Introduction to Control Systems

Introduction to Control Systems
Control Engineering
Author:
Lenin Chinchilla Atencia
Advice
This presentation is based on Ogatas book fifth edition and Nises
book sixth edition. It should be used just for academic purpose.
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CONTENTS
1 Introduction
History
Definitions
Examples
2 Closedloop Control versus Openloop Control

Open loop control Systems
3 Design Process
4 Exersices
5 Referencias
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Introduction
1 Introduction
History
Definitions
Examples

3 Design Process
4 Exersices
5 Referencias
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Introduction
Introduction
Theory of Control
Classical Control
Modern Control
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Introduction
The automatic control is an important and integral part of:

SpaceVehicle systems
Robotic systems
Modern manufacturing systems
Any industrial operations involving control of temperature,
pressure, flow, humidity etc.
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Introduction
History
History
18th century Centrifugal governor for speed

control,James Watt
1922 It showed how stability could be determined from
the differential equations describing the system, Minorsky.
1932 Procedure for determining the stability of
closedloop systems on the basis of openloop response to
steady-state sinusoidal inputs, Nyquist.
1934 Design the relay servomechanisms capable of
closely following a changing input, Hazen.
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Introduction
History
History
19401950 frequencyresponse methods,

ZieglerNicholls tuning rules, rootlocus method due Evans.
Late 1950s the emphasis in control design problems has
been shifted from the design of one of many systems that
work to the design of one optimal system in some
meaningful sense.
early 1960s Modern control theory based on
timedomain analysis and synthesis using states variables.
19601980 Optimal control of both deterministic and
stochastic systems, adaptive and learning control of complex
systems.
1980s and 1990s Developments in modern control
theory were centered around robust control and associated
topics.
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Introduction
Definitions
Controlled Variable and Control Signal or Manipulated Variable
The controlled variable is the quantity or condition that is measured and controlled. The control signal or 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. Control means measuring the
value of the controlled variable of the system and applying the
control signal to the system to correct or limit deviation of the
measured value from a desired value.
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Introduction
Definitions
Plants
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. 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.
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Introduction
Definitions
Processes
The MerriamWebster Dictionary defines a process to be a natural,

progressively continuing operation or development marked by a
series of gradual changes that succeed one another in a relatively
fixed way and lead toward a particular result or end; or an artificial
or voluntary, progressively continuing operation that consists of a
series of controlled actions or movements systematically directed
toward a particular result or end. We shall call any operation to
be controlled a process. Examples are chemical, economic, and
biological processes.
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Introduction
Definitions
Systems
A system is a combination of components that act together and

perform a certain objective. A system need not be physical. The
concept of the system can be applied to abstract, dynamic phenomena such as those encountered in economics. The word system
should, therefore, be interpreted to imply physical, biological, economic, and the like, systems.
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Introduction
Definitions
Disturbances
A disturbance is a signal that tends to adversely affect the value

of the output of a system. If a disturbance is generated within
the system, it is called internal, while an external disturbance is
generated outside the system and is an input.
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Introduction
Definitions
Feedback Control
Feedback control refers to an operation that, in the presence of

disturbances, tends to reduce the difference between the output
of a system and some reference input and does so on the basis of this difference. Here only unpredictable disturbances are so
specified, since predictable or known disturbances can always be
compensated for within the system.
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Introduction
Examples
Figura 1 : Example 1. Take from [Ogata, 2010].

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Introduction
Examples
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Introduction
Examples
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Closedloop Control versus Openloop Control
1 Introduction
History
Definitions
Examples

3 Design Process
4 Exersices
5 Referencias
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Figura 4 : Block diagrams of control systems: a) OpenLoop System

b)ClosedLoop System. Take from [Nise, 2011].
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Advantages
Simple construction and ease of maintenance.

Less expensive than a corresponding closed-loop system.
There is no stability problem.
Convenient when output is hard to measure or measuring
the output precisely is economically not feasible. (For
example, in the washer system, it would be quite expensive
to provide a device to measure the quality of the washers
output, clean- liness of the clothes.)
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Disadvantages
Disturbances and changes in calibration cause errors, and

the output may be different from what is desired.
To maintain the required quality in the output, recalibration
is necessary from time to time.
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Design Process
1 Introduction
History
Definitions
Examples

3 Design Process
4 Exersices
5 Referencias
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Design Process
Design Process
Figura 5 : The control systems design process. Take from [Nise, 2011].
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Exersices
1 Introduction
History
Definitions
Examples

3 Design Process
4 Exersices
5 Referencias
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Exersices
Exercise 1
An aircrafts attitude varies in

roll, pitch, and yaw as defined in
Figure. Draw a functional block
diagram for a closedloop system that stabilizes the roll angle
with a gyro and compares the actual roll angle with the desired
roll angle. The ailerons respond to Figura 6 : Aircraft attitude
defined. Take from [Nise, 2011].
the roll angle error by undergoing
an angular deflection, producing
a roll angle rate. Identify the input and output transducers, the
controller, and the plant. Further, identify the nature of each signal.
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Exersices
Exercise 2
In a nuclear power generating plant,

heat from a reactor is used to generate steam for turbines. The rate of
the fission reaction determines the
amount of heat generated, and this
rate is controlled by rods inserted into the radiactive core. The rods regulate the flow of neutrons. If the Figura 7 : Control of a
rods are lowered into the core, the nuclear reactor. Take from
rate of fission will diminish; if the [Nise, 2011].
rods are raised , the fission rate will
increase. By automatically controling the position of the rods, the
amount of heat generated by the reactor can be regulated. Draw
a functional block diagram for the nuclear reactor control system
shown in the Figure. Show all blocks and signals.
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Exersices
Exercise 3
The human eye has a

biological control system
that varies the pupil diameter to maintain constant intensit to the retina. As the light intensity increases, the optical nerve sends a signal
to the brain, which commands internal eye muscles to decrease the pupils eye diameter. When
diameter increases.
Figura 8 : Pupil is shown black; light

beam is shown white. a. Light beam
diameter is larger than pupil. b. Light
beam diameter is smaller than pupil. c.
Narrow light beam is illuminated at
pupils edge. Take from [Nise, 2011].
the light intensity decreaes, the pupil
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Exersices
Exercise 3
a. Draw a functional block diagram of the lightpupil system

indicating the input, output, and intermediate signals; the
sensor; the controller; and the actuator.
b. Under normal conditions the incident light will be larger
than the pupil, as shown in Figure 8(a). If the incident light
is smaller than the diameter of the pupil as shown in Figure
8(b), the feedback path is broken . Modify your block
diagram from Part a. to show where the loop is broken.
What will happen if the narrow beam of light varies in
intensity, say in a sinusoidal fashion?
c. It has been found that it takes the pupil about 300
milliseconds to react to a change in the incident light. If
light shines off center to the retina as shown in Figure 8(c),
describe the response of the pupil with delay present and
then delay present.
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Referencias
1 Introduction
History
Definitions
Examples

3 Design Process
4 Exersices
5 Referencias
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Referencias
REFERENCIAS I
[Nise, 2011] Nise, N. S. (2011).

CONTROL SYSTEMS ENGINEERING.
Jhon Wiley & Sons, sixth edition.
[Ogata, 2010] Ogata, K. (2010).
MODERN CONTROL ENGINEERING, volume 40.
Prentice Hall, fifth edition.
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Introduction to Control Systems

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