Introduction to Linear Control

Systems
(EE302)

Engr. Farooq Zia

Engr. Ahmed Ali
Engr. Naureen Naqvi
 Outline

1.1 Introduction
1 2 History of Automatic Control
1.2
1.3 Terms and Concepts
1 4 Th
1.4 The CControl
t lS System
t D
Design
i P Process
1.5 Three Examples of the Use of Feedback
1.6 Applications

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1 1 Introduction
1.1
 Control

• The word control is usually taken to

mean :
- regulate,

- direct,

- command.
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 Control Objective

• Control is a sequence of decisions aimed

at the attainment of specified
p objectives
j
in an environment of uncertainty and
presence of disturbances.
p

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 Control system

• A control system is an arrangement of

physical
p y components
p connected or
related in such a manner as to
command,, direct,, or regulate
g itself or
another system.

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Control Systems
 Input

• The input is the stimulus, excitation or

command applied
pp to a control system.
y

• Typically from external energy source

source,
usually in order to produce a specified
response from the control system
system.

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 Output

• The output is the actual response

obtained from a control system.
y

• It may or may not be equal to specified

response implied by the input.

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1.2 History of Control Systems

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 Prior to World War II

A main impetus for the use of feedback in

the United States was the development
p of
the telephone system and electronic
feedback amplifiers
p by
y Bode,, Nyquist,
yq , and
Black at Bell Telephone Laboratories.
The Russian theory tended to utilize a
time-domain formulation using differential
equations.
equations
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 World War II

Applications, Design and construct:

• automatic airplane pilots
pilots,
• gun-positioning systems,
• radar
d antenna
t control
t l systems.
t

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 Sputnik and space age

The time-domain methods developed by

Liapunov, Minorsky, and others have met
with great interest in the last two decades.
decades

Recent theories of optimal control

developed by L.S. Pontryagin in the
former Soviet Union and R. Bellman in the
United States, and studies of robust
systems, have contributed to the interest
in time-domain methods.
methods
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1 3 Terms and Concepts
1.3

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 Control system

• A control system is an interconnection of

components
p formingg a system
y configuration
g
that will provide a desired system response.

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 Two Types of Control Systems

• Open Loop • Closed Loop

– No feedback – Must have feedback
– Difficult to control – Must have sensor on
output with accuracy output
– Almost always negative
feedback

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Open loop and closed-loop
Open-loop closed loop systems
 Open-loop control

An open-loop control system utilizes an

actuating device to control the process
directly without using feedback.

A common example of an open-loop

control system is an electric toaster in the
kit h
kitchen.

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Control Systems
 Closed-loop control

A closed-loop control system uses a

measurement of the output and feedback
off this
thi signal
i l to
t compare it with
ith the
th
desired output.

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Control Systems
A person steering an automobile by looking at
the a
auto’s
to’s location on the road and making the
appropriate adjustments.

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Control Systems
 Manual control system
(for reference)

Goal: Regulate the level of fluid by adjusting the output valve.

The input is a reference level of fluid and is memorized by

operator.
operator
The power amplifier is the operator.
The sensor is visual.
Operator compares the actual level with the desired level and
opens or closes the valve ( actuator).
Intelligent Control 24
The level of fluid in a tank control.
(for reference)

Intelligent Control 25
Multivariable control system

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A robot is a computer-controlled
machine.
machine

Industrial robotics is a particular

field of automation in which the
robot is designed to substitute
for human labor.

The Honda P3 humanoid robot.

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• Automation - The control of a process by
automatic means.

• Closed-loop feedback control system -

A system
t that
th t uses a measurementt off the
th
output and compares it with the desired
output.
p

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Design-The process of conceiving or inventing
the forms, parts, and details of a system to
achieve a specified purpose
purpose.
Feedback signal - A measure of the output of
the system used for feedback to control the
system.
Multivariable control system - A system with
more than one input variable or more than
one output variable.

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Negative feedback -The output signal is fed
back so that it subtracts from the input signal.

Open-loop control system - A system that

utilizes a device to control the process without
using feedback.

Optimization -The adjustment of the parameters

to achieve the most favorable or advantageous
d i
design.
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Positive feedback -The output signal is fed
back so that it adds to the input signal.

Process -The device, plant, or system under

control.
control

Productivity -The ratio of physical output to

physical input of an industrial process.

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Robot - Programmable comp
computers
ters integrated with
ith
a manipulator.

Synthesis - The combining of separate elements

or devices to form a coherent whole
whole.

System - An interconnection of elements and

devices for a desired purpose.

