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Chapter 1

Introduction to :
Control Systems Engineering

Assoc. Prof. Ir. Dr. Dirman Hanafi Burhannuddin, [IPM] IEI


Basic Concept
 A control system consists of subsystems and processes
(or plants) assembled for the purpose of obtaining a
desired output with desired performance, given a
specified input
 Basic components :
 Input (objective/ desired response)
The excitation applied to a control system from an
external energy source.
 control system
 output (actual response)
The actual response obtained for a control system.
Purposes of Control System
 Power Amplification
Control system is used in many systems to produce power gain or
amplification.
 Remote Control
Control system is the key idea for controlling robots and other
automated systems.
 Convenience of Input
Control system provides the convenience of input form. For example
we do not have to put in heat to obtain heat for a temperature
control system. For this case, the input is the position on the
thermostat and the output is the heat.
 Compensation of Disturbance
Control system can compensate disturbance. For example, in the
case of an antenna which is positioned in a specific direction, the
control system detects any variation in the position due to
disturbance like wind and positions the antenna back to the original
position.
CONTROL SYSTEM

OPEN LOOP CLOSE LOOP


 The output is not  System has feedback and
measured. output is measured
 Control system is  System output has an
independent of the effect on the control
output. action
 System cannot  system can compensate
compensate for for disturbance.
disturbance.  Examples :air conditioner,
 Examples : toaster, robot (arm).
washing machine, fan.
Open Loop System
 Example for antenna pointing system
Open Loop System
 Antenna will rotate clockwise and
anticlockwise depending on the output
signal, negative or positive.
 Antenna will stationary if the input signal is
0v.
When the antenna is approaching the
desired angle or position, the input signal
must approach 0v.
It can be conclude that the control action is
independent of the output.
Practical Example of Open Loop
Control System
1. Electric Hand Drier Hot air (output) comes out as long as you keep
your hand under the machine, irrespective of how much your hand is
dried.
2. Automatic Washing Machine This machine runs according to the pre-
set time irrespective of washing is completed or not.
3. Bread Toaster - This machine runs as per adjusted time irrespective of
toasting is completed or not.
4. Automatic Tea/Coffee Maker These machines also function for pre
adjusted time only.
5. Timer Based Clothes Drier This machine dries wet clothes for pre-
adjusted time, it does not matter how much the clothes are dried.
6. Light Switch lamps glow whenever light switch is on irrespective of light
is required or not.
7. Volume on Stereo System Volume is adjusted manually irrespective of
output volume level.
Close Loop System
 Example for antenna pointing system
Close Loop System
 From diagram, if 0= i then V0 =Vi so the error signal
Ve = Vi V0
= 0V ( the antenna will be stationary )
 If the V0 not equal Vi ,Ve greater or less than 0V, the
antenna will rotate clockwise, anticlockwise
depending on a polarity of Ve. This means that the
antenna will continue rotating until V0 = Vi .
In this example, the system automatically corrects
the output when the system is disturbed. This
system is known as automatic control system.
Practical Example of Closed Open Loop
Control System
1. Automatic Electric Iron Heating elements are controlled by
output temperature of the iron.
2. Servo Voltage Stabilizer Voltage controller operates depending
upon output voltage of the system.
3. Water Level Controller Input water is controlled by water level
of the reservoir.
4. Missile Launched & Auto Tracked by Radar The direction of
missile is controlled by comparing the target and position of the
missile.
5. An Air Conditioner An air conditioner functions depending upon
the temperature of the room.
6. Cooling System in Car It operates depending upon the
temperature which it controls
Open Loop Vs Close Loop
Open-loop control system Closed-loop control system
Advantages Advantages
1. Simple in construction and 1. Closed loop control systems
design. are more accurate even in the
2. Economical. presence of non-linearity.
3. Easy to maintain. 2. Highly accurate as any error
4. Generally stable. arising is corrected due to
5. Convenient to use as output is presence of feedback signal.
difficult to measure. 3. Bandwidth range is large.
4. Facilitates automation.
5. The sensitivity of system may
be made small to make
system more stable.
6. This system is less affected by
noise.
Open Loop Vs Close Loop (cont)
Open-loop control system Closed-loop control system
Disadvantages Disadvantages
1. They are inaccurate. 1. They are costlier.
2. They are unreliable. 2. They are complicated to
3. Any change in output cannot design.
be corrected automatically. 3. Required more maintenance.
4. Feedback leads to oscillatory
response.
5. Overall gain is reduced due to
presence of feedback.
6. Stability is the major problem
and more care is needed to
design a stable closed loop
system
Feedback and its effect
 Feedback system is a system that maintains
a relationship between the output and some
reference input by comparing them and
using the difference as a means of control.
 Feedback is used to reduce the error
between reference and the system output .
 Feedback effect on performance
characteristic:
 Stability
 Overall gain
 Sensitivity
 External disturbances
Types of Feedback Control System
 Single input single output (SISO)
 SISO control system has a single input r and
single output y .

Desired
output
response,
r + e Controller Plant
_

b
+ Measurement
Types of Feedback Control System
 Multivariable input Multivariable output
(MIMO).
 MIMO system has a more than one input, r1, r2,
, rn , output, y1, y2, , yn and feedback
signal, b1, b2, ., bn .
. Desired
output Output /
response, Controlled
r variable, y
r1 y1
r2 y2
. . .
. . .
rn yn

bn b2 b1
+ +
......... +
..
Types of Feedback Control System
 Linear
 Linear feedback control system is idealized
models fabricated by analyst purely for simplicity
of analysis and design .
 Linear systems do not exist in practice, since all
physical system is nonlinear to some extent .
 Linear system technique normally used for design
and analysis purposes.
Types of Feedback Control System
 Non-Linear
 In practice nonlinear effect are exist in all physical
system.
 An example nonlinear spring characteristic,
nonlinear friction force or torque between moving
members, and so on.
 Nonlinear system usually difficult to treat
mathematically, and there are no general methods
available for solving a wide class of nonlinear
system.
Types of Feedback Control System
 Continuous
 In a continuous control system, the system
variables are function of a continuous time t.
 Discrete
 A discrete time control system involves one or
more variable that are known any at discrete
intents of time .
Types of Feedback Control System
 Time Varying
 When the parameter of a control system is
varying with time the system is called a time-
varying system .
 Most physical system contains elements that drift
or vary with time .
 Example : the winding resistance of an electric
motor will vary when the motor is being first
excited and its temperature is rising .
 Time Invariant
 Time-Invariant system is a system that the
parameters of a control system are stationary
with respect to time during the operation of the
system .
Block Diagram Simplification
Rules & Equivalents

Assoc. Prof. Ir. Dr. Dirman Hanafi Burhannuddin, [IPM] IEI


Rule:1

Rule: 2 (Associative and Commutative Properties)


Rule: 3 (Distributive Property)

Rule: 4 (Blocks in Parallel)


Rule: 5 (Positive Feedback Loop) Rule: 6 (Negative Feedback loop)

http://www.msubbu.in/sp/ctrl/BD-Rules.htm
Example 1
Example 1

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