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CHAPTER 1
INTRODUCTION TO CONTROL SYSTEMS
Semester 2019/2020-I
By: DR. DWI PEBRIANTI
BEE3313 DP - credit to YAW, NH, NMAG & MSR
Syllabus
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1.1 • Introduction
1.2 • Control Terminology
• Basic Components of a
1.3 control system
• Closed-loop control versus
1.4
open-loop control
DP - credit to YAW, NH, NMAG & MSR
Lesson Outcomes
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1. Identify the Control Terminology
2. Describe the basic features and configurations of a
control system
3. Explain the similarities and differences between
closed-loop control and open-loop control
DP - credit to YAW, NH, NMAG & MSR
1.1 Introduction
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1. Control system
2. Electric motor
3. Sheave
4. Counter weight
5. Guide rails
1.1 Introduction – Control System
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System?
Disturbance?
Open loop/Closed loop?
Controlled variable?
Steering a car on a curve road
A control system is an interconnection of components
forming a system configuration that would provide a
desired output in response to input signals.
DP - credit to YAW, NH, NMAG & MSR
1.2 Control Terminology
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Controlled variable: The controlled variable is the quantity or condition that
is measured and controlled
Manipulated variable: The manipulated variable is the quantity or condition
that is varied by the controller so as to affect variable value of the controlled
variable.
Plants: A plant is a piece of equipment perhaps just a set of machine parts
functioning together, to perform a particular operation.
Process: A process is to be a natural, progressively continuing operation or
development marked by a series of gradual changes that succeed one another in
relatively fixed way and lead toward a particular result
Actuator: A device that converts an electrical control signal into mechanical
motion. Sometimes also called as Motor
DP - credit to YAW, NH, NMAG & MSR
1.2 Control Terminology…Cont.
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System: A system is combination of components that act together and perform a certain
objective. A system is not limited to physical ones. The concept of the system can be
applied to abstract, dynamic phenomena such as those encountered in economics. The word
system should be therefore, be interpreted to imply physical, biological, and economic.
Disturbance: A disturbance is a signal that tends to adversely affect the value of the out
signal. If the disturbance is generated within the system is called internal, while an external
disturbance is generated outside the system and is an input to the systems.
Open-loop(Non-feedback) system: An open-loop system utilizes an actuating device to
control the process directly without using feedback
Feedback control/closed-loop system: A closed-loop system uses a measurement of the
output and feedback of this signal to compare it with the desired output (reference or
command).
DP - credit to YAW, NH, NMAG & MSR
1.2 Control Terminology…Cont.
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Disturbance
Manipulated Controlled
quantities Process quantities
DP - credit to YAW, NH, NMAG & MSR
Example of Control System
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YAW- credit to NH, NMAG & MSR
Home Heating System
1.3 Basic Components of a Control System
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Block Diagram
OBJECTIVES RESULTS
INPUT, R OUTPUT, Y
CONTROL SYSTEM
Target,
Actual value,
Desired
Actual condition
Basic components of a control system
DP - credit to YAW, NH, NMAG & MSR
1.4 Closed-loop control versus open-loop control
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Open-loop Control
Without feedback !!
Reference Controller Actuating Controlled variable,
input, R signal, C signal, U output, Y
CONTROLLER ACTUATOR PLANT
Block diagram of an open-loop control system
DP - credit to YAW, NH, NMAG & MSR
Example of Open Loop Control System
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Flow Rate Manual Control
1.4 Closed-loop control versus open-loop
control…cont.
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Closed Loop Control
Desired is compared withSystem
a measurement
of the actual in order to measure error.
Difference between the desired input and
actual output is equal to the error.
Reference Error
input, R signal, E output, Y
CONTROLLER ACTUATOR PLANT
+
- C U G
Block diagram of an
closed-loop control
SENSOR
system
Feedback H
This measurement is obtained by measurement using a sensor
DP - credit to YAW, NH, NMAG & MSR
Takes signal from controller,
provides power to plant
Input Signal Comparator Output Signal
14 Controller Plant
Actuator Effect
Error Actual
Desired Steering
Car
Driver : Mechanism course
course Human
of of
Brain
travel Driver :
travel
Human
Eyes
Feedback
Sensor
Desired course of travel
Actual course of travel
Block Diagram for steering a car on a curve
road DP - credit to YAW, NH, NMAG & MSR
Washing machine
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Open loop / Closed Loop?
Why
DP - credit to YAW, NH, NMAG & MSR
Microwave Oven
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Open Loop
Close Loop
Liquid Storage Tank
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Cooling System
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Toaster
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DP - credit to YAW, NH, NMAG & MSR
Sample Question – Last Sem 2014/2015 I
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The underwater robot as shown in Figure 1 is used in
offshore company for underwater pipeline inspection.