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1.4 The Control System Design
Process
 Engineering design

• Design is the process of conceiving or

inventing
g the forms,, parts,
p , and details of
a system to achieve a specified purpose.

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 Approach to control systems
analysis
Control system engineers are concerned with
understanding and controlling segments of their
environment, often called systems, to provide
useful economic products and the field of linear
control systems is related to bottom up
approach since it is easy to understand various
modules of operation as the top to down
approach suggests scientific approach.

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 Modeling

Twin goals of understanding and

controlling
g are complementary
p y because
effective systems control requires that
the systems
y be understood and modeled.

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 Control Systems engineering

Control engineering is based on the

foundations of feedback theory y and
linear system analysis, and it
integrates
g the concepts
p of network
theory and communication theory.

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 Given a process,
process how to design a
feedback control system?
Three steps: Controllability, sensitivity and stability done
through the techniques of

• Modeling. Obtain mathematical description of the systems.

• Analysis.
Analysis Analyze the properties of the system
system.

• Design. Given a plant, design a controller based on

performance specifications.
specifications

The course spans each of these steps in that sequence.

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The basis for analysis of a system is
the foundation pprovided byy linear
system theory, which assumes a
cause-effect relationship
p for the
components of a system.

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The design process consists of seven main
building blocks, which are arrange into three
groups:
1.Establishment of goals and variables to be
controlled and definition of specifications
controlled,
against which to measure performance
2.System
y definition and modeling
g
3.Control system design and integrated system
simulation and analysis

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Control Systems
Design 1

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Design 2

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Design 3

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Control Systems
1 5 Design examples
1.5
1.5a) Rotating disk speed
control
t l

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 Step 1. Control goal

• Design a system that will held a rotating

disk at a constant speed. Ensure that
the actual speed of rotation is within a
specified percentage of desired speed.

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 Step 2. Variable to be controlled

• Speed of rotation disc

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 Step 3. Control design specification

• Design a system that will ensure that

the actual speed of rotation is within a
specified percentage of desired speed.
speed

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Step 4 Preliminary system configuration

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Step 4 Preliminary system configuration

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With precision components, we could expect
to reduce the error of the feedback system to
one hundredth of error of the open
one-hundredth open-loop
loop system.
system

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1 5b) Insulin delivery system
1.5b)
The blood glucose and insulin concentrations for a healthy person.
person
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 Step 1. Control goal

• Design a system to regulate the blood

sugar concentration of a diabetic by
controlled dispensing of insulin.
insulin

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 Step 2. Variable to be controlled

• Blood glucose concentration

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Step 3. Control design specification

• Provide a blood glucose level for the

diabetic that closely approximates
the glucose level of a healthy person
person.

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Step 4 Preliminary system configurations

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A drug-delivery system implanted in the body
p p system,
uses an open-loop y , since miniaturized
glucose sensors are not yet available.

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1.5c)
1 5c) Controlling the position of a missile
launcher from a remote location
The input is the desired angular position of
the missile launcher,
Th control
The t l system
t consists:
i t
of potentiometer,
power amplifier,
lifi
motor,
gearing between the motor and the missile
launcher,
missile launcher
launcher.
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 A position open loop control

The input is the desired angular position of the missile launcher,

and the control system consists of potentiometer
potentiometer, power
amplifier, motor, gearing between the motor and missile
launcher, and missile launcher.

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 A position closed loop control

Should an error exists, it is amplified and applied

to a motor drive which adjusts the output-shaft
position until it agrees with the input-shaft
position, and the error is zero.

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 1.6 Applications
Control engineering is not limited to any
engineering discipline but is equally applicable to:
aeronautical,
chemical,
mechanical,
p
computer science and engineering
g g,
civil engineering,
electrical
e ect ca e engineering.
g ee g
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Mechatronic systems

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Design flow cycle
The control system design process
The control system design process

Stepp # 01: Transform Requirement

q into a physical
p y System
y
Step # 02: Draw a Functional Block Diagram
Step # 03: Create a Schematic
Step # 04: Develop a Mathematical Model (Block Diagram)
Step # 05: Reduce the Block Diagram
Step # 06: Analyze & Design
The search for extraterrestrial life is being carried out with radio antennas like the
one pictured here.
A radio antenna is an example of a system with position controls.
Antenna azimuth position control system:
a. system concept & b. detailed layout
Antenna azimuth position control system:
c. schematic & d. functional block diagram
Equivalent block diagram for the antenna azimuth position control system
Response off a position
R i i controll system showing
h i effect
ff off high
hi h andd low
l controller
ll
gain n the output response
Test waveforms used in control systems