control system Closed-loop control system

Control System Congurations

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Open-Loop Control System


Output Plant Input Controller Desired Output

Output of the system has no eect on the control action. Examples: 1. Washing machine; soaking, washing and rinsing in the washing machine operate on time basis. The machine does not measure the output signal, that is, the cleanliness of clothes. 2. Trac control; signal changes to amber, red and green according to a preset time. The output of the system, the density of the trac on any road, is not measured. 3. Microwave oven
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Closed-Loop Control System


Disturbances r ym e Controller u System y

Measurements

Output of the system is measured, compared with the desired output and error is used to generate the control action. Examples: 1. Automobile steering: The driver looks at the autos location on the road and make appropriate adjustments. 2. Electric iron
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Exercise 1 An automobile driver uses a control system to maintain the speed of the car at a prescribed level. Sketch a block diagram to illustrate this feedback system showing the cause-eect relationship and the feedback (if present). Identify the function of each block and the desired input variable, output variable, and measured variable.

Control System Congurations

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Exercise 2 The accurate control of a nuclear reactor is important for electric power generation. Assuming the number of neutrons present is proportional to the power level, an ionization chamber is used to measure the power level. The current i0 is proportional to the power level. The position of the graphite control rods moderates the power level. Sketch the block diagram describing the operation of the feedback control loop.

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Exercise 3 A common example of a two-input control system is a home shower with separate valves for hot and cold water. The objective is to obtain (1) a desired temperature of the shower water and (2) a desired ow of water. Sketch a block diagram of the closed-loop control system.

Control System Congurations

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History of Feedback Control Systems


The best way to understand an area is to examine its evolution and the reasons for its existence. Feedback control is an engineering discipline and its progress is closely tied to the practical problems that needed to be solved during any phase of human history. The key developments in the history of mankind that aected the progress of feedback control were: 1. The preoccupation of the Greeks and Arabs with keeping accurate track of time. This represents a period from about 300 BC to about 1200 AD. 2. The Industrial Revolution in Europe. The Industrial Revolution is generally agreed to have started in the third quarter of the eighteenth century; however, its roots can be traced back into the 1600s.
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3. The beginning of mass communication and the First and Second World Wars. This represents a period from about 1910 to 1945. 4. The beginning of the space/computer age in 1957. In 1868, between the Industrial Revolution and the World Wars, control theory began to acquire its written language- the language of mathematics. J.C. Maxwell provided the rst rigorous mathematical analysis of a feedback control system. He formulated a mathematical model for a governor control of a steam engine. We may call the period from 1868 to the early 1900s the primitive period of automatic control. It is standard to call the period from then until 1960 the classical period, and the period from 1960 through present times the modern period. Read more about the history of control systems at http://www.uta.edu/utari/acs/history.htm
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Why Learn Control Systems?


Control systems are an essential part of modern engineering systems with applications ranging from space vehicles to robotics to modern manufacturing systems. Moreover, industrial systems involving control of temperature, pressure, ow, etc., all depend on control systems. It is important that engineers and scientists are familiar with the theory and practice of control systems. To learn more about the applications of control systems, read the essay Control Systems are Ubiquitous on IEEE Control Systems Society website at: www.ieeecss.org/general/control-systems-are-ubiquitous

Why Learn Control Systems?

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