Control Engineering

(Optoelectronics Engineering Division)-3rd year

2023-2024

LECTURE: 01
Introduction to control systems
What is “Control Systems”?
• Why do we need control systems?
▪ Convenient (room temperature control, laundry machine)
▪ Dangerous (hot/cold places, space, bomb removal)
▪ Impossible for human (nanometer scale precision positioning,
work inside the small space that human cannot enter)
▪ It exists in nature. (human body temperature control)
▪ Lower cost, high efficiency, etc.
• Many examples of control systems around us

Text Books
1. Modern Control Engineering, (5th Edition)
By: Katsuhiko Ogata.

2. Control Systems Engineering, (6th Edition)

By: Norman S. Nise.

3. Modern Control Systems, (12th Edition)

By: Richard C. Dorf and Robert H. Bishop.

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BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani
 Control Engineering
(Optoelectronics Engineering Division)-3rd year
2023-2024

4. Automatic Control Systems, (9th Edition)

By: Golnaraghi and B. C. Kuo.

What is Control System?

• A system controlling the operation of another system.
• A system that can regulate itself and another system.
• A control System is a device, or set of devices to manage,
command, direct or regulate the behaviour of other device(s) or
system(s).

Definitions
System – An interconnection of elements and devices for a desired
purpose.
Control System – An interconnection of components forming a
system configuration that will provide a desired response.
Process – The device, plant, or system under control. The input and
output relationship represents the cause-and-effect relationship of
the process.

Controlled Variable– It is the quantity or condition that is measured

and controlled. Normally controlled variable is the output of the
control system.
Manipulated Variable– It is the quantity of the condition that is varied
by the controller so as to affect the value of controlled variable.

2|Page
BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani
 Control Engineering
(Optoelectronics Engineering Division)-3rd year
2023-2024

Control – Control means measuring the value of controlled variable of

the system and applying the manipulated variable to the system to
correct or limit the deviation of the measured value from a desired
value.

Disturbances– A disturbance is a signal that tends to adversely affect

the value of the system. It is an unwanted input of the system.
• If a disturbance is generated within the system, it is called
internal disturbance. While an external disturbance is generated
outside the system.

Types of Control System

• Natural Control System
– Universe
– Human Body

3|Page
BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani
 Control Engineering
(Optoelectronics Engineering Division)-3rd year
2023-2024

• Manmade Control System

– Aeroplanes
– Chemical Process

• Manual Control Systems

– Room Temperature regulation Via Electric Fan
– Water Level Control

Aim: Fill half of the glass with water.

Function:
➢ Sensors - eyes, force estimation (weight of glass),
➢ Actuators - hand, valve,
➢ Controller - brain.

• Automatic Control System

– Home Water Heating Systems (Geysers)
– Room Temperature Regulation Via A.C
– Human Body Temperature Control

4|Page
BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani
 Control Engineering
(Optoelectronics Engineering Division)-3rd year
2023-2024

Open-Loop Control Systems

Open-Loop Control Systems utilize a controller or control actuator to
obtain the desired response.
• Output has no effect on the control action.
• In other words, output is neither measured nor fed back.

Input Controller Process Output

Examples: - Washing Machine, Toaster, Electric Fan, microwave oven,

etc.
• Since in open loop control systems reference input is not
compared with measured output, for each reference input there
is fixed operating condition. Therefore, the accuracy of the
system depends on calibration.
• The performance of open loop system is severely affected by the
presence of disturbances, or variation in operating/
environmental conditions. Calibration is the key

Example: Toaster
▪ A toaster toasts bread, by setting timer

▪ Objective: make bread golden browned and crisp.

▪ A toaster does not measure the color of bread during the
toasting process.
▪ For a fixed setting, in winter, the toast can be white and in
summer, the toast can be black (Calibration!)
▪ A toaster would be more expensive with sensors to measure the
color and actuators to adjust the timer based on the measured
color.
5|Page
BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani
 Control Engineering
(Optoelectronics Engineering Division)-3rd year
2023-2024

Example: Laundry machine

❖ A laundry machine washes clothes, by setting a program.

❖ A laundry machine does not measure how clean the

clothes become.
❖ Control without measuring devices (sensors) is called
open-loop control.

