CONTROL SYSTEM

TECHNOLOGY

CHAPTER 1
FUNDAMENTAL CONCEPTS

Assoc.Prof Tuong Quan Vo, PhD

HCMUT - 2020
 Class Rules
1. Process score: 70%
- Exercises: 35%
- Team project: 20% (4 students/team)
- Lab: 15%
2. Endterm test: 30% (Multiple choice, no materials)

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 Fundamental concepts
1. Why do we need the automatic control?
2. How did you or they do that?
3. What is automatic control?
4. How do you understand about “System”?
5. How do you understand about “Control”?
6. How do you understand about “Signal”?
7. Sampling time?
8. Controllers?

What are the most important factors that we need to carry out
the automatic control processes?

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 Fundamental concepts
The histories of control
18th Century James Watt’s centrifugal governor for the speed control of a
steam engine.
1920s Minorsky worked on automatic controllers for steering ships.
1930s Nyquist developed a method for analyzing the stability of controlled
systems
1940s Frequency response methods made it possible to design linear
closed-loop control systems
1950s Root-locus method due to Evans was fully developed
1960s State space methods, optimal control, adaptive control and
1980s Learning controls are begun to investigated and developed.
Present and on-going research fields. Recent application of modern
control theory includes such non-engineering systems such as biological,
biomedical, economic and socio-economic systems 4
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 Fundamental concepts
Control system?
A group of elements are integrated or connected to gether in order to keep
the desire results/outputs by adjusting the values of one or some
inputs/control parameters of the system!
System – An interconnection of elements and devices for a desired purpose.

Control System – An interconnection of components forming a

system configuration that will provide a desired response.

Process – The device, plant, or system under control. The input and
output relationship represents the cause-and-effect relationship of the
process.

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 Fundamental concepts
Control systems or controlled systems

Watt’s Flyball Governor (18th century) Water-level float regulator

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 Fundamental concepts
Block diagrams
A block diagram is a diagram of a system in which the principal parts or
functions are represented by blocks connected by lines that show the
relationships of the blocks. They are heavily used in engineering in hardware
design, electronic design, software design, and process flow diagrams (Wiki)
One block diagram can have one or multi inputs – outputs.

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 Fundamental concepts
Examples: Some popular block diagrams in control engineering

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 Fundamental concepts
Transfer function?
“A transfer function is the ratio of the output of a system to the input of a
system”
“In engineering, a transfer function of an electronic or control system
component is a mathematical function which theoretically models the device's
output for each possible input”
 Transfer functions is an equations to express the mathematical relationship
between input signals and output signals.

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 Fundamental concepts
Transfer function
The graphs expresses the relationships between input signal and output
signals.
y(t)
TF 
x(t)

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 Fundamental concepts
Control?
- Manual control.
- Fully automatic control.
- Semi-Automatic control.

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 Fundamental concepts
Control
- SISO (Single Input Single Output)
- MIMO (Multi Input Multi Output)
 MISO, SIMO, MOSI

The structure of the control system.

1. Open Loop Control

2. Close Loop Control

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 Fundamental concepts
Open Loop Control
“Open-loop system, also referred to as non-feedback system, is a type of
continuous control system in which the output has no influence or effect on
the control action of the input signal”

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 Fundamental concepts
Open Loop Control

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 Fundamental concepts
Open Loop Control
Example: The antenna control system
- Initial position: 00
- Desired position: 300
- Motor’s specification: 10/s (at vs)

If the controller generate the control pulses in 30 seconds, the antenna will
stop at 300 (Ideal case).

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 Fundamental concepts
Open Loop Control

Decide the velocity of the weight when we input 12VDC to motor:

Velocity = 0.05 * 0.5 * 100 * 12 = 30 m/min

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 Fundamental concepts
Open Loop Control
Find 10 different examples about open loop control systems.

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 Fundamental concepts
Close Loop Control
- SERVO?
“A Closed-loop Control System, also known as a feedback control system
is a control system which uses the concept of an open loop system as its
forward path but has one or more feedback loops (hence its name) or
paths between its output and its input”

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 Fundamental concepts
Close Loop Control

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 Fundamental concepts
Close Loop Control
Example: The antenna control system
- Initial position: 00
- Desired position: 300 ( xd)
- Motor’s specification: 10 /s (at vs)
- Angular sensor: 10V / 3600 ( xa)

vs xa  xd
vc = nếu
0 xa  xd The vc control sisgnal is decided
vc = C(xd xa) based on the control type.

