2019/8/10

Basic Info.
SCA
(Summer, Autum 2020A) • Course credits: 10.5
• Course hours:
108 hrs = 81 hrs lectures + 27 hrs labs
Instructor: M. en I. A. Raymundo Hernández Bárcenas • Grading:
• 1 & 2 partials:
Email: rayhb.max@gmail.com homework - 10%
lab - 20%
exam - 70%
partial 3:
investigations - 20%
project – 40%, exercises – 40%

Basic Info.
Basic Info. • Computer tool:
• Books and references: MATLAB with control
Available from bookstore and library toolbox
– a high-level language and
“Automatic Control Systems”, Benjamin C. Kuo & F. interactive environment
Golnaraghi – enables you to perform
computationally intensive tasks
faster than C, C++, and Fortran
“Modern Control Engineering”, Katsuhiko Ogata – a powerful tool for control
system designers
“Feedback Control of Dynamic Systems”, Gene F.
Franklin et al

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• Understand the basic

Goals of this concepts and disciplines of Goals of this
course automatic control course • Introduction to other
topics in modern control
• Know how to conduct design engineering
and analysis of linear control
system with the following
techniques: • Use Matlab to design and
– Mathematical modeling analyze control systems
techniques
– Time-domain analysis
techniques
– Root-locus analysis
techniques
– Frequency-domain analysis
techniques

• What is a control system?

Outline • A brief history of control
ESIME UPT IPN • Basic components of a control
AIRCRAFT CONTROL SYSTEMS system
• Open-loop control vs. closed-loop
control
UNIT I
• Classification of control systems
1 Introduction to Control Systems
• Basic requirements of control
1.1 Basic Definitions systems
• Summary

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• Generally speaking, a control A brief history of control

What is a system is a system that is
control used to realize a desired
system? output or objective. • Two of the earliest examples
– Water clock (270 BC)
– Self-leveling wine vessel (100BC)
• Control systems are
everywhere The idea is still
– They appear in our homes, in cars, in used today, i.e.
industry, in scientific labs, and in flush toilet
hospital…
– Principles of control have an impact on
diverse fields as engineering,
aeronautics ,economics, biology and
medicine…
– Wide applicability of control has many
advantages (e.g., it is a good vehicle for
technology transfer)

A brief A brief
history of – Fly-ball governor (James history of – Fly-ball governor (James
Watt,1789) Watt,1789)
control control

• the first modern controller

• regulated speed of steam engine
• reduced effects of variances in load
• propelled Industrial Revolution

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 Birth of mathematical control

theory A brief history of control
 G. B. Airy (1840)
 the first one to discuss instability in a
feedback control system • Birth of classical control design method
A brief  the first to analyze such a system – H. Nyquist (1932)
history of using differential equations
• developed a relatively simple procedure to determine
 J. C. Maxwell (1868)
control  the first systematic study of the
stability from a graphical plot of the loop-frequency
response.
stability of feedback control
 E. J. Routh (1877) – H. W. Bode (1945)
 deriving stability criterion for linear • frequency-response method core of classical
systems – W. R. Evans (1948) control design
 A. M. Lyapunov (1892) • root-locus method
 deriving stability criterion that can be
applied to both linear and nonlinear
differential equations With the above methods, we can design control systems
 results not introduced in control that are stable, acceptable but not optimal in any meaningful
literature until about 1958 sense.

A brief history of control

• Development of modern control design A brief history of control
– Late 1950s: designing optimal systems in some
meaningful sense – Recent applications of modern control theory
– 1960s: digital computers help time-domain include such non-engineering systems as biological,
biomedical, economic and socioeconomic systems…
analysis of complex systems, modern control
theory has been developed to cope with the
increased complexity of modern plants
– 1960s~1980s: optimal control of both
deterministic and stochastic systems; adaptive
control and learning control
– 1980s~present: robust control, H-inf control…

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Basic components of a control system Basic concepts of a control system

1.Plant: a physical object to be
Plant Plant controlled such as a mechanical device,
a heating furnace, a chemical reactor or
Controlled Variable a spacecraft.
Expected Value
2.Controlled variable: the variable
Controlled controlled by Automatic Control
Controller variable
System , generally refers to the
system output.
Actuator
Sensor 3.Expected value : the desired
Expected
value
value of controlled variable based on
Disturbance requirement, often it is used as the
reference input

