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WHAT IS CONTROL ?
Control is the process of altering, manually or
automatically, the performance of a system to a
desired one
WHY CONTROL ?
Because systems by themselves usually do not
behave the way we would like them to
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Manual Control Automatic Control
system to be automatic system to be
controlled controller controlled
process
operator
measured behaviour
measured
behaviour
levers of
power
process supervisor
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MAIN AIMS OF CONTROL SYSTEMS
Regulation regulate the output from some
process to remain constant to a required value
despite disturbances and/or noise
Tracking or Servo system make the
process output follow a particular changing
form
Sequential Control make events occur in a
particular sequence, either time driven or event
driven
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THE THREE ELLEMENTS FOR
SUCCESSFUL CONTROL DESIGN
a definition of desired behaviour
an ability to generate and apply actions
a means to select actions or to make
modifications that when applied to the system
will result in the desired behaviour being
obtained
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OPEN- versus CLOSED-LOOP CONTROL
Open-Loop Control the controller does not
use a measure of the system output to be
controlled in computing the control action to
take
Closed-Loop Control the controlled output
is measured and fed back for use in the
computation of the control action
OPEN-LOOP CONTROL
input or output or
reference plant controlled
variable variable
Controller Actuator Process
Process of which a variable (output) is being
controlled
Controller determines the action to be taken as
a result of the system input
Actuator gives an output of some action
designed to change the controlled variable
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OPEN-LOOP CONTROL: Some Comments
input or output or
reference plant controlled
variable variable
Controller Actuator Process
The controller is designed on the basis of previous
experience asWElikely to give GOD
PLAY the output required.
Therefore, the behaviour of the process must be
known as accurately as OR possible
There is no changing of the control action to
WE RELY HEAVILY ON HIM
account for any disturbances which may change
the output variable
CLOSED-LOOP or FEEDBACK CONTROL
disturbance
control
variable plant
reference output
Controller Actuator Process
error
Sensor
noise
Main futures: Feedback and Comparison
Sensor measures the system output and feeds
it back
Comparator computes the difference between
the reference signal and the sensor output to give
the controller a measure of the system error
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CLOSED-LOOP or FEEDBACK CONTROL
Example: Automobile Cruise Control
road grade
control
variable
actuator process
desired actual
speed Controller Engine Auto body
speed
error throttle
sensor
Speedometer
sensor
noise
THE EFFECTS OF FEEDBACK
Reduce the error between the actual and the
desired value
Change the stability of the system
Change the overall system gain
Change the sensitivity of the system gain
Change the bandwidth of the system
Reduce the effect of external disturbances and
noise
Reduce the effect of variations of system
parameters
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THE DESIGN PROCESS
Transform Requirements into a Physical System
Control Systems Engineering 4th Edition, by Norman S Nise
2004, by John Wiley & Sons, Inc
THE DESIGN PROCESS
Draw a Functional Block Diagram
Control Systems Engineering 4th Edition, by Norman S Nise
2004, by John Wiley & Sons, Inc
6
THE DESIGN PROCESS
Create a Schematic
Control Systems Engineering 4th Edition, by Norman S Nise
2004, by John Wiley & Sons, Inc
THE DESIGN PROCESS
Develop a Mathematical Model (Block Diagram)
Control Systems Engineering 3rd Edition, by Norman S Nise
2000, by John Wiley & Sons, Inc
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THE DESIGN PROCESS
Reduce the Block Diagram
Analyse and Design
MATHEMATICAL MODELING
WHAT IS A MODEL ?
The term model, as it is used and understood
by control engineers, primarily means a set of
differential equations that describe the dynamic
behaviour of a system
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MATHEMATICAL MODELING
HOW IS A MODEL OBTAINED?
