College of Electrical and Mechanical

Engineering
Department of Electrical Engineering
EE-371 : Linear Control Systems
Lecture#01
Introduction to Control Systems
Chapter # 01
Text Book: Control Systems Engineering by Norman S. Nise 6th
Edition

Instructor: Dr. Sarmad Majeed Malik

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 Course Information
Course Title: CONTROL SYSTEMS Lab (yes)
Credit hrs: 3+1
Prerequisites For this Course: Calculus, Complex Variables and Transforms,
Machines

Instructor: Dr. Sarmad Majeed Malik

e-mail : sarmad.malik@ceme.nust.edu.pk

Text Book:. Control Systems Engineering by Norman S. Nise

6th Edition
Reference Book(s):
1. Design of Feedback Control Systems by Stefani Shahian Savant Hostetter, Oxford Pakistan
2. Modern Control Engineering by Ogata Katsuhiko, Prentice Hall
3. Feedback Control Systems by Phillip and Harbor 4th Edition
4. MODERN CONTROL SYSTEMS by RICHARD C DORF

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 Grading Scheme
• Quizzes 10%
• Assignments 5%
• OHT 1 12.5%
• OHT2 12.5%
• Labs 25%
• Final Exam 35%

• This scheme may be adjusted slightly during the

semester.
 Main Topics
No. Topics
1 Introduction
2 Modeling in the frequency domain
3 Time response of systems
4 Reduction of multiple subsystems
5 Steady state errors
OHT-1
6 Root locus
7 Design via root locus
8 Frequency response techniques
OHT-2
9 Design via frequency response
10 Modeling in time domain – State Space
11 Design via State Space
End Semester Exam

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 Course Learning Outcomes
1. Course Outcomes and their Relation to Program Outcomes
(Mapping CLO to PLO)

Learning
Course Learning Outcome (CLOs) PLOs
Level
The student will have the ability to understand complex linear systems, 1 C2
CLO 1 their stability and evaluation of closed loop response.

Apply mathematical or analytical skills, to analyze system designs using 2 C4

CLO 2 root-locus, frequency response, and state-space methods.

Ability to design and evaluate feedback controllers for linear systems so 3 C6

CLO 3 that their performance meets desired specifications.

The student will be able to use modern analytical tools, test equipment 5 P2
and computer aided design to assemble different types of control systems
CLO 4
and measure performance.

CLO 5 Demonstrate ability to work effectively as an individual or in a team 9 A3

What is a Control System?
Control is the process of making a system variable adhere
to a particular value, called the reference value.

Traffic Lights Train Networks Microwave

Lifts Automatic Doors
Burglar Alarm
Air Conditioning Systems
Security Lights
Robots
Theme Park Rides
Control is Every where
• Automotive:

- Air Conditioning
- Cruise Control/ Adaptive Cruise
Control
- Anti lock braking system
- Active Suspension

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Control is Every where
Mechatronics

Industrial Automation

Robotics

Electromechanical Systems

Micro Electro Mechanical Systems (MEMS)

Nano Electro Mechanical Systems (NEMS) : Nano Technology

Sensors and Transducers

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Process Industry

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Robotics
 Control is Every where
FLY BY WIRE
OR
MORE ELECTRICAL AIRCRAFT

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 Mechanical
Pilot Input : Mechanical
Transmission

Fly
BY Output :Mechanical

Wire

OR

More
Electrical
Aircraft

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Control is Every where
Magnetic Levitation Train

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 Magnetic Levitation

• Trains can magnetically fly over a roadbed

with position sustained by some kind of
control system

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More Examples

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 Types of Control System

A system designed to follow a changing

reference is called tracking control or servo.

A system designed to maintain an output

fixed regardless of the disturbance present is
called a regulating control or a regulator.

