CHAPTER 1

Introduction to
Control System
PLT 305 : CONTROL SYSTEMS
TECHNOLOGY
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 Chapter Objective.
 Basic terminologies.
 Open-loop and closed-loop.
 Block diagrams.
 Control structure.
 Advantages and Disadvantages of closed-loop.

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1.1 Introduction.

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1.2 Basic Terminologies.

 Component or process to be controlled can be represented

by a block diagram.
 The input-output relationship represents the cause and effect
of the process.

Process

 Control systems can be classified into two categories:

i. Open-loop control system
ii. Closed-loop feedback control system

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Cont’d…

Input and Output

 Input = Stimulus
 Output = Response

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Cont’d…

Advantages of control systems;

 Can move large objects with precision; for example (i) elevator,
(ii) radar antenna to pickup strong radio signal and (iii) robot to
operate in the dangerous environment.
 Example:
Elevator
When pressed fourth-floor from first floor, the elevator rises to
the fourth floor with a speed and floor-leveling accuracy design
for passenger comfort.

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 Desired Output Actuating Process Output
Response Device

Desired
Output Comparison Controller Process Output
Response

Measurement

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1.3 Open Loop System.

 Disturbance is the unwanted signal that may sway the output .

 Controller is a subsystem that is used to ensure the output
signal follows the input signal.
 The Open-Loop System cannot compensate for any
disturbance that add to the system.
 Example; bread toaster.

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1.4 Close-Loop System.

 The Close-Loop (feedback control) System can overcome the

problem of the Open Loop System in term of sensitivity to
disturbance and inability to correct the disturbance.

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Control System Components
i. System, plant or process

i. Actuators

i. Sensors

i. Reference input

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Cont’d…
System Response
 Ability of system to achieve desired result is measured in terms
of system response: comparison of output versus input.

 Transient response.
 Steady State Response.
 Steady State Error.
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 Manual Vs Automatic Control
 Control is a process of causing a system variable such as
temperature or position to conform to some desired
value or trajectory, called reference value or trajectory.
 For example, driving a car implies controlling the vehicle
to follow the desired path to arrive safely at a planned
destination.
i. If you are driving the car yourself, you are performing manual
control of the car.
ii. If you use design a machine, or use a computer to do it, then
you have built an automatic control system.

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Examples of Modern Control
System

 a. Transportation
 b. Temperature Control
 c. Process Industry
 d. Manufacturing Industry
 e. Homes

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 a. Transportation
Car and Driver

 Objective: To control direction and speed of car

 Outputs: Actual direction and speed of car
 Control inputs: Road markings and speed signs
 Disturbances: Road surface and grade, wind, obstacles
 Possible subsystems: The car alone, power steering system,
breaking system
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 Transportation cont..
 Functional block diagram:
Desired Actual
course course
of travel + Error Steering Automobile
of travel
Driver
- Mechanism

Measurement, visual and tactile

 Time response:

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 Transportation cont..
 Consider using a radar to measure distance and velocity to
autonomously maintain distance between vehicles.

 Automotive: Engine regulation, active suspension, anti-lock

breaking system (ABS)
 Steering of missiles, planes, aircraft and ships at sear.
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 b. Temperature Control

 Schematic diagram of temperature control of an electric furnace.

 The temperature in the electric furnace is measured by a thermometer,
which is analog device.
 The analog temperature is converted to a digital temperature by an
A/D converter.
 The digital temperature is fed to a controller through an interface.
 This digital temperature is compared with the programmed input
temperature, and if there is any error , the controller sends out a signal
to the heater, through an interface, amplifier and relay to bring the
furnace temperature to a desired value. 18
 c. Process Industry
 Control used to regulate level, pressure and pressure of refinery
vessel.

Coordinated
control system
for a boiler-
generator.

 For steel rolling mills, the position of rolls is controlled by the

thickness of the steel coming off the finishing line.
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 d. Manufacturing Industry
 Consider a three-axis control system for inspecting individual
semiconducting wafers with a highly sensitive camera

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 e. Homes
i. CD Players
 The position of the laser spot in relation to the
microscopic pits in a CD is controlled.

ii. Air-Conditioning System

 Uses thermostat and controls room temperature.

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 Design Examples

 Turntable Speed Control

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 Turntable Speed Control
 Application: CD player, computer disk drive
 Requirement: Constant speed of rotation
 Open loop control system:

 Block diagram representation:

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 Turntable Speed Control cont..
 Closed-loop control system:

 Block diagram representation:

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Sequential Design Example

 Disk Drive Read System

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 Disk Drive Read System

 Goal of the system: Position the reader head in order to

read data stored on a track.
 Variables to control: Position of the reader head

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 Disk Drive Read System
 Specification:
i. Speed of disk: 1800 rpm to 7200 rpm
ii. Distance head-disk: Less than 100nm
iii. Position accuracy: 1 µm
iv. Move the head from track ‘a’ to track ‘b’ within 50ms

 System Configuration:

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 Response Characteristics
 Transient response:
 Gradual change of output from initial to the desired condition
 Steady-state response:
 Approximation to the desired response
 For example, consider an elevator rising from ground to the 4th
floor.

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Control System Classification
Missile Launcher System

Open-Loop Control System

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Control System Classification
Missile Launcher System

Closed-Loop Feedback Control System

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 Purpose of Control Systems
i. Power Amplification (Gain)
 Positioning of a large radar antenna by low-power
rotation of a knob
ii. Remote Control
 Robotic arm used to pick up radioactive materials
iii. Convenience of Input Form
 Changing room temperature by thermostat position
iv. Compensation for Disturbances
 Controlling antenna position in the presence of large wind
disturbance torque

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Examples: Mechatronic System

 a. Hybrid Fuel Vehicles

 b. Wind Power

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a. Hybrid Fuel Vehicles

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b. Wind Power

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Control Systems Design Process

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 Control System Design Process
1. Establish control goals

2. Identify the variables to control

3. Write the specifications for the variables

4. Establish the system configuration and identify the actuator

If the performance
does not meet 5. Obtain a model of the process, the actuator and the sensor
specifications, then
iterate the
configuration and 6. Describe a controller and select key parameters to be
actuator adjusted

7. Optimize the parameters and analyze the performance

If the performance meet the specifications, then finalize design

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