Control Engineering: What is it?
What is Control Engineering?
Control system engineering is the branch of engineering which deals with the
principles of control theory, to design a system which gives yields the desired
behaviour in a controlled manner. Hence, although control engineering is often
taught within electrical engineering at university, it is an interdisciplinary topic.
Control system engineers analyse, design, and optimize complex systems which
consist of highly integrated coordination of mechanical, electrical, chemical,
metallurgical, electronic or pneumatic elements. Thus control engineering deals
with a diverse range of dynamic systems which include human and
technological interfacing. These systems are broadly referred to as control
systems.
Control system engineering focuses on the analysis and design of systems to
improve the speed of response, accuracy, and stability of the system.
The two methods of control system include classical methods and modern
methods. The mathematical model of the system is set up as the first step
followed by analysis, designing and testing. Necessary conditions for the
stability are checked and finally, optimization follows.
In the classical method, mathematical modeling is usually done in the time
domain, frequency domain or complex domain. The step response of a system is
mathematically modelled in time domain differential analysis to find its settling
time, % overshoot, etc. Laplace transforms are most commonly used in the
frequency domain to find the open loop gain, phase margin, bandwidth etc of
the system. The concept of the transfer function, Nyquist stability criteria,
sampling of data, Nyquist plot, poles and zeros, Bode plots, system delays all
come under the umbrella of classical control engineering stream.
Modern control engineering deals with Multiple Input Multiple Output
(MIMO) systems, State space approach, Eigenvalues, and vectors, etc. Instead
of transforming complex ordinary differential equations, modern approach
converts higher order equations to first order differential equations and solved
by vector method.
Automatic control systems are most commonly used as it does not involve
manual control. The controlled variable is measured and compared with a
specified value to obtain the desired result. As a result of automated systems for
control purposes, the cost of energy or power, as well as the cost of the process,
will be reduced increasing its quality and productivity.
Types of Control Engineering Theories
Control engineering has its own categorization depending on the different
methodologies used. The main types of control engineering include:
Classical Control Engineering
Modern Control Engineering
Robust Control Engineering
Optimal Control Engineering
Adaptive Control Engineering
Nonlinear Control Engineering
Game Theory
Classical Control Engineering
The systems are usually represented by using ordinary differential equations. In
classical control engineering, these equations are transformed and analyzed in a
transformed domain. Laplace transform, Fourier transform and z transform are
examples. This method is commonly used in Single Input Single Output
systems (SISO).
Modern Control Engineering
In modern control engineering, higher order differential equations are
converted to first order differential equations. These equations are solved very
similar to vector method. By doing so, many complications dealt in solving
higher order differential equations are solved.
These are applied in Multiple Input Multiple Output systems where analysis in
the frequency domain is not possible. Nonlinearities with multiple variables are
solved by modern methodology. State space vectors, Eigenvalues, and Eigen
Vectors belong to this category. State Variables describe the input, output and
system variables.
Robust Control Engineering
In robust control methodology, the changes in the performance of the system
with the change in parameters are measured for optimization. This aids in
widening the stability and performance, also in finding alternate solutions.
Hence in robust control, the environment, internal inaccuracies, noises, and
disturbances are considered to reduce the fault in the system.
Optimal Control Engineering
In optimal control engineering, the problem is formulated as a mathematical
model of the process, physical constraints and performance constraints, to
minimize the cost function. Thus optimal control engineering is the most
feasible solution for designing a system with minimum cost.
Adaptive Control Engineering
In adaptive control engineering, the controllers employed are adaptive
controllers in which parameters are made adaptive by some mechanism. The
block diagram given below shows an adaptive control system.
In this kind of controllers, an additional loop for parameter adjustment is
present in addition to the normal feedback of process.
Nonlinear Control Engineering
Nonlinear control engineering focuses on the nonlinearities which cannot be
represented by using linear ordinary differential equations (i.e. they are not
linear control systems). This system will exhibit multiple isolated equilibrium
points, limit cycles, bifurcations with finite escape time. The main limitation is
that it requires laborious mathematical analysis. In this analysis, the system is
divided into the linear part and the nonlinear part.
Game Theory
In game theory, each system will have to reduce its cost function against the
disturbances/noises. Hence it is a study of conflict and cooperation. The
disturbances will try to maximize the cost function. This theory is related to
robust and optimal control engineering.
CLASSIFICATION OF CONTROL SYSTEMS
A. Natural control systems: Biological systems, system inside human
being are of natural type.
B. Manmade control systems: The various systems used in daily life are
designed and manufactured by human being. • Systems like vehicles,
switches, various controllers, etc. are called manmade control systems.
C. Combinational control systems: The systems which are combination of
natural & manmade systems. Example: Driver driving vehicle.
Classification for the purpose of Design and Analysis
1. Time varying & Time invariant systems
2. Linear and Non-Linear systems
3. Continuous Time and Discrete Time control system
4. Deterministic & Stochastic Control Systems
5. Lumped Parameter & Distributed Parameter Control Systems
6. Single Input Single Output (SISO) and Multiple Input Multiple Output
Systems(MIMO):
7. Open Loop & Closed Loop Systems:
1. Time varying & Time invariant systems: Time varying control systems are
those in which parameters of the systems are varying with time. It is not
dependent on whether input and output are functions of time or not.
Example:
Space vehicle whose mass decreases with time as it leaves earth. The mass is
a parameter of space vehicle system.
The inputs and outputs are function of time but the parameters of system are
independent of time, which are not varying with time and are constants, then
system is said to be time invariant system.
2. Linear and Non-Linear systems: A system is linear if the principle of
superposition applies to it.
In actual practice most of the systems are non linear in nature because of the
saturation, friction, dead zone, etc. Most of the physical systems are non
linear to certain extent. There are some areas of dynamic characteristics
where it is possible to make a linearization. Procedure for finding the
solutions of non linear system problems are complicated and time consuming
and therefore most of the non linear systems are treated as linear systems for
the limited range of operations with some assumptions & approximations.
3. Continuous Time and Discrete Time control system
In continuous time control system all system variables are the functions
of a continuous time variable‘t’.
In discrete time systems one or more system variables are known at
certain discrete intervals of time. They are not continuously dependent on
the time. Microprocessor or Computer based systems use such discrete
time signals.
4. Deterministic & Stochastic Control Systems:
• A control system is said to be deterministic when its response to input as
well as behavior to external disturbances is predictable and repeatable.
• If such response is unpredictable, system is said to be stochastic in nature.
5. Lumped Parameter & Distributed Parameter Control Systems:
• Control Systems that can be described by ordinary differential equations is
called lumped parameter systems.
• The system which can be described by partial differential equations is
called as distributed parameter control systems.
6. Single Input Single Output (SISO) and Multiple Input Multiple Output
Systems(MIMO):
SISO:
Consider a system which has one input & one output, for instance fan has a
regulator using which we regulate the speed & the output is controlled. There is
no feedback; only one input set point i.e. the regulator setting, and only one
input set point i.e., the regulator setting, and only one output. SISO are open
loop systems.
MIMO:
Any system that has more than one input or output. The inputs may be set point
or feedback or cascaded set points and outputs can be controlled/set point for
next loop. In general such systems are complex.
7. Open Loop & Closed Loop Systems:
A system in which output is dependent on input but controlling action or input
is totally independent of the output or changes in output.
A system in which the controlling action or input is somehow dependent in the
output or changes in the output is called closed loop system. To have
dependence of input on the output, such system uses the feedback property.