Dr.

Talal Mandourah

Introduction to Control

INTRODUCTION TO
CONTROL

By: Dr. Talal Mandourah

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Dr. Talal Mandourah

Introduction to Control

What is Engineering Process

?Control (EPC)
EPC: Applying input to cause system variable to conform to desired value
called reference
Controlled System

Control
Control
function
Actuator

control
input

Actuator

Manipulated variable

Measurement

Controlled variable

error

reference
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Dr. Talal Mandourah

Introduction to Control

EPC Representation

Block diagram: A pictorial tool to represent a system

Elements are represented in Transfer functions or state space representations
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Dr. Talal Mandourah

Introduction to Control

?What is Open Loop Response

Transfer function: is the relationship between the input

to the output of the systems in algebraic form

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Dr. Talal Mandourah

Introduction to Control

? What is Close Loop Response

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Dr. Talal Mandourah

Introduction to Control

EPC Methodology
Modeling
Analytical
System IDs

Dynamic model
Mp= 0

Design of
controller

Control algorithm
Satisfy

ess = 0

ys

Required
analysis

ts, tr, tp

time(s)

Performance Specifications

Why EPC
Systematic theoretical approach for analysis and design
Predict system response and stability to input
Note: the adjustment is carried out on every observation with no substantial cost
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Dr. Talal Mandourah

Introduction to Control

Examples
Cruise system

Open loop
Engine

Control
Algorithm

Desired
speed

Road
grade
Automobile

Speed

Speedometer

Close loop

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Dr. Talal Mandourah

Introduction to Control

Controlled variable

?What are Step Response Elements

tp
SS error

Overshoot

Transient state
tr

Steady state

Settling time ts

time

Steady state response : the final value of the step response

.Raise time tr : the time the step response reaches 90% of the steady state
Overshoot, Mp: The maximum amount by which the step response exceed the
.final value
Settling time ts: is the time at which the step response enter the final value

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Dr. Talal Mandourah

Introduction to Control

?What is PID controller

It is simple and works well with many systems
P control: may not have non-zero steady state
I control: improve steady state error
D control: may improve stability and transient response
PI: steady state, PD: damping transient state

Controlled variable

tp

Overshoot

Transient state
tr

Settling time ts

SS error

Steady state
time
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Dr. Talal Mandourah

Introduction to Control

!!!Controller Design
(PID) control:
Proportional: C(s)= K
Integral: C(s) = KKi/ s
Derivative: C(s) = KKd s

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Dr. Talal Mandourah

Introduction to Control

What meant by Performance

?Specifications
Desired:
Stable system
Good transient state, ts, tr, tp
Good steady state, minimum ss error
Minimum overshoot

Mp

ess

ys

ts , t r , t p
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time(s)
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Dr. Talal Mandourah

Introduction to Control

What Meant by Control

?Optimization & Stability

We say that the controller is optimum if we know a value thatgives the best output

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We say that the system is stable if any bounded inputproduces bounded output for all bounded initial conditions
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