Control Systems

Ruqia
Ikram

1 Institute of Space Technology (IST)

 Module1

2 Institute of Space
Technology (IST)
Course Introduction
Control Systems

 Credit Hours
 3-1 (Theory-Lab)

 Instructor
 Ruqia Ikram

 Semester
 Spring, 2024

 Email
 ruqiaikram1@[Link]

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Grading Criteria

Module
 Quizzes 10%

 Assignments 5%

 Sessional 20%

 Projects 15%

 Final Exam 50%

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Books

Text Book
 Control Systems Engineering, Norman S Nise, 6th edition.

Reference Book
 Modern Control Engineering, by Ogata 4th and 5th edition

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Introduction
 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.

 Control systems are an integral part of modern society. Numerous

applications includes a metallic part is automatically machined,
rockets fire and the space shuttle lifts off to earth orbit.

 These systems also exist in nature. Even the nonphysical world

appears to be automatically regulated.

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Introduction
Example : 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. The push of the fourth-floor button is
an input that represents our desired output.

Two major measures of performance are:

 Transient response
 steady-state error

The performance of the elevator can be seen from the elevator

response curve in the figure

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Introduction

 Passenger comfort and passenger patience are dependent upon

the transient response.
Response is too fast passenger comfort is sacrificed
Response too slow passenger patience is sacrificed.

 The steady-state error is another important performance

specification since passenger safety and convenience would be
sacrificed if the elevator did not properly level.

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Introduction
Four primary reasons to use control system:

 Power amplification
Radar antenna, positioned by the low-power rotation of a knob at the
input, requires a large amount of power for its output rotation.

 Remote control
Remote-controlled robot arm can be used to pick up material in a
radioactive environment.

 Convenience of input form

In a temperature control system, the input is a position on a
thermostat. The output is heat.

 Compensation for disturbances

The antenna system disturbted from its commanded position due to
wind forces .
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History of Control Systems
Liquid-Level Control
 Ktesibios invented water clock.
 Philon of Byzantium was applied liquid-level control to an oil lamp.

Steam Pressure and Temperature Controls

 Steam pressure began around 1681 with Denis Papin’s invention of
the safety valve.
 In 17th century, Cornelis Drebbel invented a purely mechanical
temperature control system for hatching eggs.

Speed Control
 In 1745, speed control was applied to a windmill by Edmund Lee.
 In 1809, William Cubitt improved on the idea by dividing the
windmill sail into movable louvers.
 In 18th century, James Watt invented the fly ball speed governor to
control the speed of steam engines.

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History of Control Systems
Stability, Stabilization, and Steering
 In 1868, James Clerk Maxwell published the stability criterion for a
third-order system based on the coefficients of the differential
equation.
 In 1874, Edward John Routh able to extend the stability criterion to
fifth-order systems.
 In 1892 Alexandr Michailovich Lyapunov also contributed to the
development and formulation of today’s theories and practice of
control system stability by extending the work of Routh to nonlinear
systems .
 In 1874, Henry Bessemer, using a gyro to sense a ship’s motion
and applying power generated by the ship’s hydraulic system,
moved the ship’s saloon to keep it stable.
 Nicholas Minorsky has his theoretical development applied to the
automatic steering of ships that led to proportional-plus-integral-
plus-derivative (PID), or three-mode controllers.

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History of Control Systems
Stability, Stabilization, and Steering
 In early 1930s, H.W. Bode and H. Nyquist at Bell Telephone
Laboratories developed the analysis of feedback amplifiers.
 In 1948, Walter R. Evans, working in the aircraft industry,
developed a graphical technique to plot the roots of a characteristic
equation of a feedback system whose parameters changed over a
particular range of values.

Today, control systems find widespread application includes the

guidance, navigation, and control of missiles and spacecraft, as well
as planes and ships at sea, process control industries.
Within this large control system represented by navigation, guidance,
and control are numerous subsystems to control the vehicle’s
functions.

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System Configurations
Two configurations of control systems:
 Open- loop system
 Closed-loop system

Open- loop system

Components:

 Input transducer or reference: Converts the form of the input

to that used by the controller.
 Controller : The controller drives a process or a plant
 Process or Plant: The device, plant, or system under control.
 Controlled variable: Output of system.
Example:
Plant can be a furnace or air conditioning system, output variable is
temperature, controller in a heating system consists of fuel valves and
the electrical system that operates the valves.

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System Configurations
 The distinguishing characteristic of an open-loop system is that it
cannot compensate for any disturbances.
 The output of an open-loop system is corrupted not only by signals
that add to the controller’s commands but also by disturbances at
the output.

Examples
 Toaster does not measure the color of the toast.
 Mechanical systems consisting of a mass, spring, and damper with
a constant force positioning the mass.

