MCE 101:
Fundamentals of Mechatronics Engineering
Module1_2: Control Systems
Department of Mechatronics Engineering
School of Electrical Engineering and Technology (SEET)
Federal University of Technology Minna, Niger State.
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Section Outcome
▪ Introduction to Control Systems
▪ Components of Control Systems
▪ Types of Control Systems
▪ Classifications of Control Systems
▪ Examples of Control Systems
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Introduction to Control Systems
❑ Basically there exist numerous control applications around us. Lets start by considering the
human body wherein we have numerous pancreas as well as sub systems that regulates the
sugar level in our body, temperature etc.
❑ In the like manner, we also have Control systems as integral part of our modern society . The
application ranges from the PCs, Ovens, washing machine, phones, applications and
subsystems in our cars, the rocket fire, the space shuttle lifts off to earth orbit; self guided
vehicles and rockets; the mobile Robots we develop and lots more.
❑ Before we go deep into these control applications lets consider the definition of control
systems.
❑ Basically A control system consists of subsystems and processes assembled for the purpose
of obtaining a desired output with desired performance given a specified input.
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Introduction to Control Systems
❑ The controlled variable is the quantity or condition that is measured and
controlled.
❑ The manipulated variable is the quantity or condition that is varied by the
controller so as to affect the value of the controlled variable. Normally, the
controlled variable is the output of the system.
❑ Control means measuring the value of the controlled variable of the system and
applying the manipulated variable to the system to correct or limit deviation of the
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measured value from a desired value.
Introduction to Control Systems
Manipulated Variable
Input
or
Output
Set point
Or
or Controller Process Controlled Variable
reference
Plants. A plant may be a piece of equipment, perhaps just a set of machine parts
functioning together, the purpose of which is to perform a particular operation. Any
physical object to be controlled (such as a mechanical device, a heating furnace, a
chemical reactor, or a spacecraft) a plant. 5
Introduction to Control Systems
❑ Process is a natural, progressively continuing operation or development marked by a series of
gradual changes that succeed one another in a relatively fixed way and lead toward a particular
result or end; or an artificial or voluntary, progressively continuing operation that consists of a
series of controlled actions or movements systematically directed toward a particular result or
end. Any operation to be controlled a process. Examples are chemical, economic, and
biological processes.
❑ That is a device, plant, or system under control. The input and output relationship represents
the cause-and-effect relationship of the process.
Input Process Output
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Introduction to Control Systems
❑ A system is a combination of components that act together and perform a certain
objective. A system is not limited to physical ones. The concept of the system can
be applied to abstract, dynamic phenomena such as those encountered in
economics. The word system should, therefore, be interpreted to imply physical,
biological, economic, and the like, systems.
In general, a system is an interconnection of elements and devices for a desired
purpose.
❑ Disturbance is a signal that tends to adversely affect the value of the output of a
system. If a disturbance is generated within the system, it is called internal, while an
external disturbance is generated outside the system and is an input. 7
Introduction to Control Systems
Having defined the fundamentals as it relates to control. So now what is a control
system.
Basically a Control System can be defined as any of the following ;
A system Controlling the operation of another system.
A system that can regulate itself and another system.
A control System is a device, or set of devices to manage, command, direct or
regulate the behaviour of other device(s) or system(s).
That means that a control system would be a interconnection of components forming
a system configuration that will provide a desired response.
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Introduction to Control Systems
❑ Feedback control refers to an operation that, in the presence of disturbances, tends to reduce
the difference between the output of a system and some reference input and does so on the
basis of this difference. Here only unpredictable disturbances are so specified, since
predictable or known disturbances can always be compensated for within the system.
❑ Performance: There are the metrics to which a judgment on a control system is made. It is
two forms namely Transient response and Steady State error.
❑ Take for instance: The lift or escalator system passenger comfort and passenger patience are
dependent on these two metrics. If the response is too fast the passenger comfort is sacrificed
; if too slow the patience is also sacrificed. The steady state error is another factor that can
sacrifice the safety and convenience of the passenger if the lift did not level well.
