EEE 325 Control Systems

Lecture 01 - Introduction
Muhammad Rizwan Azam
COMSATS Institute of Information Technology (CIIT)
Islamabad, Pakistan.

Instructor Details
(Muhammad Rizwan Azam)
Educational Background
o PHD .. (Control Systems)
o MS (Control Systems)
o BSc Eng. (Electronics)

Contact Details
o Room # 316, EE Block
o rizwan.azam@comsats.edu.pk

Marks Distribution (Theory)

Sessional -1
Sessional 2
Quizzes (4)

10%
15%
15%

Assignments (4)
Terminal Exam

10%
50%

Note:
Quizzes will be announced as well un announced.
Expect a quiz after submission of assignment.
Copied assignments and assignments submitted after the due
date will be marked zero.

Topics to be Covered
1.
2.

3.
4.
5.
6.
7.
8.
9.

Introduction and classification of everyday control systems .(1 week)

The Laplace transform ,Inverse Laplace transform and solution to
differential equations.(1 week)
Mathematical modeling of electrical, mechanical and electromechanical
systems. (1 weeks)
Block Diagram reduction techniques and Signal Flow graphs-Mason gain
formula.(1 week)
Time response of first order and second order systems.(1 week)
Effects of poles and zeroes on system response. (1 week)
Steady state error analysis and design. (1 week)
Routh-Hurwitz criterion for stability. (1 week)
Introduction to design using root locus method and Analysis.(1 week)

Topics to be Covered
10. Frequency domain analysis, Bode analysis, Technique of drawing Bode
plot. Phase margin, Gain margins and Design using Bode plots .(2 weeks)
11. Introduction to Nyquist analysis, complex analysis, Encirclement and
enclosure of poles and zeros, Principle of Argument. Stability analysis, Gain
margins and phase margins.(2 weeks)
12. State space, Introduction to state space analysis of systems presented by
Transfer function. Controllability and Observability. Solution of Time
invariant state equations.(2 weeks)

Course Material
Textbook
Ogata K. (2002). Modern Control Engineering (5th
Ed), Prentice Hall.

References Books
1. Norman S. Nise, Benjamin Cummings, Control
Systems Engineering, 6th edition
2. Richard C. Dorf and Robert H. Bishop, Modern
Control Systems, Addison Wesley, 12th Edition

Control System
System, A collection of components which are coordinated
together to perform a function.
Control is the process of causing a system variable to conform
to some desired value.
A control system provides an output or response for a given
input or stimulus

Systems
Definition of Controls revolve around Systems.
Identify systems in this room
o
o
o
o
o
o
o

Air-conditioners
Bracket fans
Amplifiers
Humans (Combination of sub-systems)
Power Supply of a PC
Multimedia
Mobile Phones

Some other Systems

Aircrafts, Missiles
Planes and ships at sea
Automotive
Space Shuttles
Nuclear Reactors
Industrial Processes
Robots
Human Systems

Control System Classification

An open-loop control system utilizes an actuating device to control the
process directly without using feedback.
Desired Output
Response

Actuating
Device

Process

Output

A closed-loop feedback control system uses a measurement of the

output and feedback of the output signal to compare it with the desired
output or reference.
Desired
Output
Response

Comparison

Controller

Process

Measurement
Single Input Single Output (SISO) System

Output

1. Open Loop Control System

In an open loop control system, the input to the plant does
not in any way depend on the current and past values of the
output of the plant.
Relatively simple and consequently low cost with
generally good reliability.

Examples of Open Loop

Motor
Heater /boiler
Cooking Oven
Dish Washer
Washing Machine
Toaster
Water valve system in a pool or sink
Sprinkler System

Example 1 DC Motor Turntable

Open-Loop Control System

Example 2: Missile Launcher System

Open-Loop Control System

Disadvantage of Open Loop

Rely totally in calibration, and cannot effectively deal

with exogenous disturbances.
They can not effectively deal with changes in the
process.
Can not deal with uncertainty.
Can not stabilize an unstable system.
Often in accurate since there is no correction for error.

2. Closed Loop Control System

Closed loop control system make the control system robust
to uncertainty and disturbances.
It senses the output of the system and adjust the control input
using feedback rules, which are based on how the system
output deviates from the system behaves.
The feedback helps compensate for the differences, if the
system behaves slightly differently than the model.
Relatively accurate in matching the actual to the required
values.
More complex, and more expensive, grater chance of
breakdown due to number of components.

Closed Loop
A closed-loop control system is one in which the control action
is somehow dependent on the output.

Basic Elements of a Closed Loop

Control system

Comparison element
Control element
Correction Element
Process element
Measurement element

Example of Closed Loop

Guided missiles
Automatic gain control in radio receivers
Temperature Control
Satellite tracking antenna
Automatic Car Cruise System

Example 1 DC Motor Turntable

Closed-Loop Feedback Control System

Missile Launcher System

Closed-Loop Feedback Control System

Control System Classification

Desired
Output
Response

Controller

Process

Measurement

Multi Input Multi Output (MIMO) System

Output
Variables

Purpose of Control Systems

i. Power Amplification (Gain)
o Positioning of a large radar antenna by low-power
rotation of a knob

ii. Remote Control

o Robotic arm used to pick up radioactive materials

iii. Convenience of Input Form

o Changing room temperature by thermostat position

iv. Compensation for Disturbances

o Controlling antenna position in the presence of large
wind disturbance torque

Control System Components

i. System, plant or process
o To be controlled

ii. Actuators
o Converts the control signal to a power signal

iii. Sensors
o Provides measurement of the system output

iv. Reference input

o Represents the desired output

General Control System

Disturbance
Set-point
or
Reference
input +

Error

Controlled
Signal

Controller

Feedback Signal

Manipulated
Variable

Actuator

Sensor

+
+

Process

Actual
Output

Further Reading
Chapter 1
i.
ii.

Nise N.S. (2004). Control System Engineering (4th Ed),

John Wiley & Sons.
Dorf R.C., Bishop R.H. (2001). Modern Control
Systems (9th Ed), Prentice Hall.