Closed-loop system
Closed-loop system can measure disturbances and has ability to
correct for these disturbances.
Additional component: An output transducer or sensor measures the
output response and converts it into the form used by the controller.

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System Configurations
Advantages and Disadvantages of Closed-loop system
 They have greater accuracy than open-loop systems.
 They are less sensitive to noise, disturbances, and changes in the
environment.
 Transient response and steady-state error can be controlled more
conveniently .
 Closed-loop systems are more complex and expensive than open-
loop systems.

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System Configurations

Block diagrams of control systems: (a). open-loop system; (b). closed-loop system
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Analysis and Design
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.

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.

A control system is Dynamic.

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Analysis and Design
Three major objectives of control systems analysis and design includes:

 Producing the desired transient response

 Reducing steady-state error
 Achieving stability

Transient Response
 In elevator, transient response is also important for structural reasons:
Too fast a transient response could cause permanent physical damage
 In a computer, transient response contributes to the time required to read
from or write to the computer’s disk storage

Analyze existing transient response Adjust design parameters or design

components

Yield desired response

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Analysis and Design
Steady State Response
This response resembles the input and is usually what remains after the
transients have decayed to zero. Accuracy of the steady-state response is
concerned.
 Elevator stopped at correct floor
 Head of a disk drive finally stopped at the correct track

Analyze a system’s steady-state error Design corrective action to

reduce the steady-state error

Stability
Total response = Natural response + Forced response

Natural response : Dependent only on the system, not the input

Forced response : Dependent on the input

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Analysis and Design
 For a control system to be useful, the natural response must eventually
approach zero or oscillate.

 In some systems, the natural response grows without bound and eventually,
the natural response is so much greater than the forced response that the
system is no longer controlled.

 This condition, called instability, could lead to self-destruction of the

physical device if limit stops are not part of the design.

 A time plot of an unstable system would show transient response that grows
without bound and without any evidence of a steady-state response.

 Elevator, aircraft, antenna

 Control systems must be designed to be stable. That is, their natural

response must decay to zero as time approaches infinity, or oscillate.

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Analysis and Design
Other Considerations
 Factors affecting hardware selection, such as motor sizing to fulfill power
requirements and choice of sensors for accuracy, must be considered early
in the design.

 Finances (Control system designers cannot create designs without

considering their economic impact).

 Robust design (Performance of the system also changes over time and will
not be consistent with your design, engineer wants to create a robust design
so that the system will not be sensitive to parameter changes).

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The Design Process

Step 1: Transform Requirements Into a Physical System

Transforming the requirements into a physical system.
E.g. Antenna azimuth position control system, the requirements would state the
desire to position the antenna from a remote location and describe such
features as weight and physical dimensions.

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The Design Process

Step 2: Draw a Functional Block Diagram

The designer now translates a qualitative description of the system into a
functional block diagram that describes the component parts of the system.

Step 3: Create a Schematic

Transforms the physical system into a schematic diagram.
Approximations or Assumptions must be taken about the system and neglect
certain phenomena, otherwise it would be difficult to extract a useful
mathematical model during the next phase of the analysis and design sequence.

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The Design Process

Potentiometers: Neglecting their friction or inertia.

Differential amplifier and a power amplifier: Dynamics of the amplifiers are
rapid compared to the response time of the motor.
Motor’s armature circuit: Neglecting armature inductance.

Decisions made in developing the schematic stem from knowledge of the

physical system, the physical laws governing the system’s behavior, and
practical experience.
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The Design Process

Step 4: Develop a Mathematical Model

Use physical laws along with simplifying assumptions, to model the system
mathematically. All assumptions must be checked and all simplifications justified
through analysis or testing.

Simplifying assumptions leads to a low-order form. If not assumptions are

applied, equations complicate the design process.

Ways to mathematically model a system

 Differential equation
 Laplace transform
 State-Space representation

Step 5 : Reduce the Block Diagram

Reduce the large system’s block diagram to a single block with a mathematical
description.

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The Design Process
Step 6:Analyze and Design
Analyze the system to see if the response specifications and performance
requirements can be met by simple adjustments of system parameters. If
specifications cannot be met, then designs additional hardware in order to effect
a desired performance.

Standard test input signals are used both analytically and during testing, to
verify the design. These inputs are impulses, steps, ramps, parabolas, and
sinusoids.

 An Impulse input is infinite at t = 0 and zero elsewhere.

 The Step input represents a constant command.
 The Ramp input represents a linearly increasing command.
 The sinusoidal input is varying just like sine wave.

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Reference
Chapter 1, Control Systems Engineering, Norman S Nise, 6th edition.

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