Closed-Loop Control Systems

Closed-Loop Control Systems utilizes feedback to compare the actual
output to the desired output response.

Input Controller Process Output

Comparator

Measurement

➢ Compare actual behavior with desired behavior

➢ Make corrections based on the error
➢ The sensor and the actuator are key elements of a feedback loop
➢ Design control algorithm

6|Page
BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani
 Control Engineering
(Optoelectronics Engineering Division)-3rd year
2023-2024

Advantages of the closed-loop control system over the open-loop

control system:
• Rejection of external disturbances d(t),
• Improvement of the measurement noise n(t) attenuation.
Examples: - Refrigerator, Electric Iron, Air conditioner
Ex: Automobile direction control
➢ Attempts to change the direction of the automobile.

➢ Manual closed-loop (feedback) control.

➢ Although the controlled system is “Automobile”, the input and
the output of the system can be different, depending on control
objectives!

Ex: Automobile cruise control

❖ Attempts to maintain the speed of the automobile.

❖ Cruise control can be both manual and automatic.

❖ Note the similarity of the diagram above to the diagram in the
previous slide!
7|Page
BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani
 Control Engineering
(Optoelectronics Engineering Division)-3rd year
2023-2024

Multivariable Control System

8|Page
BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani
 Control Engineering
(Optoelectronics Engineering Division)-3rd year
2023-2024

Feedback Control System

• A system that maintains a prescribed relationship between the

output and some reference input by comparing them and using
the difference (i.e. error) as a means of control is called a
feedback control system.

• Feedback can be positive or negative.

Servo System

• A Servo System (or servomechanism) is a feedback control

system in which the output is some mechanical position,
velocity or acceleration.

9|Page
BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani
 Control Engineering
(Optoelectronics Engineering Division)-3rd year
2023-2024

Linear Vs Nonlinear Control System

• A Control System in which output varies linearly with the input
is called a linear control system.

y(t) = −2u(t) +1 y(t) = 3u(t) + 5

y=-2*u(t)+1 y=3*u(t)+5
5 35

30
0

25
-5
y(t)

y(t)

20
-10
15

-15
10

-20 5
0 2 4 6 8 10 0 2 4 6 8 10
u(t) u(t)

• When the input and output has nonlinear relationship the

system is said to be nonlinear.
Adhesion Characteristics of Road

0.4
Adhesion Coefficient

0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08
Creep

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BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani
 Control Engineering
(Optoelectronics Engineering Division)-3rd year
2023-2024

Time invariant vs Time variant

• When the characteristics of the system do not depend upon time
itself then the system is said to time invariant control system.
y(t) = −2u(t) +1

• Time varying control system is a system in which one or more

parameters vary with time.

y(t) = 2u(t) − 3t

Continuous Data Vs Discrete Data System

• In continuous data control system all system variables are

function of a continuous time t.

x(t)

• A discrete time control system involves one or more variables

that are known only at discrete time intervals.
X[n]

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BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani
 Control Engineering
(Optoelectronics Engineering Division)-3rd year
2023-2024

Deterministic vs Stochastic Control System

• A control System is deterministic if the response to input is
predictable and repeatable.

x(t) y(t)

t t

• If not, the control system is a stochastic control system

z(t)

t
Classification of Control Systems

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BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani
 Control Engineering
(Optoelectronics Engineering Division)-3rd year
2023-2024

Examples of Control Systems

Water-level float regulator

Manual Water-level Control

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BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani
 Control Engineering
(Optoelectronics Engineering Division)-3rd year
2023-2024

Systematic controller design process

Course roadmap

Goals of this course

To learn basics of feedback control systems

➢ Modeling as a transfer function and a block diagram
• Laplace transforms (Mathematics!)
• Mechanical, electrical, electromechanical systems
➢ Analysis
• Step response, frequency response
• Stability: Routh-Hurwitz criterion, (Nyquist criterion)
➢ Design
• Root locus technique, frequency response technique, PID control,
lead/lag compensator
➢ Theory, (simulation with Matlab), practice in laboratories

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BY : Asst. Prof. Dr. Abbas H. Issa Instructor: Dr. Hayder Hassan Al-khaylani