Using principles of underlying physics
Testing a prototype, measuring the response to
specific inputs, and using the data to construct an
analytical model
MATHEMATICAL MODELING
Example: A Simple System; Cruise Control Model
bx m u
force u
physical system free body diagram
b u
u bx = mx
x+ x =
m m
Equations of motion: or (v = x )
b u
v + v=
m m
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Example: A Simple System; Cruise Control Model
b u
Apply Laplace transform to v + v= with zero initial conditions
m m
1m
V (s) = U ( s ) = G ( s )U ( s ), s C
s+b m
Transfer Function
input output
G(s)
U(s) Y(s)=V(s)
Y(s)=G(s)U(s) INPUT/OUTPUT DESCRIPTION
FREQUENCY DOMAIN (s=j) FREQUENCY RESPONSE
Example: A Simple System; Cruise Control Model
Introduce two variables (states) x1 = x, x2 = x
x1 0 1 x1 0
x 0 b m x + 1 m u
=
2 2
Then
x
y = v = [ 0 1] 1
x2
inputs u(t) outputs y(t)
states x(t)
x = Ax + Bu
STATE SPACE or INTERNAL DESCRIPTION
y = Cx + Du
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BASIC PERFORMANCE CRITERIA
Stability
Time response shape
Frequency response shape
BASIC PERFORMANCE CRITERIA
Input/Output Stability
Bounded-Input Bounded-Output (BIBO) Stability
For every bounded input the output of the system is bounded as
well
input u(t) output y(t)
BIBO stable
BIBO unstable
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BASIC PERFORMANCE CRITERIA
Internal Stability
Asymptotic Stability
All states tend to zero as time tends to infinity for every initial
condition
inputs u(t) outputs y(t)
states x(t)
x1(t) x1(t)
Asymptotically Asymptotically
stable unstable
x2(t) x2(t)
BASIC PERFORMANCE CRITERIA
Time Response Shape
1 input u(t) output c(t)
steady-state error
Control Systems Engineering 4th Edition, by Norman S Nise
2004, by John Wiley & Sons, Inc
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BASIC PERFORMANCE CRITERIA
Frequency Response Shape
WHAT IS FREQUENCY RESPONSE?
G ( j ) = M ( ) ( )
Control Systems Engineering 4th Edition, by Norman S Nise
2004, by John Wiley & Sons, Inc
BASIC PERFORMANCE CRITERIA
Frequency Response Shape
-3db
20logM (db)
bandwidth
Control Systems Engineering 4th Edition, by Norman S Nise
2004, by John Wiley & Sons, Inc
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BASIC PERFORMANCE CRITERIA
Frequency Response Shape
Crossover frequency
Control Systems Engineering 4th Edition, by Norman S Nise
2004, by John Wiley & Sons, Inc
THE CONTROL DESIGN TRADE OFF
D(s)
R(s) E(s) Y(s)
Controller G1(s) Process G2(s)
N(s)
G1G2 G2 GG
Y = Yr + Yd + Yn = R+ D 1 2 N
1 + G1G2 1 + G1G2 1 + G1G2
If G1 >>> {Yr R, Yd 0 and Yn N } Y R N
If G1 <<< {Yr 0, Yd G2 D and Yn 0} Y G2 D
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THE CONTROL DESIGN TRADE OFF
If G1 >>> {Yr R, Yd 0 and Yn N } Y R N
If G1 <<< {Yr 0, Yd G2 D and Yn 0} Y G2 D
Make the controller gain G1 large at low frequencies
so that the closed loop system follows its reference
input and rejects the external disturbances
Make the controller gain G1 small at high frequencies
so that the closed loop system rejects the
measurement noise
Ensure reasonable gain and phase margins at
crossover frequency for stability purposes
Example: Primitive Pitch Control of the RPV XRAE-1
Open Loop XRAE-1 (Flight Controller Off)
elevator XRAE-1 pitch angle
Open loop response to a step in the elevator of XRAE-1
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0
1
Pitch angle (rads)
-2
-4
-6
-8
-10
-12
-14
0 50 100 150
Time (secs)
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Open loop response to a step in the elevator of XRAE-1
6
0
Pitch angle (rads)
-2
-4
-6
-8
-10
-12
-14
0 50 100 150
Time (secs)
Example: Primitive Pitch Control of the RPV XRAE-1
Closed Loop XRAE-1 (Flight Controller On)
elevator
pitch angle actual
Flight controller K XRAE-1
demand pitch angle
Closed loop step response of XRAE-1
1.4
1.2
1
1
Pitch angle (rads)
0.8
0.6
0.4
0.2
0
0 5 10 15 20 25
Ti ( )
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Closed loop step response of XRAE-1
1.4
1.2
1
Pitch angle (rads)
0.8
0.6
0.4
0.2
0
0 5 10 15 20 25
Time (secs)
PID: A Commonly Used Controller
D(s)
R(s) E(s) Y(s)
Controller G1(s) Process G2(s)
Proportional action N(s)
Kp
error Ki control
signal signal
d
Kd
dt Integral action
Derivative action
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