EEE 325 - Lecture 01 Introduction PDF
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rizwanspirit11EEE 325 - Lecture 01 Introduction PDF
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rizwanspirit11EEE 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 [email protected]
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.