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Introduction to Control Systems
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Introduction to Control Systems: System Configurations
Control Systems are classified into
two configurations namely the
Open Loop Control System and the
Closed Loop Control System.
Open Loop Control
System
Control System
Closed Loop Control
System
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Introduction to Control Systems: System Configurations
Open Loop Control System.
Eg: Washing machine, Toaster,
Electric Fan, Microwave oven
Closed Loop Control System
Eg: Refrigerator, Electric Iron
and Air conditioner
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Introduction to Control Systems: System Configurations
Closed Loop Control Comparison of CLCS AND OLCS
Open Loop Control ❑ Accuracy : The CLC has a grater
❑ Solves all the challenges of the
❑ Compensation : The System Open Loop system. accuracy than the open loop.
does not have the capability ❑ Noise Sensitivity : The CLCS is better
❑ The input transducer converts
and cannot compensate for than the OLCS.
the input form to the form of the
any disturbance at the
controller.
controller end. ❑ Simplicity and Cost: The OLCS is better
❑ An output transducer measures off the CLCS
❑ Noisy Output: The output of
the output response and converts
the open loop is corrupted by
it to a suitable form used by the
the disturbance at the output
controller. (Feedback)
and the signal that contributes
to the Controller. ❑ CLC compensates for the
disturbance by the feedback
❑ Examples : Toaster,
path. The difference btw the
Mechanical damper and spring
output and input is effected 13
systems
through the actuating signal.
Introduction to Control Systems: System Configurations
Control System Design Steps
❑ Transform requirement into a Physical System
❑ Draw a functional block Diagram
❑ Create a schematic
❑ Develop a mathematic model
❑ Model Reduction
❑ Analyze and Design
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Introduction to Control Systems: Types of Control Systems
Classical Control System
Control System
Modern Control System
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Introduction to Control Systems: Types of Control Systems
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Introduction to Control Systems: Types of Control Systems
Natural Control System Man-Made Control Systems
The Universe
Aeroplane
Human Body 17
Introduction to Control Systems: Types of Control Systems
Manual Control System Automatic Control Control Systems
Water Heater Systems
Water Level Control
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Multivariable Control Systems
Outputs
Temp
Humidity Comparator Controller Process
Pressure
Measurements
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Feedback Control Systems
• A system that maintains a prescribed relationship between the output and some
reference input by comparing them and using the difference (i.e. error) as a means
of control is called a feedback control system.
Input error
+ Controller Process Output
-
Feedback
• Feedback can be positive or negative.
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Servo Control Systems
• A Servo System (or servomechanism) is a feedback control system in which the
output is some mechanical position, velocity or acceleration.
Modular Servo System
Antenna Positioning System
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Linear and Non-Linear Control Systems
• A Control System in which output varies linearly with the input is called a linear
control system.
u(t) Process y(t)
y(t ) = −2u(t ) + 1 y(t ) = 3u(t ) + 5
y=-2*u(t)+1
5 y=3*u(t)+5
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0 30
-5 25
y(t)
y(t)
20
-10
15
-15
10
-20
0 2 4 6 8 10
u(t)
5
0 2 4 6 8 10
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u(t)
Time invariant vs Time variant Control Systems
• When the characteristics of the system do not depend upon time itself then the
system is said to time invariant control system.
y(t ) = −2u(t ) + 1
• Time varying control system is a system in which one or more parameters vary
with time.
y(t ) = 2u(t ) − 3t
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Continuous Data Vs Discrete Data System Control Systems
❑ In continuous data control system all system variables are function of a
continuous time t.
x(t)
t
❑ A discrete time control system involves one or more variables that are known
only at discrete time intervals.
X[n]
n 24
Deterministic vs Stochastic Control Systems
❑ A control System is deterministic if the response to input is predictable and repeatable.
x(t) y(t)
t t
❑ If not, the control system is a stochastic control system
z(t)
t
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Control Systems Classification
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Thank you
Credits:
Control systems Engineering :- Noman Nise
Dr. Imtiaz Hussain :- Mehran Uni of 27
Engineering and Technology, Jamshoro Pakistan