Introduction to Control Systems

ECE423 Lecture

Control Systems are an integral part of modern society. We are not only creators of automatically controlled systems ; these systems also exist in nature.

Control System Definition

A control system consist of subsytems and processes(or plants) assembled for the purpose of controlling the outputs of the process. For example, a furnace produces heat as a result of the flow of the fuel. In this process, the flow of the fuel is the input, and heat to be controlled is the output

Figure : Simplified description of a control system

Advantages of the Control Sytems

We build control systems for four primary reasons 1. Power amplification 2. Remote control 3. Convenience of input form 4. Compensation of the disturbances

History of control system

B.C.200 Float regulator mechanism (Greece) B.C.50 Water clock (Middle east)

History of control system

1600 First feedback system (temperature regulator, Cornelis Drebble, Holland) Sir Isaac Newton (1642 1727) Mathematical modeling Brook Taylor (1685 1731) Taylor series 1700 Pressure regulator for steam boiler (Dennis Papin) Pressure build up (temp. goes up) open the damper for release of hot air.Temp. sensor is used to measure the pressure of hot air.

History of control system

Pierse Simon Laplace (1749 1827) Laplace Transform 1769 First automatic controller (Flyball governer, James Watt)

History of control system

1765 First level regulator system (I. Polzunov, Soviet Union)

History of control system

Edward John Routh (1831 1907) Routh criterion Oliver Heaviside (1859 1925) mathematical analysis 1868 Mathematical theory for control system (J.C. Maxwell)

History of control system

1890 - Stability theory (Liapunov, Soviet Union) 1930 - Electronic feedback amplifier (Nyquist, Bode, Black ; Bell Telephone Lab) Harry Nyquist (1889 1976) Nyquist criterion Harold Black (1898 1981) Negative feedback amp Hendrik Bode (1905 1982) Bode diagram WWII period Automatic airplane pilot Gun-positioning system, radar Antenna control system Military systems

History of control system

Post War Frequency domain analysis Laplace transform method John Von Neumann (1903 1957) Basic operation of digital computer 1950 Root locus method Computer age open (digital control) Space age (Sputnik, Soviet Union) Maximum principle (Pontryagin) Optimal control Adaptive control system (Draper)

History of control system

1960 Dynamic programming (Bellman) State space method 1970 Microprocessor based control system Digital control system 1980 Neural network AI Fuzzy control Predictive control Doyle & stein : LQG / LTR Remote diagnostic control system

Response Characteristics
As noted earlier, a control system provides an output or response for a given input or stimulus. The input represents a desired response, the output is actual response. Lets study on the elevator response.

 One can see the difference between input command and elevator response. Some factors make the output different from the input. Note that the response curve changes instantaneously at some region.This response region is called Transient Response.After the transient response, system approaches its Steady-StateResponse.

Control System Configurations

a.Open Loop Systems b.Closed Loop (Feedback Control) Systems

Analysis and Design Objectives

Lets define our analysis and design objectives: 1.Transient Response : We analyze the system for its existing transient response. We then adjust parametersor design components to yield a desired transient response. (this is our first analysis and design objective) 2. Steady-State Response : We are concerned about the accuracy of steady-state response. We analyze systems steady-state error, and then design corrective action to reduce steady-state error. (this is our second analysis and design objective)

 3.) Stability : Discussion of transient response andsteady state error is moot if the system does not have stability! For a linear system, we can write; Total response = Natural response + Forced response For a control systems to be useful, the natural response must eventually approach to zero, thus leaving only the forced response. If the natural responseapproaches to zero, we can say the system is stable

Three Methods of Representing Control Systems

1. Block Diagrams 2. Signal Flow Graphs 3. Mathematical Models

DESIGN PROCESS

Design Process
Step 1: Determine the specifications such as transient response, steady- state error. Step 2 : Draw a functional block diagram and show interconnections of components. Step 3 : Create a schematic and transform physical system to a schematic diagram Step 4 : Develop a mathematical model. Once schematic is drawn, designer uses physical laws, such as Kirchoffs laws for electrical network, Newtons Laws, Hookes Law etc. Step 5 : Reduce the block diagram using some reduction techniques to avoid unnecessary calculations

Design Process
Mathematical Models 1. differential equations 2. transfer functions (laplace transform) 3. state-space representation Step 5 : Reduce the block diagram using some reduction techniques to avoid unnecessary calculations

Design Process
Step 6 : Analyze and design the system. Engineer analyzes the system to see if the response specifications and performance requirements can be met simple adjustments of system parameters. If specification can not be met, the designer then designs additional hardware in order to effect a desired performance. The enginner usually selects standadt test inputs to analyze the system performance.These inputs are shown in Table 1.0

Table 1.0 Test Signals

The Control System Engineer

The control engineer can be found at the top level of large projects. Many engineers are engaged in only one area, such as circuit design or software development. However, as a control system engineer, you may find yourself working in a broad arena. For example, mechanical engineering, electrical engineering, computer engineering, mathematics and physics.

Example problem 1.0

A university wants to establish a control system model that represents the student population as an output with the desired student population as an input. The administration determines the rate of admissions by comparing the current and desired student populations. The admissions office then uses this rate to admit the students. Draw the functional block diagram showing the administration and admission office blocks of the system. Also the show the ff signals: the desired student population, the actual student population, the desired student rate as determined by the administration, the actual student rate as generated by the admissions office, the drop out rate and the net rate of influx.

Solution:

Example problem 2.0

Draw the block diagram of a temperature controlled oven .

Additional Problems
Textbooks problems 1 and 4.

Review Questions
1. Name three applications of feedback control systems 2. Give 1 example each for open loop and closed loop systems. 3. How do closed loop systems differ from open loop systems. 4. Name the 2 parts of a systems response 5. Name three major design criteria for control systems.

Review Questions
6. Physically, what happens to a system that is unstable. 7. Instability is attributable to what part of the system response? 8. Describe typical control system analysis and design tasks. 9. Name 3 approaches of mathematical modelling and describe each. 10. Enumerate 5 test signals for control systems.