ANKARA YILDIRIM BEYAZIT

UNIVERSITY

Energy System Engineering

Department

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 Course ESE 307

Control systems

By
Dr. Musaria Karim MAHMOOD

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 Course ESE 307 Syllabus
Week Topic

1 Introduction to Control Systems

2 Mathematical model of a system- Laplace Transform
3 Transfer function of linear systems
4 Transfer function of linear systems
5 Linearization
6 Signal flow graph
7 First order system- time domain analysis
8 Midterm
9 Second order systems- time domain analysis
10 Stability analysis
11 Stability analysis
12 Frequency response analysis
13 PID tuning methods
14 State space model
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15 Final Exam
 Course ESE 307 Syllabus
Week Topic

1 Introduction to Control Systems

2 Mathematical model of a system- Laplace Transform
3 Transfer function of linear systems
4 Transfer function of linear systems
5 Linearization
6 Signal flow graph
7 First order system- time domain analysis
8 Midterm
9 Second order systems- time domain analysis
10 Stability analysis
11 Stability analysis
12 Frequency response analysis
13 PID tuning methods
14 State space model
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15 Final Exam
 Lecture No.1

Introduction to Control Systems

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 Lecture Outlines

1. Introduction to Control System

2. Basic Concept in Control
3. Examples of Control System
4. Control System Design
5. Design Example

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Introduction to Control System

What is system?
What is control?
What is control system?

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 What is system?

A system/process/plant is a segment of environment that

is under consideration.
“An object or collection of objects whose properties we
would like to study”

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 What is control?

Control is a term that describes the process of

forcing a system to behave in a desired way in
order to achieve certain objective(s)/goal(s).

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 What is a control system?
Definition 1

A control system is an interconnection of components

forming a system configuration that will provide a desired
output (output is known).

A control system consists of subsystems and processes

(plants) assembled for the purpose of controlling the
outputs of the processes.
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What is a control system?
Definition 2

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 What is a control system?
Definition 3

Wikipedia:
A control system manages, commands, directs, or regulates
the behavior of other devices or systems using control loops.
It can range from a single home heating controller using a
thermostat controlling a domestic boiler to large industrial
control systems which are used for controlling processes or
machines.
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Why do we build control system?

We build control systems for four primary reasons:

• Power amplification (gain)

Positioning a large radar antenna by low-power
rotation of a knob.
• Remote control
Robot arm used to pick up radioactive material.
• Convenience of input form
Changing room temperature by thermostat
position.
• Compensation for disturbances
Controlling antenna position in the presence of
large wind disturbance torque. 13
Basic Concept: Input /Output Response

Output: Response variable that has certain behavior

Input: Flow of energy or material that causes the process to react

1. Manipulated Input: can be controlled (set point)
2. Disturbance Input: undesirable and out of human control
3. The controller is used to control the required output that has
changed by disturbance input.
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• Figure showing the response from an elevator
• Two differences between input and output
• Transient Response
• Steady State Error
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Basic Concept: Open Loop System

• The output is simply commanded by input

• Utilizes an actuating device to control the process
directly without using feedback.
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Basic Concept: Open Loop System
• No disturbances correction
• The output has no influence or effect on the control
action of the input signal. The output signal is neither
measured nor “fed back” for comparison with the
input signal or system set point

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 Example
The operator is controlling the tank level by
throttling the manual valve by hand by looking
at the indication in the transparent hose pipe
and controlling the level by a manual hand
valve

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 Basic Concept: Closed-Loop System

 Less sensitive to noise, disturbances and environment.

 Usually more expensive and complex compare to open-loop
configuration.
 A closed-loop control system uses a measurement of the output
and feedback of the output signal to compare it with the desired
output (reference or command).
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Closed-loop Control System-Example
Missile launcher system

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Closed-loop Control System-Example:
A water-level control system in a tank. When
the pump in switched ON it allows the water to
flow into the tank. Once the tank is filled up to the desired
level, the pump will switch OFF. The block diagram of the
water-level control system is shown below:
 Advantages/ Disadvantages

Open-Loop Systems Closed-Loop Systems

• Simple • Better accuracy
• Inexpensive • Less sensitive to noise,
• Cannot correct for disturbances, plant
disturbances or plant variations
variations. • Better control of transient &
steady-state response
• Complex & expensive

