INTRODUCTION TO CONTROL

ENGINEERING
Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION

“CONTROL SYSTEM is an Integral Part of the

Modern Society.”
Engineering is concerned with understanding and controlling the materials
and forces of nature for the benefit of humankind.

Effective means of control means that systems be understood well and

modeled appropriately. .

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION

A control system is a system, which

provides the desired response by
controlling the output.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Present Challenge:
Modeling and control of modern, complex and interrelated systems, such as:
- traffic control systems
- efficient chemical processes
- useful robotic systems
- automating industrial processes

However, not limited only to engineering disciplines. Also applied for non-physical
systems, such as:
- economic processes
- dynamics of businesses
- social, and even political systems.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
CONTROL SYSTEM

A CONTROL SYSTEM is an interconnection of components

forming a system configuration that will provide a desired response.
Loosely speaking, control is the process of getting “something” to
do what you want it to do (or “not do,” as the case may be).
• The “something” can be almost anything. Some obvious
examples: aircraft, spacecraft, cars, machines, robots, radars,
telescopes, etc.
• Some less obvious examples: energy systems, the economy,
biological systems, the human body.
CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
CONTROL SYSTEM

Control is a very common concept.

TWO BASIC TYPES
" Manual control”
e.g., Human-machine interaction: Driving a car.

" Automatic control ”

e.g., independent machine: Room temperature control. Furnace in winter, air conditioner in
summer. Both controlled (turned “on”/“off”) by thermostat.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
TYPES OF A CONTROL SYSTEM
A. Natural, including biological (human)
These are systems that occur naturally, including biological systems like the human body. For
example, our body automatically controls temperature, heart rate, and other vital functions through
natural feedback mechanisms.
B. Man-made (robots)
These are systems created by humans, such as robots, machines, and automated processes. They
are designed to perform specific tasks and can be controlled either manually or automatically using
engineered systems.
C. Combination of natural and man-made
These systems involve an interaction between natural and man-made elements. For instance,
human-machine interfaces where humans control machines or devices, blending natural control
(human decision-making) with man-made systems (robots, computers).

INTRODUCTION Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)

 INTRODUCTION
CONTROL SYSTEM
DEFINITION: Control is the process of causing a system variable to conform to some
desired value, called a reference value. (e.g., variable = temperature for a climate-control
system)
ts = settling time
tr = rise time
tp = peak time
Mp = maximum overshoot

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
CONTROL SYSTEM

WHAT IS FEEDBACK AND CONTROL SYSTEM?

• Analysis of Control Systems

o Modelling, transfer functions, block diagrams, and SFG
o Root locus, Bode plots, Nyquist plots.
o Stability
• Design of Controllers
o Compensation techniques, PID, phase-lead
o Sensitivity, disturbance, rejection
• Multivariable control, robust control, adaptive control.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
FEEDBACK
Is the process of measuring the controlled variable (e.g., temperature)
and using that information to influence the value of the controlled
variable.

• Feedback is not necessary for control. But it is necessary to cater for system
uncertainty, which is the principal role of feedback.
• Control theory is truly a multi-disciplinary study that cuts across boundaries of
many disciplines.
• Math is the cornerstone of control theory.
• Electrical engineering is also an important building block, though mostly from the
aspect of signals and systems, and less from circuits.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
FEEDBACK
Is the process of measuring the controlled variable (e.g., temperature)
and using that information to influence the value of the controlled
variable.

• Mechanical engineering is likewise an important fundamental, chiefly from the

standpoint of dynamic system behavior.
• Other important foundational elements come from: physics (conservation of
energy), thermodynamics (entropy), and other scientific first principles.
• Control engineers bring value across a very wide array of industries:
• Automotive, aerospace, electronic, medical, financial. . .

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
IMPORTANCE

• Improved control is an enabling technology.

o Enhanced product quality
o Less waste.
o Leads to environment friendliness.
o Greater throughput for a given installed capacity.
o Greater yield.
o Deferring costly plant upgrades.
o Higher safety margins.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
EXAMPLES OF CONTROL SYSTEM

- engine thrust affects aircraft speed

- rudder controls aircraft yaw.
- elevator controls the pitch.
Figure 1: Aircraft Control System
- aileron controls the roll of the aircraft.
CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
EXAMPLES OF CONTROL SYSTEM

Robotic Manipulator
-servo motors (J1, J2, J3) control the
joint angles.

Figure 2: Model of the Robotic Manipulator

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
CLASSIFICATION

Continuous time and Discrete-time Control Systems

• Control Systems can be classified as continuous time control systems and

discrete time control systems based on the type of the signal used.

• In continuous time control systems, all the signals are continuous in time. But,
in discrete time control systems, there exists one or more discrete time
signals.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
CLASSIFICATION

SISO and MIMO Control Systems

• Control Systems can be classified as SISO control systems and MIMO control
systems based on the number of inputs and outputs present.