Controller
4.Controller: an agent that can Block diagram of a control system
calculate the required control signal. n Disturbance

r e u y
Controller Actuator Plant
Expected Controlled
5.Actuator: a mechanical device that value - Error variable

Actuator
takes energy, usually created by air,
electricity, or liquid, and converts that
Sensor
into some kind of motion.
lead-out point:
6.Sensor : a device that senses a comparison component Here, the signal is
Sensor physical quantity and converts it into a (comparison point) : transferred along
signal which can be read by an observer its output equals the two separate routes.
or by an instrument. algebraic sum of all input The Block represents
signals. the function and name of its
7.Disturbance: the unexpected factors corresponding mode, we don’t
disturbing the normal functional “+”: plus; “-”: minus need to draw detailed structure,
Disturbance
relationship between the controlling and and the line guides for the transfer route.
controlled parameter variations.

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Open-loop control systems Open-loop control systems

• Open-loop control systems: those systems in which • Examples
the output has no effect on the control action. – Washing machine
System Control System
input signal output
CONTROLLER PLANT

• The output is neither measured nor fed back for – Traffic signals
comparison with the input.
• For each reference input, there corresponds a fixed
operating conditions; the accuracy of the system
Note that any control systems
depends on calibration.
that operates on a time basis
• In the presence of disturbances, an open-loop system are open-loop.
will not perform the desired task.

Open-loop control systems

Open-loop control systems
• Some comments on open-loop control
systems
– Simple construction and ease of
• When should we apply open-loop control?
maintenance.
– Less expensive than a closed-loop – The relationship between the input and
Good
system. output is exactly known.
– No stability problem. – There are neither internal nor external
– Recalibration is necessary from disturbances.
time to time. Bad – Measuring the output precisely is very
– Sensitive to disturbances, so less hard or economically infeasible.
accurate.

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Closed-loop control systems

Closed-loop control systems
• Closed-loop control systems are often referred to as
feedback control systems.
• The idea of feedback:
• In practice, feedback control system and
– Compare the actual output with the expected value.
– Take actions based on the difference (error).
closed-loop control system are used
interchangeably
Expected Control System
value Error signal output
CONTROLLER PLANT
• Closed-loop control always implies the use of
feedback control action in order to reduce
system error
– This seemingly simple idea is tremendously powerful.
– Feedback is a key idea in the discipline of control.

Example 1 : Example 2:
flush toilet Cruise control
Plant: water tank
mv  bv  ueng  uhill
Input: water flow
Output: water level h(t ) ueng  k (vdes  v) Disturbance
lever
Expected value: h0 Road grade uhill
Sensor: float h0 Desired Control Actual
Controller: lever velocity vdes signal
Calculation Auto velocity v
Actuator: piston Engine
element body
Reference Error ueng Controlled
Controller Actuator Plant input variable
Controller Actuator Plant
h0 q1 (t ) Water h(t )
Lever Piston
Tank Sensor

Speedometer
Measured
Float velocity
Sensor Sensor noise
Disturbance

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Example 2: Note • In this example, we ignore the dynamic

response of the car and consider only the
Cruise control
steady behavior.
– Dynamics will play a major role in later
chapters.

mv  bv  uengine  uhill • There are limits on how high the gain k
uengine  k (vdes  v) can be made.
Stability/performance
vss  vdes as k   – when dynamics are introduced, the




Steady state velocity approaches desired velocity as k → ∞;
Smooth response: no overshoot or oscillations
feedback can make the response worse
Disturbance rejection than before, or even cause the system

Effect of disturbances (eg, hills) approaches zero as k → ∞ to be unstable.
Robustness

Results don’t depend on the specific values of b, m or k, for k
sufficiently large

Comments on feedback control Comments on feedback control

• Main advantages of feedback: • Potential drawbacks of feedback:

– reduce disturbance effects – cause instability if not used properly

– make system insensitive to variations – couple noise from sensors into the

– stabilize an unstable system dynamics of a system

– create well-defined relationship between – increase the overall complexity of a system

output and reference

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Comments on feedback control Other examples of feedback

• Feedback control design:

how to
get the gain as large as possible to reduce Feedback systems
the error are not limited to
engineering but can
without be found in various
making the system become unstable. non-engineering
fields as well.

