Introduction to

Control System
Engr. Philip Caesar L. Ebit
 Discuss the concepts in control
1 system

Objectives Classify the different types of

2 control systems

Determine the steps in designing

3 control systems
Topic Outline
Introduction and Basic Definitions

Control System Concepts

Classification of Control Systems

How to Design Control System?

Summary
Introduction

• Automatic control has played a vital role in the advance of

engineering and science.

• In addition to its extreme importance in space-vehicle systems,

missile-guidance systems, robotic systems, and the like,
automatic control has become an important and integral part of
modern manufacturing and industrial processes.
Introduction

• For example, automatic control is essential in the numerical

control of machine tools in the manufacturing industries, in the
design of autopilot systems in the aerospace industries, and in
the design of cars and trucks in the automobile industries.

• It is also essential in such industrial operations as controlling

pressure, temperature, humidity, viscosity, and flow in the
process industries.
Introduction

• Since advances in the theory and practice of automatic control

provide the means for attaining optimal performance of
dynamic systems, improving productivity, relieving the drudgery
of many routine repetitive manual operations, and more, most
engineers and scientists must now have a good understanding
of this field.
Basic Definitions

Controlled Variable and Manipulated Variable. The

controlled variable is the quantity or condition that is
measured and controlled. The manipulated variable is the
quantity or condition that is varied by the controller so as to
affect the value of the controlled variable. Normally, the
controlled variable is the output of the system.
Basic Definitions

System. An arrangement or combination of different physical

components that are connected or related together to form
an entire unit to achieve a certain objective.
• A kite is an example of a physical system, because it is made up
of paper and sticks.
• A classroom is an example of a physical system.
Basic Definitions

Control. The meaning of control is to regulate, direct or

command a system so that a desired objective is
obtained.
Basic Definitions

Plant. It is defined as the portion of a system which is to

be controlled or regulated. It is also called a process.
• A plant may be a piece of equipment, perhaps just a set of machine parts
functioning together, the purpose of which is to perform a particular
operation. In this subject, we shall call any physical object to be controlled
(such as a mechanical device, a heating furnace, a chemical reactor, or a
spacecraft) a plant.
Basic Definitions

Controller. It is an element of the system itself or may be

external to the system. It controls the plant or the
process.
Basic Definitions

Input. The applied signal or excitation signal that is

applied to a control system to get a specified output.

Output. The actual response that is obtained from a

control system due to application of the input.
Basic Definitions

Disturbances. The signal that has some adverse effect

on the value of the output of a system. If a disturbance is
produced within the system, it termed as an internal
disturbance; otherwise, it is known as an external
disturbance.
Basic Definitions

Control Systems. It is an amalgamation of different

physical elements linked in such a manner so as to
regulate, direct or command itself to obtain a certain
objective. A control system must have (1) input, (2)
output, (3) ways to achieve input and output objectives
and (4) control action.
Control System Component
An interconnection of Electrical
COMPONENTS Hydraulic Mathematical
Pneumatic Model
forming a system Mechanical
configuration that will
provide a desired Block
system response Diagram
Control System Concept
What is Control System?
• A system that provides an output or output
response for a given input

Input Control Output

Desired Response Systems Actual Response
General Block Diagram of Control System

Block diagrams of control

systems: a. open-loop system;
b. closed-loop system
Control System Concept

Specified Input/
Desired Output

Consider an Elevator as an example.

 Control System Concept
Two major measures of
performance are apparent:
(1) the transient response and
(2) the steady-state error.

Elevator response

𝐓𝐨𝐭𝐚𝐥 𝐫𝐞𝐬𝐩𝐨𝐧𝐬𝐞 = 𝐍𝐚𝐭𝐮𝐫𝐚𝐥 𝐫𝐞𝐬𝐩𝐨𝐧𝐬𝐞 + 𝐅𝐨𝐫𝐜𝐞𝐝 𝐫𝐞𝐬𝐩𝐨𝐧𝐬𝐞

Control System Concept
We build control systems for
four primary reasons:
1. Power amplification
2. Remote control
3. Convenience of input form
4. Compensation for
disturbances

Example of Power amplification

Examples of Control Systems
Speed Control System

Watt’s Speed Governor

Examples of Control Systems
Temperature Control System
Classification of Control Systems
Natural Control System
• Human Body
• Universe
Classification of Control Systems
Manmade Control System
• Airplanes
• Chemical Process
Classification of Control Systems

Combinational Control System

• The combination of a natural control
system and a man-made control
system. Driver driving a car is an
example of combinational control
system.
Classification of Control Systems
Linear and Nonlinear Control System
• A Control System in which output varies linearly with the input is called a
linear control system.

y(t ) = −2u(t ) + 1 y(t ) = 3u(t ) + 5

y=-2*u(t)+1 y=3*u(t)+5
5 35

0 30

25
-5
y(t)

y(t)
20
-10
15
-15
10

-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t) u(t)
Classification of Control Systems
Linear and Nonlinear Control System

• When the input and output has nonlinear relationship, the system is said to be
nonlinear.
Adhesion Characteristics of Road

0.4

Adhesion Coefficient
0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08
Creep
Classification of Control Systems
Time invariant and Time variant

• When the characteristics of the system do not depend upon time itself then the
system is said to time invariant control system.

y(t ) = −2u(t ) + 1

• Time varying control system is a system in which one or more parameters vary
with time.

y(t ) = 2u(t ) − 3t
Classification of Control Systems
Continuous Data and Discrete Data System

• In continuous data control system, all system variables are function of a

continuous time t.

