Control engineering - is based on the Water-level float regulator - The first historical

foundations of feedback theory and linear feedback system, claimed by Russia and r said to
system analysis, and it integrates the concepts of have been invented by I. Polzunov in 1765.
network theory and communication theory.
Global Positioning System or GPS - notable
HISTORY recent advance with worldwide impact is the
U.S. space-based radio navigation system.
• One of the earliest control systems known is
the water clock invented by Ktesibios (300 - solved the fundamental problem that explorers
BC)-Liquid level control. faced for centuries by providing a dependable
• In 1681, Denis Papin introduced the steam mechanism to pinpoint the current location.
pressure control systems, where he invented
CONTROL SYSTEMS: WHAT THEY ARE
the safety valve (very similar to the present
pressure cooker). System - is an arrangement of physical
• In 17th century, hatching eggs using components connected or related in such a
mechanical temperature control manner as to form and/or act as an entire unit.
• In 1745, speed of windmills are controlled
Control - usually taken to mean regulate, direct,
• Pitching blades further back so less area
or command.
available As wind decreases, more blade area
available Control System - is an arrangement of physical
• In 1868, James Maxwell published the components connected or related in such a
stability criterion for a 3rd order system manner as to command, direct, or regulate itself
based on the coefficients of differential or another system.
equations
ADVANTAGES OF CONTROL SYSTEMS
• In 1877, Routh Hurwitz criterion to determine
We build control systems for four primary
the stability of a system is proposed
reasons:
• The first applications of feedback control
1. Power amplification
appeared in the development of float
2. Remote control
regulator mechanisms in Greece in the period
3.Convenience of input form
300 to 1 B.C.
4. Compensation for disturbances
• The water clock of Ktesibios used a float
Input - is the stimulus, excitation or command
regulator (refer to fig. PI.11).
applied to a control system, typically from an
• An oil lamp devised by Philon in external energy source, usually in order to
approximately 250 B.C. used a float regulator produce a specified response from the control
in an oil lamp for maintaining a constant level system.
of fuel oil. Heron of Alexandria, who lived in Output - is the actual response obtained from a
the first century A.D., published a book control system. It may or may not be equal to the
entitled Pneumatics, which outlined several specified response implied by the input.
forms of water-level mechanisms using float
regulators. A control system may be part of a larger system,
in which case it is called a subsystem or control
INTRODUCTION
subsystem, and its inputs and outputs may then
Temperature regulator - The first feedback be internal variables of the larger system.
system to be invented in modern Europe
invented by of Cornelis Drebbel (1572-1633) of Classification of Control systems:
Holland. 1. open-loop system
2. closed-loop system
Pressure regulator for steam boilers – invented
Control Action - is classical in the control systems
by Dennis Papin (1647-1712) in 1681. Papin’s
literature, but the word action in this expression
pressure regulator was a form of safety regulator
does not always directly imply change, motion,
similar to a pressure-cooker valve.
or activity.
The first automatic feedback controller used in Open-loop control system - is one in which the
an industrial process is generally agreed to be by control action is independent of the output.
James Watt's flyball governor, developed in
1769 for controlling the speed of a steam engine.
Closed-loop control system - is one in which the Design by synthesis – defining the form of the
control action is somehow dependent on the system directly from its specifications.
output Control systems engineering consists of analysis
Feedback - is that characteristic of closed-loop and design of control systems configurations.
control systems which distinguishes them from Analysis - is the investigation of the properties of
open-loop systems. an existing system.
Feedback - is that property of a closed-loop The design problem is the choice and
system which permits the output (or some other arrangement of system components to perform
controlled variable) to be compared with the a specific task Two methods exist for design:
input to the system (or an input to some other 1. Design by analysis
internally situated component or subsystem) so 2.Design by synthesis
that the appropriate control action may be Three basic representations (models) of
formed as some function of the output and components and systems are used extensively
input. in the study of control systems:
CHARACTERISTICS OF FEEDBACK 1. Mathematical models, in the form of
1. Increased accuracy. For example, the ability to differential equations, difference equations,
faithfully reproduce the input. and/or other mathematical relations, for
2. Tendency toward oscillation or instability. example, Laplace- and z-transforms
3. Reduced sensitivity of the ratio of output to 2. Block diagrams
input to variations in system parameters and 3. Signal flow graphs
other characteristics.
4. Reduced effects of nonlinearities.
5. Reduced effects of external disturbances or
noise.
6. Increased bandwidth. The bandwidth of a
system is a frequency response measure of how
well the system responds to (or filters) variations
(or frequencies) in the input signal
Continuous-time signal or, more generally, a
continuous-data signal or (less frequently) an
analog signal - A signal dependent on a
continuum of values of the independent variable
t.
Discrete-time, a discrete data, a sampled-data,
or a digital signal - signal defined at, or of
interest at, only discrete (distinct) instants of the
independent variable t (upon which it depends)
Control systems can be classified according to
the types of signals they process: continuous-
time (analog), discrete-time (digital), or a
combination of both (hybrid).
Continuous-time control systems, also called
continuous-data control systems, or analog
control systems - contain or process only
continuous-time (analog) signals and
components.
Discrete-time control systems, also called
discrete - data control systems, or sampled data
control systems - have discrete-time signals or
components at one or more points in the system.
Design by analysis – accomplished by modifying
the characteristics of an existing or standard
system configuration.