EE3813 Control System

Dr. Aamer Iqbal Bhatti

TA: Imran Khan Yousufzai

Course Book
Feedback Control of Dynamic Systems.

4th Edition By : Gene F. Franklin, J.David Powell, Abbas Emami - Naeini

Lecture Outline
What is Control Systems? Applications Implementations Salient Design Steps Chapter 1

Controls ?
Objective is to modify the behavior of a given system so that it works in accordance with our wishes. Science of designing such controllers.
One of the complicated and theoretical branch of Electrical Engineering.

Systems
Definition of Controls revolve around Systems.
What is a system? Identify systems in this room
Air-conditioners
Bracket fans Amplifiers Humans (Combination of sub-systems) Power Supply of a PC

Other Systems
Aircrafts, Missiles Automotives Nuclear Reactors Industrial Processes Robots Human Systems

Some Nasty Systems

Video demonstrations of some huge Control

Systems

Systems can be Nasty too

Nasty Systems

Stabilizing Platform

Where Controls fit in

Feedback is a must
Can you manage this

turn with eyes closed? Turning involves :

Direction adjustment Speed adjustment

A human driver does it

easily. What if a computer has to do it?

Components of Modern Control

Implementation
Modern day controller
Piece of Software Housed in a PC

Hosted in an Embedded Processor

Real Time (Fast Processing) is the key

Salient Design Steps

Design involves Mathematical Modeling of the System Model Verification Controller Design Controller Software Development Controller Testing on Simulation Controller Testing on Actual System Commissioning

Chapter 1
An Overview and Brief History of Feedback Control

A Perspective on Feedback Control

Manual and Automatic Control. Regulators. Tracking or Servo systems. Open Loop Control. Feedback Control. Processes described by LTI Equations. Feed Forward.

Component Block Diagram of a Room Temperature Control System

Fig 1.1 (a)

Heat Loss Q out Thermostat Desired Temperature

Gas Valve

Furnace
Q in + House Room Temperature

Figure 1.2 : Generic Components of the Elementary Feedback Control System, as identified from the above example.
Disturbance Plant Input Filter Reference + Controller Control Signal

Actuator

Process Output

Sensor

Sensor Noise

1.2 A First Analysis of Feedback

The value of feedback can be readily demonstrated by quantitative analysis of a simplified model of a familiar system, the cruise control of an automobile.

Figure 1.3 : Component Block diagram of Automobile Cruise Control

Road Grade Controller Desired Speed Control Variable

Actuator

Process Auto Body

Actual Speed

Throttle

Sensor Speedometer

Sensor Noise

A mathematical model of our system is needed in the form of a set of quantitative relationships among the variables, while ignoring the dynamic behavior. (Figure 1.4)
w(% grade )

0.5

Control (degrees) u +

10

Output speed (mph)

Case # 1
Example of an Open-Loop Control System. Controller does not use the speedometer readings.

Figure 1.5 : Open-Loop Cruise Control

w

Plant

0.5

Controller u r

1 / 10

10

Open loop calculations

Yol = 10(u-0.5w)
u= r/10 Yol = r-5w eol = r-Yol eol = 5w %error = 500(w/r)

Case # 2
Example of a Closed-Loop Control System. Feedback reduces the sensitivity of the speed error. Feedback scheme is shown in fig 1.6, where the controller gain has been set to 10.

Figure 1.6 : Closed-Loop Cruise Control

w Plant

0.5

Controller u

10
-

10

Ycl

Closed loop calculations

Ycl = 10u-5w
u = 10(r- Ycl) Combining above two equations Ycl = (100/101)r (5/101)w ecl = (1/101)r + (5/101)w

1.3 : A Brief History

Earliest two examples:
Control of flow rate to regulate a water clock. Control of liquid level in wine vessel.

Liquid Level Control: Invented in antiquity and still used today (e.g. water tank of the ordinary flush toilet) is the float valve.

 Drebbelss Incubator:
Designed in 1620, to control the temperature of a furnace, used to heat an incubator. (Refer to Fig 1.7)

Fly-ball Governor:
Motivated by the desire to automatically control the speed of the grinding stone in a wind driven flour mill, Fuller (1976) used a conical pendulum, or Fly-ball governor, to measure the speed of the mill.

James Watt:
However it was adaption of these principles to the steam engine in the laboratories of James Watt that made Fly-ball Governor famous.

Fly-ball Governor

James Watts Steam Engine

Beginning of Control Theory

Airy (1840) was concerned with speed control. Using the

centrifugal-pendulum governor, he discovered that it was capable of unstable motion.

Stability Analysis:
In a paper written by Maxwell, he stated that stability depends on the roots of a certain equation having negative real parts.

 Frequency Response:

To solve the problem of reducing distortion, BLACK proposed the feedback amplifier.
PID Control:

This field, characterized by processes that are not only highly complex but also nonlinear and subject to relatively long time delays between actuator and sensor, developed Potentional Integral-Derivative Control.
Root Locus:

This method is suitable for designing, as well as for stability analysis.

 State-Variable Design:
Much of this work was stimulated by the new field of control of artificial earth satellites, in which the ODE is a natural form for writing the model.

Classical Control:
It uses the Laplace or Fourier transforms.

Modern Control:
It is based on ODEs in state form and were introduced into the field starting in the 1960s.

End Of Lecture