Other examples of feedback

Open-loop vs. closed-loop
The human body is highly advanced feedback • Open-loop
Closed-loop control

control system. control

Simple structure, Ability to correct error
low cost
Body temperature and blood pressure are High accuracy and
kept constant by means of physiological Easy to regulate resistance of disturbance
feedback.
Complex structure,
Low accuracy and high cost
Feedback makes the human body relatively resistance to
insensitive to external disturbance. Thus disturbance Selecting parameter is
critical (may cause
we can survive in a changing environment. stability problem)

Open-loop＋Closed-loop＝Composite control system

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Classification
of control
Thinking time… systems
Examples of open-loop
control and closed-loop 1. According to
control systems ? structure

Open-loop Closed-loop Composition

control control control
For each system, could
you identify the sensor,
actuator and controller?

Classification Classification
of control of control
systems systems
2. According to 3. According to f ( x1 )  y1 f ( x2 )  y 2
reference input system superposition principle
characteristics f ( x1  x2 )  f ( x1 )  f ( x2 )  y1  y2

Constant-value Servo/tracking Programming • superposition principle applies

control control control Linear
control • described by linear
differential equation
• the reference input • the reference input may • the input changes system
(expected value) is a constant be unknown or varying according to a program
value • the controller works to • the controller works
• the controller works to make the output track according to predefined Nonlinear
keep the output around the the varying reference command • described by nonlinear
control
constant value e.g. automatic e.g. numerical control differential equation
e.g. constant-temperature navigation systems on machine system
control, liquid level control boats and planes,
and constant-pressure control. satellite-tracking
antennas

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Remark on nonlinear systems Classification of control systems

• Quite often, nonlinear characteristics are 4. According to

intentionally introduced in a control signal form
system to improve its performance or
provide more effective control. Continuous
control All the signals are functions
For instance, to achieve minimum-time control, an on-off of continuous time variable t
(bang-bang or relay) type controller is used in many system
missile or spacecraft control systems
Discrete Signals are in the form of
• There are no general methods for solving a control either a pulse train or a
wide class of nonlinear systems system digital code
e.g. digital control system

Remark on digital control systems Classification of control systems

• A digital control system refers to the use of 5. According to
a digital computer or controller in the parameters
system, so that the signals are digitally
coded, such as in binary code.
Time- The parameters of a control
• Digital computers provide many advantages system are stationary with
invariant
in size and flexibility. respect to time
system
– The expensive equipment used in a system may be
shared simultaneously among several control System contain elements that
channels. Time-varying drift or vary with time
– Digital control systems are usually less sensitive system e.g. Guided-missile control system, time-
to noise. varying mass results in time-varying
parameters of the control system

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Basic requirements for control systems

Note • For a control system, the above
three performance indices
• Stability: refer to the ability of a system to (stability, quickness, accuracy) are
recover equilibrium sometimes contradictory.
• Quickness: refer to the duration of transient
process before the control system to reach its
equilibrium • In design of a practical control
system, we always need to make
• Accuracy: refer to the size of steady-state
compromise.
error when the transient process ends
(Steady-state error=desired output – actual
output)

Review questions Summary

What is a
1. A closed-loop control system is usually more accurate than
an open-loop system. (T) (F) control system?
Open-loop control
2. Feedback is sometimes used to improve the sensitivity of a
control system. (T) (F) A brief history
3. If an open-loop system is unstable, then applying feedback of control
will always improve its stability. (T) (F) Closed-loop control
4. Feedback can cause instability. (T) (F)
5. Nonlinear elements are sometimes intentionally introduced Feedback:
to a control system to improve its performance. (T) (F) Plant • reduce disturbance effects
6. Discrete-data control systems are more susceptible to noise Controlled 
Variable
• provide extra freedom for control design
due to the nature of its signals. (T) (F) Expected Value • may cause instability
Controller
Classification
Actuator
of control
Sensor systems
Disturbance
Requirements: Stability, Quickness, Accuracy

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Some suggestions on course study

• Pay enough attention

– Control theory is very interesting, very
useful, but sometimes, very difficult.

• Practice, practice and practice

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