Control Systems

Chapter 1

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 Objectives

Upon completing this topic, you should know;

• the fundamentals of Control System
• the comparison between open loop and closed loop
control schemes
• the design objectives of acquiring control system

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3

• Control System Definition

- Consists of subsystems and processes/plants assembled for the
purpose of controlling the outputs of the processes.
- Provides an output or response for a given input or stimulus
- A control system is an interconnection of components forming a
system configuration that would provide a desired output in
response to input signals.

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 CONTROL SYSTEM

Input; stimulus
Output; response
Control System
Actual response
Desired response

Basic Block Diagram of Control System

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5

Control System Objectives

• Control/regulate the output from some process to be
constant at the required/desired value.
• Make the process output follow a particular changing
form.

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 Advantages of Control System
• We build control systems for four primary reasons:
 -Power amplification - e.g. radar antenna position
 -Remote control - e.g. robots in contaminated areas
 -Convenience of input form - e.g. temperature control system
 -Compensation for disturbances - e.g. antenna position in the
presence of strong wind
In addition, we can
• move large equipment with precision
• point huge antennas toward the farthest reaches of universe to
pick up faint radio signals

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 Some amEXAMPLEtrol System Applications

1. The student-teacher learning process.

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2. Modern ship uses electrical, mechanical and hydraulic components to develop
rudder commands in response to desired heading commands to steer the ship.

Simplified block diagram of a ship steering control

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3. Thickness control system for a steel plate finishing mill.

Steel plate thickness control system

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4. Aircraft wing control system.

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5. Anti-aircraft radar-tracking control system.

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 Response Characteristics
• A control system responses to an input by undergoing a transient
response, before reaching a steady state.
• Response characteristic – input, output, transient response, steady-
state response and steady-state error

desired response gradual change before the steady state

response

Actual response

differences between
inputSlide
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 Response Characteristics
• Input/stimulus – a desired response
• Output – the actual response
• Transient response – a gradual change from one steady state
to another when there are changes in the input
• Steady-state response – a state after transient component
settle down
• Only exists for a stable system
• Steady-state error – the differences between input and
output

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 A typical response of a system to a step input.

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15

• The output signal of OLCS is not fed back to influence the control action
• The control action of an OLCS depends only on the input signal
• OLCS are not capable of filtering disturbances or noise
• OLCS are suitable when input signal for satisfactory system performance can be
estimated/approximated and does not change
• Advantages of OLCS are that its structure is simple compared to a closed loop
control system and is cheaper to build.

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16

• The output signal of a CLCS is fed back to influence the control action and improve the
overall system performance
• Examples: robot arms, velocity control systems, temperature control systems
• However, in practical, a combination of both OLCS and CLCS is normally used. For
example, washing machine: the process of filling up the tank with water is a CLCS
operation, while the process of washing and rinsing is an OLCS operation

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17

CLCS
OLCS

CLCS

OLCS & CLCS OLCS

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Type of System Advantages Disadvantages Examples

OLCS • Simple construction and ease of • The system response very • Toaster
maintenance. sensitive to external • Rice cooker
• Less expensive than a disturbance and internal • Electric fan
corresponding closed-loop variations in system • Photocopy machine
control system parameters.
• There is no stability problem • Recalibration is necessary
• Convenient when output is hard from time to time in
to measure or measuring the order to maintain the
output precisely is economically required quality in the
not feasible output

CLCS • insensitive to external • Risk instability • Positioning CS (robot

disturbance and internal • Complexity in analysis arms)
variations in system parameters. and implementation and • Velocity CS (vehicles
• Possible to use relatively expensive cruise system)
inaccurate and inexpensive • Temperature CS (Air-
components to obtain the conditioner)
accurate control of a given plant.
• Better control of transient &
steady-state response
• Increased accuracy
• Increased ability to reproduce
output with varied input

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18
19

Steering a car on a curve road

Discuss how to control a car when driving

on a curve road??

Desired
Block Diagram
direction

Actual
direction

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20

Input

Output

Sensor

Block Diagram

Controller
Plant

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21

Input
Controller

Pilot

Gyro Sensor
Plant
Output

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 Analysis And Design Objectives

• Control systems are dynamic : they response to an input

by undergoing a transient response before reaching
steady-state response that generally resembles the
input.
• 3 major objectives:-
• Producing the desired transient response
• Reducing steady-state error
• Achieving stability

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 Analysis And Design Objectives
• Three major objectives:

1 Producing the desired transient response

2 Reducing steady-state error

3 Achieving stability
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 Analysis And Design
Objectives
 i) Producing the desired transient response. Transient
response is the case when the plant is changing from one
steady state to another, when there are change in the
input signal; example: elevator
 ii) Reducing steady state error. Steady state response
only exist for stable system. An important characteristic
for design is the steady state error. Example an elevator
that does not stop at the same level at the floor may
cause serious accident to its passengers.
 iii) Achieving stability: A system that can produce a
consistent/steady output is a stable system. An unstable
system is harmful to the plant and may cause serious
accidents.

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 Analysis And Design Objectives
Transient Response
• Important in control system
• E.g. In the case of an elevator, a slow transient makes passenger
impatient, whereas an excessively rapid response makes them
uncomfortable.
• Too fast a transient response could cause permanent physical
damage.
• Therefore, we have to analyze the system for its existing transient
response.
• Then, adjust parameters or design components to yield a desired
transient response.

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 Analysis And Design Objectives

Steady-State Response
• This response resembles the input and is usually what remains
after the transients have decayed to zero.
• We define steady-state errors quantitatively,
• Analyze a system’s steady-state error, and then
• Design corrective action to reduce this error.

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 The Design Process
• The design of a control system follows these steps:

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28

Norman Nise Book

(Chapter 1)!!

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