CONTROL SYSTEMS

TOPIC 1 – INTRODUCTION TO CONTROL

SYSTEMS
Professor:
Dr. Juan Pablo Orozco Muñiz

Querétaro, Qro. 2022

 Introduction
Classical Control Theory. Input and Output model of one system or
Plant. It is a branch of control Theory that deals with the behavior of
dynamical systems with inputs and outputs, with or without
feedback. The usual objective is control the system called plant, so its
output follows a desired control signal or response called reference. Process (Plant) to be controlled

Open loop control system

Closed loop control system 2

 Introduction

Closed loop control system with noise and

disturbance measurement – One output

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 Introduction

Closed loop control system with multiple

controls and feedbacks – One output –
Multiloop feedback

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 Introduction

Multivariable control system

Classical control theory is complicated to apply if the outputs or inputs

depends from the same variable in the system. Then Modern Control Theory
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 Introduction
Example open loop control:

Propulsion System for an Underwater Vehicle – Ballast

Closed loop control

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 Introduction
Modern Control Theory. Time-domain state Space of one system. This control utilizes the time-domain state
space representation, systems a mathematical model of a physical system as a set of input, output and state
variables related by first-order differential equations. To abstract from the number of inputs, outputs, and
states, the variables are expressed as vectors.

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Mass – Damper – Spring. Space state representation
 Introduction
Robust Control Theory. It is an approach to controller design that explicitly deals with uncertainty. Robust
control methods are designed to function properly provided that uncertain parameters or disturbances are
found within some (typically compact) set. Robust methods aim to achieve robust performance and/or
stability in the presence of bounded modelling errors. A system is robust when the system has acceptable
changes in performance due to model changes or inaccuracies.

Robust System Loop

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 Introduction
Adaptive Control Theory. It is the control method used by a controller which must adapt to a controlled
system with parameters which vary, or are initially uncertain. For example, as an aircraft flies, its mass will
slowly decrease as a result of fuel consumption; a control law is needed that adapts itself to such changing
conditions. Tha AI (Artificial Intelligence) or other numerical methods are used to adapt the physical
parameters of the system modelling and the controller.

Neuronal Network control

Adaptative control
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 Basic definitions
• Control. 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.
• Controlled Variable. The controlled variable is the quantity or condition that is measured and controlled. Is
commonly used like the reference indicator to obtain the desired response.
• Control Signal or Manipulated Variable. 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. It is commonly described like the
output of the controller before to enter in a system.
• 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.
• Processes. Consists of a series of controlled actions or movements systematically directed toward a particular result or
end. It implies a serial of systems working together to obtain a final and desired result. We shall call any operation to be
controlled like a process. Examples are chemical, economic, and biological processes.
• Systems. A system is a combination of components and controllers 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 representation
or a model that works in a certain process.
• Disturbances. A disturbance is a signal and sometimes called noise, that tends to adversely affect the value of the
output of a system in the natural way. 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. 10
 Basic definitions
• Feedback Control. Feedback control refers to an operation that, in the presence of disturbances (internals or
externals), 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.
• Open-Loop Control Systems. Those systems in which the output has no effect on the control action are called open-
loop control systems. These systems are regulated by a very basic controls that defines an input that could be ON/OFF
or selectors defined by one operator or controller by signals or references that are not related with the nature of the
ouput of the main system. In the presence of disturbances (internals or externals), an open-loop control system will not
perform the desired task. As reference any control system that operates on a time basis is open loop.
• Closed-Loop Control Systems. Feedback control systems are often referred to as closed-loop control systems
(interchangeably terms). In a closed-loop control system the actuating error signal, which is the difference between the
input signal and the feedback signal (which may be the output signal itself or a function of the output signal and its
derivatives and/or integrals), is fed to the controller to reduce the error and bring the output of the system to a desired
value. The term closed-loop control always implies the use of feedback control action in order to reduce system error.
• Robust Control System. When one control system is designed to take in account the disturbances (internals and
externals) that could affect the performance of the model or plant response, It is called robust control system because
will assesse that in certain moments the feedback control could be corrected in presence with or without disturbances.

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 Speed Control System – DC Motor
In the picture is observed in block diagrams the speed control system for a DC motor, where the control step in
the process is an Arduino microcontroller that makes the comparison between the speed of the DC motor with
the reference or desired velocity 𝜔𝑟𝑒𝑓 to make an adjustment or correction of voltage supply in the input of the
DC Motor. The system is a process where the control step is followed by a power stage that is the Motor
Driver IC, that is an electronic board that makes the power supply to the motor to perform the desired velocity.
The sensor or feedback is a sensor (encoder disc) that generates a signal that is processed to be read by the
controller and makes the comparison of the reference and feedback, generating a control with the error or
difference between this signals.

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 Temperature Control System
In the picture is observed the representation of one temperature control system with feedback control. The
controller that could be a PLC or another logical controller have a programed input temperature that is the
reference input in the system. The thermometer in the plant or the heater chamber is processed by an A/D or
ADC (Analogic to Digital Converter) to be read by the controller and make the comparison between the
programmed input and the present temperature in the chamber. The output interface is processed in a power
stage (amplifier+relay) to enable the heater in the chamber to provide the extra heat required in the system to
maintain the required temperature in the system.

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 Bussiness Control System
In the picture is observed the representation of one business control system, that have one big feedback
between the management stage and another feedback in the concept design (preliminary design + experiments)
to compare the output product with the required product to make the corrections and perform the control
tasks to obtain the desired product.

In a complex process like this, each block could be one system or subsystem with control specifications, for
example, in the fabrication and assembly block could be mandatory to verify (feedback comparison) the
required tolerances of the piece to be machined and assembled. In the industrial process all this elements are
involved in the international standard ISO 9001 to improve the quality of the service or product and the
system, flow and control documents are defined by the company in question.

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