• SISO (Single Input and Single Output) control systems have one input and one
output. Whereas, MIMO (Multiple Inputs and Multiple Outputs) control systems
have more than one input and more than one output.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Some Applications of Feedback Control
CATEGORIES SPECIFIC APPLICATIONS

Ecological Wildlife and forest growth management (reference = population);

control of plant chemical wastes via monitoring lakes and rivers; air
pollution abatement (reference = chemical concentrations); water
control and distribution; flood control via dams and reservoirs
(reference = water flow rate).
Medical Medical instrumentation for monitoring and control (reference =
dosage); artificial limbs (prosthesis; reference = limb position).
Home Appliances Home heating, refrigeration, and air conditioning via thermostatic
control; electronic sensing and control in clothes dryers; humidity
controllers; temperature control of ovens (references = desired
temperature, humidity).

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Some Applications of Feedback Control
Power/energy Power system control and planning; feedback instrumentation in oil
recovery; optimal control of windmill blade and solar panel surfaces;
optimal power distribution via power factor control; power electronics
for dc-dc conversion, battery chargers, motor controls (references
= power level, optimization criteria).
Transportation Control of roadway vehicle traffic flows using sensors; automatic
speed control devices on automobiles; propulsion control in rail transit
systems; building elevators and escalators (references = vehicle flow rate,
speed, position and speed together).
Manufacturing Sensor-equipped robots for cutting, drilling die casting, forging,
welding, packaging, and assembling; chemical process control; tension
control windup processes in textile mills; conveyor speed control with optical
pyrometer sensing in hot steel rolling mills (references = position–speed
profiles).
CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Some Applications of Feedback Control
Aerospace and Missile guidance and control; automatic piloting; spacecraft control;
Military tracking systems; nuclear submarine navigation and control; fire control
systems (references = position and attitude).

Biological System The nutrient flow controls bacteria growth. Input is nutrient material.
Output is the bacteria concentration.

Population System Population depends on different factors. Inputs may be food supply and
climate conditions. Output is the population.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
BASIC ELEMENTS OF A CONTROL SYSTEM

Figure 1 Basic control system.

Input – stimulus or excitation applied to a control system from an external

source to produce a specified response.
Output – actual response obtained from a control system, which may or
may not be equal to the specified response at the input.
Process – the subsystem whose output is being controlled by the system.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Basic Elements of Control System

Objectives Results
Control System (outputs, controlled
(inputs, actuating signals)
variables)

Figure 1 Basic control system.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Basic Elements of Control System
1. Plant
This is the process you want to control (i.e. drive to the desired
state)
Note: You need to be familiar with the physics of the process in order to
control it. Requires knowledge of basic energy balance, mass balance and
material flows in the system.
2. Sensor
Eye of the control and measures the desired and actual system
output. Enables the control to see what is going on. Reports on
the state of the process.
3. Actuator Figure 2: Basic Elements of a
Moves the process from current state to the desired state. If the Control System
sensor is the eye, then the actuator is the muscle. It influences
the controlled variable.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Basic Elements of Control System

4. Controller/Compensator
Takes the sensor information and decides how to actuate
the plant to achieve the desired state. So, it computes the
control effort to apply to the actuator, based sensor
readings.

5. Disturbance
Some system input that we do not control.
Figure 2: Basic Elements of a
In this course, we will start with the mathematical Control System
representation of the plant. We will then proceed to learn
tools for analysis. Look at different control schemes to
achieve control objectives.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Sample Problem 1
Consider the system designed to maintain the temperature of your
house/apartment. Identify the basic elements of the system.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Sample Problem 1
Consider the system designed to maintain the temperature of your
house/apartment. Identify the basic elements of the system.

Plant = House Variable = Temperature Controller = Gas Valve

Sensor = Thermostat Disturbance = Heat Loss Actuator = Furnace, Gas

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
GENERAL CLASSIFICATION OF CONTROL SYSTEMS
OPEN-LOOP CONTROL SYSTEM
A system that utilizes a device to control the process without using feedback, thus the output has no effect
upon the signal to the process. (control action is totally independent of output of the system)
An open-loop control system is less stable, cheaper, and simpler to implement.

ex. switching ON an electric bulb, turning ON an electric fan

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
GENERAL CLASSIFICATION OF CONTROL SYSTEMS
Features: Less Accurate (poorly equipped to handle feedback and not reliable), simple, cheap
(economic), convenient to use when output is difficult to measure
Controller can be an amplifier, mechanical linkage, or the control element
Examples: Electric Washing Machine, Spraying, Drilling, On/off processes.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
GENERAL CLASSIFICATION OF CONTROL SYSTEMS

1. Control element: This determines the action to be taken as a result of the input to the
system.
2. Correction element: This has an input from the controller and gives an output of some
action designed to change the variable being controlled.
3. Process: This is the process of which a variable is being controlled. There is no
changing of the control action to account for any disturbances which change the output
variable