Merits: The position of the antenna is controlled more precise despite of

the lack of mechanical system. 20
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 Fundamental concepts
Close Loop Control
Example: Consider this system below

Explore the operation of machine table when it moves from the initial
position (0.4m) to the right hand side at the position 0.64m. Sampling
time is 0.1 second.
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 Fundamental concepts
Close Loop Control

G1 = 2 G1 = 2.5
T (s) Vi (V) Vf (V) Ve (V) P (mm) Pos (mm) T (s) Vi (V) Vf (V) Ve (V) P (mm) Pos (mm)
2.5 2.5 0 0 400 2.5 2.5 0 0 400
0.0 4 2.5 1.5 0 400 0.0 4 2.5 1.5 0 400
0.1 4 2.5 1.5 2.250 402.250 0.1 4 2.5 1.5 2.813 402.813
0.2 4 2.514 1.486 2.229 404.479 0.2 4 2.518 1.482 2.779 405.592
0.3 4 2.528 1.472 2.208 406.687 0.3 4 2.535 1.465 2.747 408.339
0.4 4 2.542 1.458 2.187 408.874 0.4 4 2.552 1.448 2.715 411.054
0.5 4 2.555 1.445 2.167 411.041 0.5 4 2.569 1.431 2.683 413.737
: : : : : : : : : : : :
60.0 4 3.995 0.005 0.008 639.157 48.0 4 3.995 0.005 0.01 639.163
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 Fundamental concepts
Close Loop Control

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 Fundamental concepts
Close Loop Control

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 Fundamental concepts
Close Loop Control

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 Fundamental concepts
Close Loop Control

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 Fundamental concepts
Close Loop Control

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 Fundamental concepts
The steps to design a control system

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Comparision between open loop and close loop control methods

Open loop control Close loop control

- Simple - Complex
- Low cost - High cost
- Can not control the pratical value - Can control the pratical value
- Apply to the quite stable systems. - The practical values always kept
stable despite of the systems.
- Always do the system editing
process - Sometimes needs the editing
process.

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 Fundamental concepts
Linear systems and non linear systems.
The most important thing is that we need to know the characteristic of our
control system.

- Linear controller  Linear system

- Non linear controller  Non linear system

 Linear controller  Non linear system?

 Non linear controller  Linear system?

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 Fundamental concepts
•Linear systems and non linear systems.
- Output signals and input signals have the ratio together and the shapes of
the signals do not change.

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 Fundamental concepts
The characteristics of linear and nonlinear systems:
Delay (Hysteresis): The nonlinear characteristic and lead to the output
signal Y does not response immidately to the input signals.

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 Fundamental concepts
The characteristics of linear and nonlinear systems:
Saturation: The limitation of the ouput signal Y despite of the input
signals.

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 Fundamental concepts
The characteristics of linear and nonlinear systems:

Dead band: A set of values in which the input signals can not change the
value of the output signals.

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 Fundamental concepts
System stability

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 Fundamental concepts
The purposes of the control system.
• Reduce the errors.
• Reduce the setting time.
• Reduce the deviation.

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 Fundamental concepts
The criteria to evaluate the effectiveness of a control system
Reduce ¼ of the amplitude: Determine the amplitude of the damping
oscillation at which the amplitude of a positive peak is equal to ¼
amplitude of the previous positive peak.

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 Fundamental concepts
The criteria to evaluate the effectiveness of a control system
Integral the minimum difference: Determine the total acreage under the
curve should be minimum.

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 Fundamental concepts
The criteria to evaluate the effectiveness of a control system
Damping limitation: To reduce the overshoot phenomenon.

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 Fundamental concepts
The types of controllers: Analog and digital

01 01 10 11 01 01 00 01

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 Fundamental concepts
Controller types

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 Fundamental concepts
Process control
The process control system will keep the value of a parameter of the
control system at the desired value.

Điều khiển nhiệt độ

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 Fundamental concepts
Process control
Example: Find the differences of these pictures.

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 Fundamental concepts
Sequence control system

Time-driven operation Event-driven operation

The control system will operate a series of pre-defined taskes.

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 Fundamental concepts
Numerical control system
The systems use a set of pre-defined instructions to carry on the process.

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 Fundamental concepts
The structures of the control methods.

Individual local controllers

Direct computer control system

Distributed control system

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 Fundamental concepts
Exercise:
Draw the block diagram of these systems below:

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 Fundamental concepts
Exercise:
Draw the block diagram of these systems below:

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 Fundamental concepts
Exercise:
Draw the block diagram of these systems below:

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 Fundamental concepts
Class Activities – 15’
Find 5 examples of these following control types:
- Individual control system.
- Direct control system.
- Distribute control system.

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