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Basic Concept: SISO (Single Input
Single Output) System

In control engineering, a single-input and single-

output (SISO) system is a simple single variable
control system with one input and one output.
Basic Concept: MIMO System

MIMO (Multi Input Multi Output) System

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Examples of Control System

Control Systems in Nature

• Pancreas: regulate blood sugar.
• Adrenalin – automatically generated to increase heart-
rate and oxygen intake in times of flight.
• Eyes – able to follow a moving object.
• Hand: able to pick up an object and place it at a
predetermined location

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a. Control Systems in Transportation

The driver uses the difference between the

actual and the desired direction of travel to
adjust the steering wheel.

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Configuration of a negative feedback control systems
(Generally):

In a “negative feedback control system”, the set point and

output values are subtracted from each other as the
feedback is “out-of-phase” with the original input. ... An
example of a negative feedback system is an electronic
amplifier based on an operational amplifier. Negative
feedback has effects of reducing distortion, noise,
sensitivity to external changes as well as improving system
bandwidth and input and output impedances.

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Configuration of a negative feedback control systems
(Generally):

Input + Output
Control device Process
Actuator
(Controller) (Plant)
-

Sensor
Measured output

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Configuration of a Positive feedback control systems:

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Positive feedback control systems:
positive feedback is defined as a positive loop
gain around a closed loop of cause and effect.
That is, positive feedback is in phase with the
input, in the sense that it adds to make the input
larger. Positive feedback tends to cause system
instability

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❖ Sensors
Provide Vision

❖ Actuators
Provide Muscle
❖ Control
Provides Finesse

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Control Systems in Process Industries

• In the process industries, control is used to regulate

level, pressure and temperature of refinery vessel.
• In steel rolling mill, the position of the rolls is
controlled according to the measure of thickness of the
steel coming off the finishing line.

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Control Systems in Process Industries: SCADA
Supervisory Control And Data Acquisition

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Control Systems in Process Industries: DCS
Distributed Control System

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Control Systems in Process Industries: PLC
Programmable Logic Controller

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Control Systems At Home

• CD Players, the position of the laser spot in relation to

the microscopic pits in a CD is controlled.
• Video Recorder, the tracking of the record and play
back head is controlled by controlling the velocity of
the tape.
• Air conditioning system uses thermostat and control
the temperature in the room.

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Control Systems At Home

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Control Systems At Home

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Control System Design: definition

• Design is the process of conceiving or inventing

the forms, parts, and details of a system to
achieve a specified purpose.
• The design of Control System is a specific
example of engineering design.
• The goal of control design is to obtain the
configuration, specifications and identification
of the key parameters of a proposed system to
meet an actual need.
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 Design Objective

• Produce desired transient response.

• Reduce steady-state error.
• Achieve closed-loop stability.
Total Response = Natural Response +Forced Response
The closed-loop control system’s natural response must
not dominate! The output must follow the input.

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Control System Design

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Design Example
Case Study: Antenna Position Control
The search for
extraterrestrial life is
being carried out with
radio antennas like the
one pictured here.

A radio antenna is an
example of a system
with position controls.

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• System normally operates to drive pointing error to zero.
• Motor is driven only when there is a pointing error.
• The larger the error the faster the motor turns.
• Too large a signal amplifier gain could cause overshoot
or instability.

Satisfactory design revolves around a balance

between transient performance, steady-state
performance, and stability. Adjusting gain &
adding compensators are the tools a control
engineer has to achieve this balance.
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Design Example

Step 1

A. System Concept

B. Detailed Layout

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 Step 2
D. Functional block diagram

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Step 3
C. Schematic diagram

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 Step 4

• Once schematic is drawn, the designer uses physical

laws, such as Kirchoff’s laws for electrical networks
and Newton’s laws for mechanical system, to model
the system mathematically.

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 Step 5
Reduce system to single block which mathematically
represents the system from its input to its output

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 Step 6
In this phase, the designer analyze the system to see if
the response specifications and performance
requirements can be meet by simple adjustment of
system parameters.
If specification cannot be met, the designer then
designs additional hardware (called as controller) in
order to meet the required performances.

Test input signals are used for both analytically and

during testing, to verify the design.
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Standard Test Input Signals

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