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 Parts of Control System
In their simplest form, control systems take in data as input,
process the data, and then send out signals as output…

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 Types of Control System
There are two main types of control system…

Open Loop Closed Loop

System & System

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 Open Loop System
The open loop system is the simplest type of control system, as it
does not take account of the output. The input data is processed,
then sent as output, e.g. an automatic door…

A person steps The control box The door opens in time for
on a pressure pad, and the processes the data, the person to walk
pressure pad sends a and sends through
signal to a signal to the electric
the control box door

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 21

Example of Open-Loop System i.e without Feedback

Students Disturbance
Intake Parties, Chit Chat
Games, TV, Net

Output
(Controller) (Actuator) Result
NUST Yearly
(Plant) Exam
NUST Teaching
Students
Environment Activities
Performance

For students in a College, a …???…..loop College environment is shown in a

block diagram (system with NO REGULAR check (Feedback) on the students).
If there are no quizzes, home assignments, midterm exams, we call that system
as an …………………………… (Open Loop / Closed Loop ??)
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 Feedback
• Feedback is a key tool that can be used to
modify the behavior of a system.
• This behavior altering effect of feedback is a
key mechanism that control engineers exploit
deliberately to achieve the objective of acting
on a system to ensure that the desired
performance specifications are achieved.

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 Closed Loop System
A closed loop system uses feedback provided by
sensors. Feedback is where information from the
output gets used as part of the input. A feedback
loop provides extra data, which is processed with
the input data.
 Closed Loop System
Most control systems are closed loop
Disturbance
systems. For example Parties, Chit Chat
Error Games, TV, Net

Controller
Output
Reference
(Controller) (Actuator) Result
(Standard) NUST
+- (Plant)
NUST Teaching
Students
Environment Activities

(Sensor)
End & Mid,Terms
Quizes, Labs
Assignments
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 Flight Control System

The pilot operates the The plane’s control box (a The wing flaps and
control to put the aircraft large computer) processes engines make the
into a steep turn. this data and sends signals to necessary adjustments.
Feedback also forms part the wing flaps and engines.
of the input.

Sensors monitor the tilt of the aircraft and send this information to the control box. This
becomes part of the input. When the required amount
of tilt has been reached, the computer sends signals to the
wing flaps and engine to stop any further adjustments.
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 26

Human Body Example

Disturbance
Forces
Desired
Neural Output
position Control algorithm Signal Muscle Hand Position
(Brain) G(s)
R (s) Controller
Actuator Y(s)
U (s) Plant
Reference Control block
Input

Eye
Sensor
Open loop No Feedback

Closed loop With Feedback

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 Classification of Control Systems

Control Systems

Natural Man-made

Manual Automatic

Open-loop Closed-loop

Non-linear linear
Non-linear linear

Time variant Time invariant

Time variant Time invariant
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What is the Control System Engineer trying
to achieve? (Analysis and Design Objectives)

• First, understand the broader picture of the

application to best apply a suitable control system.
• A good control system is a system that will
– generate a response quickly and without oscillation
(good transient response),
– have low error once settled (good steady-state
response),
– and will not oscillate wildly or damage that system
(stability).

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 Control Systems (Example)
Consider an elevator. When the fourth-floor button is pressed, the elevator rises to
the fourth floor with a speed and floor-leveling accuracy designed for passenger
comfort.

Two measures of
performance are :
(1) the transient
response
(2) the steady-state
error.

Passenger comfort and passenger patience are dependent upon the transient
response

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Antenna azimuth position control system:

system concept

detailed layout

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Antenna azimuth position
control system:

Schematic diagram

functional block diagram

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Response of a position control system showing effect of high and low
controller gain on the output response

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The control system design process

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 What is a Actuator?

• Actuator is a device which produce

mechanical energy (output motion) in
response to some type of energy input.
Complex
Electrical

Mechanical

Energy Actuator Motion Linear

Thermal Electro-
Mechanical
Fluid
• Hydraulic Rotary
• Pneumatic

Chemical

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 What is a sensor?
Sensors are transducers that produce (transform) electrical energy (signals) as a result
of some type of stimulation (measurement space)

Temperature

Distance

Sensor
Electrical Voltage
Measurement Signals
Voltage
Force Current
Digital
Speed

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Questions?

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