Introduction

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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
Chapter 1: Introduction to Control Systems
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
Chapter Objectives
At the end of this chapter, you will be able to:
Identify the applications of control system

Identify the basic features and configurations of control system

List the design objectives of control system

List the design process of control system
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
CONTROL SYSTEMS DEFINITION
Systems: collections of subsystems/components

Input: reference value/actuation signal/set point

Output: measured response/actual result
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
CONTROL SYSTEMS DEFINITION..
A Control System consists of subsystems and processes (or
plants) assembled for the purpose of controlling the outputs of the
processes.

For example, a furnace produces heat as a result of the flow of
fuel. In this process, subsystems called fuel valves and fuel-valve
actuators are used to regulate the temperature of a room by
controlling the heat output from the furnace.

In its simplest form, a control system provides an output or
response for a given input or stimulus.
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
ADVANTAGES OF CONTROL SYSTEMS
With Control Systems, we can move large equipment with
precision that would otherwise be impossible. We can point huge
antennas toward the farthest reaches of the universe to pick up
faint radio signals; controlling these antennas by hand would be
impossible.

Because of control systems, elevators carry us quickly to our
destination, automatically stopping at the right floor. We alone
could not provide the power required for the load and the speed;
motors provide the power and control systems regulate the
position and speed.

Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
ADVANTAGES OF CONTROL SYSTEMS..
We build Control Systems for four primary reasons:

1. Power Amplification
A radar antenna, positioned by the low-power rotation of a
knob at the input, requires a large amount of power for its
output rotation. A Control System can produce the needed
power amplification, or power gain.

2. Remote Control
Robots designed by Control System principles can
compensate for human disabilities. Control Systems are useful
in remote or dangerous locations. For example, a remote-
controlled robot arm can be used to pick up material in a
radioactive environment.
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
ADVANTAGES OF CONTROL SYSTEMS..
3. Convenience of Input
Control Systems can also be used to provide convenience by
changing the form of the input. In a temperature control
system, the input is a position on a thermostat. The output is
heat. Thus, a convenient position input yields a desired
thermal output.

4. Compensation for Disturbances
Consider an antenna system that points in a commanded
direction. If wind forces the antenna from its commanded
position, or if noise enters internally, the system must be able
to detect the disturbance and correct the antennas position.
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
EXAMPLE OF INNOVATION: ELEVATOR

a. Early elevators

b. Modern Duo-lift
elevators
Creation of elevator systems
have revolutionised the way
we do things. Construction
of tall building is made
possible as faster and more
reliable elevators are
available.
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
Autonomous Vehicle:
mobile robot
Autonomous vehicles are
self guided vehicle which
not only capable of avoiding
obstacles but plan their own
path to achieve desired goal
or track desired path.
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
HISTORY
1952
NC (numerical control) system
1954
Devols robotic arm
1960
Unimation robot arm
1970
state-variable/optimal control
1980
robust control
1990
production automation
1996
Mars pathfinder
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
Mission to Mars
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
Mars Pathfinder

Spacecraft
Launch: December 4, 1996
Landing: July 4, 1997
Mass:
895 kilograms (1,973 pounds) at
launch, fueled
Science instruments:
Imager; Magnets for measuring
magnetic properties of soil; Wind
socks; Atmospheric structure
instrument/meteorology package

Rover
Mass: 10.6 kilograms (23 pounds)
Science instruments: Alpha Proton
X-ray Spectrometer, three
Cameras (also technology
experiments)
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
2003 Mars Exploration
Rovers: Spirit

Spacecraft: Opportunity
Launch: May-July 2003
Arrival: January 2004
Science instruments: Panoramic
Camera, Miniature Thermal
Emission Spectrometer,
Mssbauer Spectrometer, Alpha
Particle X-ray Spectrometer,
Microscopic Imager
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
Precision Positioning Systems:
LASER DISC
To precisely position the
read head, feedback
mechanism must be
applied.
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
Feedback Systems:
positioning of hard disk read head
Closed loop systems:
Use the measured position
to as compared to the
desired position to modify
the actuator signal.
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
Feedback Systems:
direction of radio antenna
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
ANTENNA POSITION CONTROL


a. system concept;
b. detailed layout;
c. schematic;
d. functional block diagram
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
Control System Configurations

a. open-loop system

Examples:
Toaster
Mechanical System with Mass and Spring
Characteristics:
Simple, less complicated configuration

Could not compensate for any disturbances
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
Control System Configurations
b. closed-loop system
Characteristic:
Compensates disturbances to the system for greater accuracy
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
System Response
Ability of system to achieve desired result is measured in
terms of system response: comparison of output versus input.
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
Design Objectives
Transient Response
immediate/early response
Steady-State response
after transient component settle down
Stability
ability to remain controllable
Others
- optimality
- robustness

Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
DESIGN STEPS
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
System Model:
Block diagram and differential equation
) (
) ( ) (
) (
) ( ) (
0
1
1
0
1
1
t r b
dt
t r d
dt
t r d
b t c a
dt
t c d
dt
t c d
m
m
m
m
m
n
n
n
n

System model can be
described as the relation
between forcing input and
the resulting output. It can
be in the form of block
diagram or differential
equation.
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
SIGNALS
Signal can be represented graphically as well as mathematically.
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
SIGNALS
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
SIGNALS
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
Network Analysis: Revision
) ( ) (
) (
t v t Ri
dt
t di
L
Basic configuration of a
simple first order system.
Current as the measured
signal as a response of
varying input voltage.
RL network
Introduction
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EBB 3053 CONTROL SYSTEMS
Dr Mohd Noh Karsiti / Dr Irraivan Elamvazuthi
RLC network
) ( ) (
1
) (
) (
0
t v dt t i
C
t Ri
dt
t di
L
t


Basic configuration of a
second order system.
Current as the measured
signal as a response of
varying input voltage.
Network Analysis: Revision