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
GENERAL CLASSIFICATION OF CONTROL SYSTEMS
CLOSED-LOOP CONTROL SYSTEMS
A system that uses a measurement of the output and feedback of this signal to compare it with the
desired input (reference or command). This is also called a feedback control system.
A closed-loop control system is more stable, more expensive, and more complex to implement.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
GENERAL CLASSIFICATION OF CONTROL SYSTEMS

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
GENERAL CLASSIFICATION OF CONTROL SYSTEMS
The effect of the feedback on a control system:
1. Reduction of system error
2. Stability
3. Sensitivity – responsiveness (sensitive changes)

➢ In the closed loop system, the output is

measured continuously and fed back to the
input.
➢ The presence of feedback compensates for
disturbances and improves the accuracy of the
system.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
GENERAL CLASSIFICATION OF CONTROL SYSTEMS
1. Comparison element: This element compares
the required value of the variable being controlled
with the measured value of what is being
achieved and produces an error signal:
error = reference value signal - measured actual
value signal
Thus, if the output is the required value, then there is
no error and so no signal is fed to initiate control.
Only when there is a difference between the required
value and the actual values of the variable will there
be an error signal and so control action initiated.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
GENERAL CLASSIFICATION OF CONTROL SYSTEMS
2. Control law implementation element: The control law
element determines what action to take when an error
signal is received. It is used by the element may be just to
supply a signal which switches on or off when there is an
error, as in a room thermostat, or perhaps a signal which is
proportional to the size of the error. With a proportional
control law implementation, if the error is small a small
control signal is produced and if the error is large a large
control signal is produced.

Other control laws include integral mode where a control The term control unit or controller is
signal is produced that continues to increase as long as often used for the combination of the
there is an error and derivative mode where the control comparison element, i.e. the error
signal is proportional to the rate at which the error is detector, and the control law
changing. implementation element.
CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
GENERAL CLASSIFICATION OF CONTROL SYSTEMS
3. Correction element: The correction element or, as it is
often called, the final control element, produces a change
in the process which aims to correct or change the
controlled condition. The term actuator is used for the
element of a correction unit that provides the power to
carry out the control action.

4. Process: The process is the system in which there is a

variable that is being controlled, e.g. it might be a room in
a house with its temperature being controlled.

5. Measurement element: The measurement element

produces a signal related to the variable condition of the
process that is being controlled. For example, it might be a
temperature sensor with suitable signal processing.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
GENERAL CLASSIFICATION OF CONTROL SYSTEMS

OPEN LOOP CONTROL SYSTEM CLOSED LOOP CONTROL SYSTEM

Control action is independent of the Control action is dependent of the

desired output. desired output.
Feedback path is not present. Feedback path is present.

These are also called as non-feedback These are also called as feedback
control systems. control systems.
Accuracy is low. Accuracy is high.

Less reliable. More reliable.

Easy to design. Complex to design.

Less Expensive. Expensive.

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Historical Developments of Control System

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Historical Developments of Control System
1995 Integration of Digital Control in Industrial Automation
2000 Expansion of Model Predictive Control (MPC)
2005 Emergence of Networked Control Systems
2010 Rise of Autonomous Systems and Robotics
2015 Adoption of Cyber-Physical Systems (CPS)
2018 Artificial Intelligence (AI) in Control Systems
2020 Advances in Edge Computing for Control Systems
2022 Quantum Computing and Control Systems
2023 AI-Powered Predictive Maintenance
2024 Expansion of Human-Machine Collaboration

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Human vs. Machine

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Advantages of Control System

A) power amplification
- a crane operator hoisting bricks at a construction site
B) remote control
- robots are controlled to work on a radioactive environment
C) convenience of input form
- using the thermostat knob of the air-conditioning unit (aircon) to control the temperature of
the room
D) compensation from disturbances
- autopilots landing an aircraft safely under a stormy condition

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Response Characteristics of a Control System

A) Transient response
- physical entities cannot change their states instantaneously
- determines the speed of the system (affects human factor such as comfort and patience)
B) Steady-state response
- the approximation to the input signal or command
C) Steady-state error
- determines the accuracy of the control system
- inherent in the system’s design
- tolerance depending on the nature of the application

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Objectives in Designing Control Systems

1) To produce the desired transient response

2) To reduce the steady-state error
3) To achieve stability of the system

CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Test Waveforms Used in Control Systems
a) Impulse
infinite at t=o and zero elsewhere.
area under the unit impulse is 1
places an initial energy to the system

b) Step
a constant command
used to evaluate the transient
response and steady-state response of a
system
CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 INTRODUCTION
Test Waveforms Used in Control Systems
c) Ramp
linearly increasing command.
used to determine additional
information on the steady-state response
of a system.
d) Sinusoid
sine or cosine waves
used to provide mathematical model to
a system.
commonly used in audio amplifiers.
CONTROL ENGINEERING/FEEDBACK AND CONTROL SYSTEM Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)
 ANNOUNCEMENTS
End of Discussion

… TBA

DIFFERENTIAL CALCULUS Silverio V Magday Jr, ECE, ECT, CSPE, ME EE(u)