The robot can moves horizontally about x-axis by using
two horizontal thrusters. It also can moves vertically
about z-axis using one vertical thruster and rotate about
z-axis (yaw angle). All the thrusters are controlled by
programmable microcontroller. The robot used a gyro
sensor to stabilize the yaw angle underwater.
Construct a functional block diagram for a closed loop
system that stabilizes the yaw angle. Identify which
thrusters should be control to perform a yaw angle.
Clearly state the input, output, controller, plant and etc.
YAW- credit to NH, NMAG & MSR
Answer
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YAW- credit to NH, NMAG & MSR
Example : Test 1, Q1, 2013/2014 Sem 1
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Segway personal transporter (PT), Figure 1, is a two
wheeled vehicle in which the human operator stand
vertically on the platform. As the driver leans left, right,
forward or backward, a set of sensitive gyroscopic sensors
sense the desired input. These signals are fed to a
computer that amplifies them and commands the motors to
propel the vehicle in the desired direction. One very
important feature of the PT is its safety: the system will
maintain its vertical position within a specified angle
despite the road disturbance, such as uphills and downhills
or even if the operator over – leans in any direction. Draw
a functional block diagram of the PT system that keeps the
system in a vertical position. Indicate the input and output
signals, intermediate signals and the main subsystems.
Answer :
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Disturbance : uphill / downhill
Reference +
Attitude : +
Segway Real
Amplifier Motor Attitude
Vertical + PT
position -
Gyroscopic
sensor
Input : Reference attitude (Vertical position)
Output : Actual attitude
Plant : Segway Personal Transporter
Controller : computer / amplifier
Control input : manipulated variable : angle of attitude
Control System
24 Type of system Advantages Disadvantages
1. Open-loop control system 1. Simple construction and ease of 1. The system response very sensitive to
maintenance. external disturbance and internal
2. Less expensive than a corresponding variations in system parameters.
closed-loop control system 2. Recalibration is necessary from time to
3. There is no stability problem time in order to maintain the
4. Convenient when output is hard to required quality in the output
measure or measuring the output
precisely is economically not
feasible.
2. Closed-loop control system 1. Makes the system response 1. Risk instability
relatively insensitive to external 2. Complexity in analysis and
disturbance and internal variations in implementation and expensive
system parameters.
2. Possible to use relatively inaccurate
and inexpensive components to
obtain the accurate control of a given
plant.
3. Better control of transient & steady-
state response
4. Increased accuracy
-Increased ability to reproduce output
with varied input.
DP - credit to YAW, NH, NMAG & MSR
Sample Question SEM1213I
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Sterilization of Fresh Fruit Bunch in the pressure sterilizer is
important processes in a Palm Oil Mill. These sterilizing
processes is done by sterilizing the fruit brunches under steam
pressure. The cooking times of the fruit brunch within 3 bar
pressure or 45 psi for 60-90 minutes is controlled by controlling
the opening/closing of control valve. During the cooking
process, the fruit will become soft and the enzymes that produce
Free Fatty Acids (FFA) are deactivated. Thus, this process is
controlled by the feed forward controller and a differential
pressure sensor is used to sense the actual pressure so that the
system can maintain the 3 bar pressure. Figure 1.1 illustrates the
sterilizer system.
Construct a functional block diagram for a closed-loop system
that controls the pressure of the sterilizer system. Clearly state
Sample Past Year Question SEM1213I
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Steam
Control valve
Pressure
PT
Transmitter
Waste
Sterilizer
Liquid
Pump
Figure 1.1: The sterilizer system
DP - credit to YAW, NH, NMAG & MSR
Answer
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Pressure + Valve opening Steam Plant Actual Pressure
set point mechanism Flow Sterilizer
3 bar - rate
Pressure
Transmitter
Input : Pressure set point 3 bar
Output : Actual pressure
Plant : sterilizer
Controller : valve opening mechanism
Control input : manipulated variable : steam flow rate
DP - credit to YAW, NH, NMAG & MSR
Question Final Exam 2014 2015 Sem II
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Consider
an antenna azimuth position control system
that could be used to position a radio telescope
antenna as shown in Figure 1.1(a). The schematic of
the system is shown in Figure 1.1(b). The purpose of
the system is to have the azimuth angle output of the
antenna, , follow the input angle of the
potentiometer, . The input command is an angular
displacement. A potentiometer is used to convert the
angular displacement into a voltage. Similarly, the
output angular displacement is converted to a voltage
by a potentiometer in the feedback path. The signal
and power amplifier boost the existing error. Sketch
the block diagram representing the antenna azimuth
position control described above.
DP- credit to YAW, NH, NMAG & MSR
answer
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YAW- credit to NH, NMAG & MSR
End of Chapter 1
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1. Q & A
2. Outcomes :
– Identify the Control Terminology
– Describe the Basic features and configurations of a
control system
– Explain the similarities and differences between
closed-loop control and open-loop control
DP - credit to YAW, NH, NMAG & MSR
