CONTROL ENGINEERING

Lecture No 1

“CONTROL SYSTEMS ENGINEERING”

By NORMAN S. NISE, 6th Edition
Text Book: Chapter 1

Instructor: Mr. Usman Nasim

Class: BEME B11

Mechanical Engineering Department

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 Course Information

Course Title: Control Engineering Lab (yes)

Credit hrs: 3-1
Prerequisites For this Course: Calculus, Complex Variables and
Transforms
Instructor: Mr. Usman Nasim
e-mail:
Office: Faculty office A 2.2
usman.nasim@cuisahiwal.edu.pk
Text Book:. Control Systems Engineering
by Norman S. Nise 6th Edition
Reference Book(s):
1. Feedback Control Systems by Phillip and Harbor 4th Edition
2. MODERN CONTROL SYSTEMS by RICHARD C DORF
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 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

Sessional-1
6 Root locus
7 Design via root locus
8 Frequency response techniques
Sessional-2
9 Design via frequency response
10 Modeling in time domain – State Space
11 Design via State Space
Terminal Exam 3
Control Systems (Definition)
Comprises subsystems and processes (or plants) assembled for
the purpose of obtaining a desired output with desired
performance, given a specified input.

Signals flow from the input, through the system and

produce an output
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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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 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 6
 System Configurations
Block diagrams of control systems:

open-loop system

closed-loop system 7
Antenna azimuth position control system:

system concept

detailed layout

8
Antenna azimuth position
control system:

Schematic diagram

functional block diagram

9
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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 One Example
Disturbance
Forces
Desired
Neural Output
position Control algorithm Signal Muscle Hand Position

(Brain) G(s)
Actuator Y(s)
R (s) Controller U (s) Plant
Reference Control block
Input

Eye
Sensor
Open loop No Feedback

Closed loop With Feedback

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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

Types of Sensors
Active.. Need External Power
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Passive.. No External Power
 Use of Sensors in
Feedback Control:
In The Next 3-Slides
Air condition
Cooling System
is explained 17
 Temperature

+
200C
- 220V, 50Hz
150C
mV
WAPDA Supply
15 20

Reference Error=0 volts

20mV=
+ 200C 200C
- Compensator
+-
Desired

Thermistor
Gain=10 Converts
20mV 2mV Heat into
Amplifier volts
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(Op-Amp
 Temperature

+
200C
- 220V, 50Hz
150C
mV
WAPDA Supply
15 20

Error=+5 v
Reference
20mV=200C 150C
+- Compensator

Desired

Gain=10
15mV 1.5mV

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 Temperature

+
200C
- 220V, 50Hz
150C
mV
WAPDA Supply
15 20

Error= -5 v
Reference
20mV=200C 250C
+- Compensator

Desired

Gain=10
25mV 2.5mV

20
???
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