09/20/2024

Control
Engineering 1

Olalekan OGUNBIYI, PhD

1. Introduction to Control System Engineering

2. Mathematical Modelling of Physical System
Outline 3. Transfer Function
4. Block Diagram Algebra
5. Signal Flow Graph
6. System Structure
7. Steady-State Error
Textbooks 8. Time Response Analysis
 Feedback Control of Dynamic Systems" by Gene
Franklin, J. Da Powell, and Abbas Emami-Naeini. 9. Concept of Stability
 Modern Control Engineering" by Katsuhiko Ogata.
10. Root Locus Concept
 "Control Systems Engineering" by Norman S. Nise.
11. Design and Compensation
 Automatic Control Systems" by Benjamin C. Kuo
and Farid Golnaraghi.
12.Concept of State Variable Modelling
 Feedback Control Theory" by John C. Doyle, Bruce
A. Francis, and Allen R. Tannenbaum.

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A control system consists of subsystems and processes

(or plants) assembled to obtain a desired output with
Introduction desired performance, given a specified input.
to Control
System
Engineering

The basic ingredients of a control system can be described by:

 Objectives of control.
 Control-system components.
 Results or outputs

Controlled Variable and Control

Signal or Manipulated Variable.


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Thermostat:
01 Found in homes and buildings, it regulates temperature
by turning heating or cooling systems on and off based
Control systems are on the set temperature.

everywhere, from simple

household appliances to
complex industrial Speed Control in Vehicles:
processes. Here are some 02 Control systems regulate the speed of vehicles,
maintaining a constant speed or adjusting it
common examples: according to the driver's input.

Water Level Control in Tanks:

03 Used in water tanks to maintain a desired
level by controlling the inflow and outflow
of water.

Industrial Automation:
04 Control systems are extensively used in
manufacturing processes for tasks like 08
Cruise Control in Cars:
Allows a vehicle to maintain a constant
regulating temperature, pressure, and speed set by the driver without requiring
flow rates in chemical plants, refineries, constant manual adjustments of the
and other industrial facilities. accelerator.

05 Robotics: Anti-lock Braking System (ABS):

Control systems are the backbone of robotic
systems, enabling precise control of
movements and actions.
09 A safety system in vehicles that prevents
wheels from locking up during braking,
helping maintain control and stability.
Power Grid Control:
06 Control systems are used to monitor and
manage electricity generation,
transmission, and distribution in power Flight Control Systems in Aircraft:
grids to ensure reliability and stability.
10 These systems manage the attitude,
altitude, and direction of an aircraft
(HVAC) Systems:
07 Control systems regulate temperature,
humidity, and air quality in buildings to
through various control surfaces such
as ailerons, elevators, and rudders.

maintain a comfortable environment.

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 A conceptual method of efficient water

extraction using solar power is shown
beside. During the hours of daylight, the
solar collector would produce electricity
to pump water from the underground
water table to a reservoir (perhaps on a
nearby mountain or hill), and in the early
morning hours, the water would be
released into the irrigation system.

 One of the most important features of the Conceptual method of efficient water extraction using solar power
solar collector is that the collector dish
must track the sun accurately. The block
diagram beside describes the general
philosophy of the sun-tracking system
together with some of the most important
components. The controller ensures that
the tracking collector is pointed toward the
sun in the morning and sends a "start
track" command. The controller constantly
calculates the sun’s rate for the two axes
(azimuth and elevation) of control during
the day. The controller uses the sun rate
and sun sensor information as inputs to
generate proper motor commands to slew
the collector.
Important components of the sun-tracking control system

Open-loop Control System.

Control Systems
Configurations
Two major configurations of control
systems:

 open loop and

 closed loop.

Elements of an open-loop control system

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Closed-Loop Control Systems

(Feedback Control Systems)

Block diagram of a closed-loop idle-speed control system

The plant refers to the physical system or process being

controlled. It could be a mechanical system, electrical circuit,
Process/Plant chemical process, or any other system that can be controlled or
manipulated

The actuator receives the control signal from the controller and
converts it into a physical action or manipulation that influences
the plant. This could involve activating motors, valves, heaters, or
Actuator any other device that can change the behavior of the system.

The controller is the brain of the feedback control system. It

receives input from the sensor, compares it with the desired
reference value (setpoint), and generates a control signal to
Controller adjust the input to the plant.

The error signal is generated by comparing the output of the

system with the reference input. It represents the difference
Error Signal between the desired and actual states of the system and serves
as the basis for control action by the controller.

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The sensor is responsible for measuring the output or the

Sensor (or state of the plant. It converts the physical quantity (such as
Transducer) temperature, pressure, position, etc.) into an electrical
signal that can be processed by the controller.