• A discrete time control system involves one or more variables that are known only
at discrete time intervals.
Classification of Control Systems
Deterministic and Stochastic Control System
•

•
 Classification of Control Systems

Single-Input-Single-Output (SISO)
Multiple-Input-Multiple-Output (MIMO)

If a control system has one input and one output,

it is termed as SISO system. If a control system
has multiple input and multiple output, it is
known as MIMO system.
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
How to Design Control System?
Two major parts:
❑Analysis is the process by which a system’s performance is
determined. For example, we evaluate its transient response and
steady-state error to determine if they meet the desired
specifications.
❑Design is the process by which a system’s performance is
created or changed. For example, if a system’s transient
response and steady-state error are analyzed and found not to
meet the specifications, then we change parameters or add
additional components to meet the specifications.
How to Design Control System?
❑Three major objectives of systems analysis and design:
1. producing the desired transient response
2. reducing steady-state error, and
3. achieving stability.
𝐓𝐨𝐭𝐚𝐥 𝐫𝐞𝐬𝐩𝐨𝐧𝐬𝐞 = 𝐍𝐚𝐭𝐮𝐫𝐚𝐥 𝐫𝐞𝐬𝐩𝐨𝐧𝐬𝐞 + 𝐅𝐨𝐫𝐜𝐞𝐝 𝐫𝐞𝐬𝐩𝐨𝐧𝐬𝐞
How to Design Control System?
❑Other Considerations
1. Finances are another consideration.
➢ Control system designers cannot create designs without
considering their economic impact. Such considerations as
budget allocations and competitive pricing must guide the
engineer.
2. Another consideration is robust design.
➢ Create a robust design so that the system will not be sensitive to
parameter changes.
 The Design Process

Step 1 Step 2 Step 3 Step 4 Step 5 Step 6

Determine a Use the If multiple Analyze, design,
physical Draw a Transform the schematic to blocks, and test to see
system and functional physical obtain a block reduce the that
specifications block system into diagram, signal- block requirements
from the diagram. a schematic. flow diagram, or diagram to a and
requirements state-space single block specifications
representation or closed- are met.
loop system.
 Example for Design Process: Antenna Azimuth: An
Introduction to Position Control Systems
❑ A position control system converts a
position input command to a position
output response. Position control
systems find widespread applications in
antennas, robot arms, and computer disk
drives.

A radio antenna is an example of a

system with position controls.
The Design Process: Step 1: Transform Requirements
Into a Physical System

a. System Concept
The Design Process: Step 2: Draw a Functional
Block Diagram

d. Functional Block Diagram

b. Detailed Layout
The Design Process: Step 3: Create a Schematic

c. Schematic Diagram
The Design Process: Step 4: Develop a Mathematical
Model (Block Diagram)
❑ Kirchhoff’s voltage law
❑ The sum of voltages around a closed path equals zero.
❑ Kirchhoff’s current law
❑ The sum of electric currents flowing from a node equals
zero.
❑ Newton’s laws
❑ The sum of forces on a body equals zero; the sum of
moments on a body equals zero
The Design Process: Step 4: Develop a Mathematical
Model (Block Diagram)
• Kirchhoff’s and Newton’s laws lead to mathematical models
that describe the relationship between the input and output of
dynamic systems. One such model is the linear, time-invariant
differential equation, see equation below.

𝑑𝑚 𝑐 𝑡 𝑑 𝑚−1 𝑐 𝑡 𝑑𝑚 𝑟 𝑡 𝑑 𝑚−1 𝑟 𝑡
• + 𝑑𝑛−1 + ⋯ + 𝑑0 𝑐 𝑡 = 𝑏𝑚 + 𝑏𝑚−1 + ⋯ + 𝑏0 𝑟 𝑡
𝑑𝑡 𝑛 𝑑𝑡 𝑛−1 𝑑𝑡 𝑚 𝑑𝑡 𝑚−1
The Design Process: Step 5: Reduce the Block
Diagram

Equivalent block diagram for the antenna azimuth position control system
The Design Process: Step 6: Analyze and Design

Test waveforms used in control systems

The Design Process: Step 6: Analyze and Design (Cont.)

Test waveforms used in control systems (Cont.)

Summary
What is Control System?
• A system that provides an output or output
response for a given input

Input Control Output

Desired Response Systems Actual Response
Summary
We build control systems for four primary reasons:
1. Power amplification
2. Remote control
3. Convenience of input form
4. Compensation for disturbances
Summary
Classification of Control Systems
1. Natural Control System
2. Man Made Control System
3. Combinational Control System
4. Linear and Non-Linear Control System
5. Time Variant and Time Invariant
6. Continuous Data and Discrete Data System
7. Deterministic and Stochastic Control System
8. SISO and MIMO Control System
Summary
How to design control System?
• Major Parts
• Analysis
• Design
• Three major objectives of systems analysis and design:
1. producing the desired transient response
2. reducing steady-state error, and
3. achieving stability.
 Summary
The Design Process

Step 1 Step 2 Step 3 Step 4 Step 5 Step 6

Determine a Use the If multiple Analyze, design,
physical Draw a Transform the schematic to blocks, and test to see
system and functional physical obtain a block reduce the that
specifications block system into diagram, signal- block requirements
from the diagram. a schematic. flow diagram, or diagram to a and
requirements state-space single block specifications
representation or closed- are met.
loop system.
for your Patience.