The feedback path is responsible for providing information

about the system's output back to the controller. It ensures
that the controller can continuously monitor the system's
Feedback Path performance and make adjustments as necessary to
maintain stability and achieve the desired setpoint.

The reference input, also known as the setpoint, is the

desired value or trajectory that the system aims to achieve
Reference Input or track. It represents the target performance or operating
condition that the controller strives to maintain.

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A variable resistor, called a potentiometer, is shown.

Practice The resistance is varied by moving a wiper arm along a
Examples fixed resistance. The resistance from A to C is fixed,
but the resistance from B to C varies with the position
of the wiper arm. If it takes 10 turns to move the wiper
arm from A to C, draw a block diagram of the
potentiometer showing the input variable, the output
variable, and (inside the block) the gain, which is a
constant and is the amount by which the input is
multiplied to obtain the output.

An aircraft’s attitude varies in roll, pitch, and yaw as

defined in the Figure. Draw a functional block diagram
for a closed-loop system that stabilizes the roll as
follows: The system measures the actual roll angle
with a gyro and compares the actual roll angle with
the desired roll angle. The ailerons respond to the roll-
angle error by undergoing an angular deflection. The
aircraft responds to this angular deflection, producing
a roll angle rate. Identify the input and output
transducers, the controller, and the plant. Further,
identify the nature of each signal.

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A mathematical model of a dynamic system is defined as

a set of equations that represents the dynamics of the
system accurately, or at least fairly well.

Mathematical
Note that a mathematical model is not unique to a given
Modelling system. A system may be represented in many different
of Physical ways and, therefore, may have many mathematical
Systems models, depending on one’s perspective.

The dynamics of many systems, whether they are

mechanical, electrical, thermal, economic, biological, and
so on, may be described in terms of differential equations.
Such differential equations may be obtained by using
physical laws governing a particular system—for example,
Newton’s laws for mechanical systems and Kirchhoff’s
laws for electrical systems.

We must always keep in mind that deriving reasonable

mathematical models is the most important part of the
entire analysis of control systems.

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Translational Motion Dashpot

Mass is the property of a body, which stores kinetic If a force is applied on dashpot B, then it is opposed by an
energy. If a force is applied on a body having mass M, opposing force due to friction of the dashpot. This
then it is opposed by an opposing force due to mass. opposing force is proportional to the velocity of the body.
This opposing force is proportional to the acceleration Assume mass and elasticity are negligible.
of the body. Assume elasticity and friction are
negligible.

Where, •Fb is the opposing force due to

friction of dashpot
•F is the applied force
•B is the frictional coefficient
•Fm is the opposing
force due to mass •v is velocity

•M is mass •x is displacement

•a is acceleration

•x is displacement

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Spring Rotational System

Spring is an element, which stores potential energy. If a In a translational mechanical system, mass stores kinetic
force is applied on spring K, then it is opposed by an energy. Similarly, in a rotational mechanical system, a
opposing force due to elasticity of spring. This opposing moment of inertia stores kinetic energy. If a torque is applied
force is proportional to the displacement of the spring. on a body having a moment of inertia J, then it is opposed by
Assume mass and friction are negligible. an opposing torque due to the moment of inertia. This
opposing torque is proportional to the angular acceleration
of the body. Assume elasticity and friction are negligible.

•Where,

•T is the applied torque

Where,
•Tj is the opposing torque
•F is the applied force
due to moment of inertia
•Fk is the opposing force due
to elasticity of spring •J is moment of inertia

•K is spring constant •α is angular acceleration

•x is displacement •θ is angular displacement

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Torsional Spring Dashpot

If a torque is applied on torsional spring K, then it is If a torque is applied on dashpot B, then it is opposed by
opposed by an opposing torque due to the elasticity of an opposing torque due to the rotational friction of the
torsional spring. This opposing torque is proportional to dashpot. This opposing torque is proportional to the
the angular displacement of the torsional spring. angular velocity of the body. Assume the moment of
Assume that the moment of inertia and friction are inertia and elasticity are negligible.
negligible.

Where,
•Tb is the opposing torque due
to the rotational friction of the
dashpot
•B is the rotational friction
coefficient
•ω is the angular velocity
•θ is the angular displacement

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Mass-Dash pot-Spring System Electrical System

Mesh equation for this circuit is

The above equation is a second-order differential

equation.

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Develop the mathematical model for the following systems

For the rotational system shown, write the equations of motion

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Force Voltage Analogy

Mesh equation for this circuit is

By comparing Equation 1 and Equation 3, we will get

the analogous quantities of the translational
mechanical system and electrical system. The
following table shows these analogous quantities.

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Translational Mechanical System Electrical System

Force(F) Voltage(V)

Mass(M) Inductance(L)

Frictional Coefficient(B) Resistance(R)

Spring Constant(K) Reciprocal of Capacitance

Displacement(x) Charge(q)

Velocity(v) Current(i)

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