AE 308: Control Theory

AE 775: System Modelling, Dynamics and Control

Lecture 1: Introduction

Dr. Arnab Maity

Department of Aerospace Engineering
Indian Institute of Technology Bombay
Powai, Mumbai 400 076, India
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Grading Policy

Percentage Dates

Project 30% TBA

Class Quizzes 15% (best 50% of total quizzes) TBA
Assignments 25% TBA
End Sem 30% TBA

Note: This is tentative. It may be revised dependent on situations. If there

is any revision, it will be notified to you.

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Tutorial Schedule

Dates

Tutorial 1 16 August 2021

Tutorial 2 09 September 2021
Tutorial 3 07 October 2021
Tutorial 4 01 November 2021

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Your Expectations

Your Expectations?

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Motivation

What is control
system?

Why a control
system is required?

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Motivation

Natural control system within human body:

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Motivation - Common Examples

Car speed:

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Motivation - Common Examples

Room fan:

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Motivation - Complex Examples

Figure: Flight control system

Figure: Anti-lock braking system

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Motivation - Basic Control Questions

As a control
engineer, what
should I know and
what should I ask?

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Motivation - Basic Control Questions

What are the system outputs that have to be controlled?

What information is necessary?
What the system needs to do?
How well is the system doing?
What the control action keeps to maintain?

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Motivation
Why control systems

Figure: Source - “The Fundamentals of Control Theory” by B.

Douglas
Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Big Picture

The box represents the system.

The inputs drive the system and generate
the outputs.
At any given point of time, the problem
statement is based on the following:
System identification problem
Simulation problem
Control problem

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Big Picture - System Identification Problem

System identification problem
As a practising engineer, a model of the system is not always readily
available.
The process of determining a mathematical model is called system
identification.
Relevant questions regarding the system identification are
How to model the system that we are trying to control?
What is relevant dynamics for the system?
What are mathematical equations that convert known inputs to mea-
sured outputs?
These can be answered in two ways as the following.
The first is referred as black box method. Imagine that you do not
know anything about the system.
One can subject the material in box to various inputs and measured
outputs, and infer what is in the box based on the relationship between
inputs and outputs.
Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Big Picture - System Identification Problem

The second way is to perform through white box method.
Imagine you know all the components inside the box.
This is exactly similar to the Newton’s method or determining equations
of motion based on energy in the system.

Figure: Source - “The Fundamentals of Control Theory” by B. Douglas

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Big Picture - Simulation Problem

Simulation problem

The process of predicting the change in outputs for a given set of inputs
and the mathematical model is known as simulation problem.
The simulation test is required, if one is interested to know the follow-
ing:
Does the system model match the test data?
Will the system work in all operating conditions?
How does the system behave, if it is driven by potentially destructive
commands?

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Big Picture - Control Problem

Control problem

If we know the system as well as how we want the system output to

behave, then we can determine the appropriate input using the control
theory.
The process of determining the appropriate input, that will produce the
desired output, is control problem.
Control theory helps to solve this type of problems.
Without control theory, a designer can obtain control input using trail
and error method, which may be a tedious job for practical systems.

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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History of Control Systems

In 18th Century, James Watt’s

centrifugal fly ball governor for
the speed control of steam en-
gine.
In 1920s, Minorsky worked on
automatic controller for steering
ship and showed that its stability
is influenced by governing differ-
ential equations.
Nyquist developed a simple pro-
cedure for determining the stabil-
ity of closed-loop system based
on open-loop response to sinu-
soidal input.
Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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History of Control Systems

Ziegler-Nicholos suggested rules

to tune PID parameters.
State space methods, such as op-
timal control theory and adap-
tive control theory, have been ex-
plored.
Learning based control was
started in 1980s.

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Flyball speed governor

Power is supplied to governor from the
engine’s output shaft by a belt or chain
connected to lower belt wheel.
The governor is connected to a throttle
valve that regulates the flow of work-
ing fluid (steam) supplying the prime
mover.
As the speed of the prime mover increases, the central spindle of gov-
ernor increases at the faster rate and the kinetic energy of the ball
increases.
This permits the two flyballs on lever arms to move upwards and against
the gravity.
Once the motion goes far enough, motion moves the beam linkage,
which in turn reduces the aperture of throttle valve.
This in turn reduces the rate of fluid entering the the cylinder.
Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Temperature Controller

The second controller

takes the responsibility
for manipulating the
valve opening from the
sensor (monitoring the
steam flow rate).
First controller tells the
second controller how
much heat it wants in
terms of steam flow rate.
Second controller manipulates the valve opening until desired steam
flow is achieved.

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Temperature Controller

If the rate turns out to be insufficient to produce desired temperature,

first controller can demand for higher flow rate, thereby inducing second
controller to provide more stream and heat (or vice versa).
Set point: Temperature desired for water tank.
Primary Controller : Measures water temperature in the task and asks
the secondary controller to generate more/ less heat.
Actuator : Steam flow valve.
Primary Process : Water in the tank.
Primary Process Variable : Tank water temperature.
Secondary Process Variable : Steam flow rate.

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Feedback Control

The central component of this feedback system is the process whose

output has to be controlled.
The actuator is a device that can influence the controlled variable of
process.

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Feedback Control

The combination of process and actuator is called plant.

Component that computes the desired control signal is controller.

Feedback system fundamentals: Stability

What happens, if you disturb

these two balls?
Will the stability theory an-
swer the above question?

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Feedback Control
Feedback system fundamentals: Disturbance rejection

How to achieve set point

tracking in presence of
external disturbances?

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Open-loop and Closed-loop Control

Open loop-Turntable

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Open-loop and Closed-loop Control

Closed loop-Turntable

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Open-loop and Closed-loop Control

Feedback control system: A system that maintains a relationship

between output and reference input by comparing them and using the
difference as means of control is called feedback control system.
An example would be a room temperature control system.
By measuring the actual room temperature and comparing it with the
reference temperature (desired temperature), the thermostat turns the
heating or cooling equipment on or off in such a way as to ensure
that the room temperature remains at a comfortable level regardless of
outside conditions.

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Open-loop and Closed-loop Control

Open-loop control systems: Those systems in which output has no

effect on control action are called open-loop control sytem.
In open-loop system, the output is not compared with the reference
input.
In presence of disturbances, an open-loop system will not perform the
desired task.
Closed-loop control systems: In practice, the terms feedback control
system and closed-loop control are used interchangeably.
In closed-loop system, the actuating error signal, which is difference
between input and feedback signal, is fed to controller to reduce the
error and bring the output of system to the desired value.

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Open-loop Control and Closed-loop Control

An advantage of closed-loop system is that it is not so sensitive to

external disturbances and internal variations in the system parameters,
as it uses feedback mechanism.
In terms of stability, the open-loop control system is easier to build,
but its stability is a major concern. On the other hand, the stability of
the in closed-loop control system is not a major issue as long as it is
designed properly.
It can be noted that, for systems in which inputs are known ahead of
time and there are no disturbances, open-loop control system can be
used.
Closed-loop control systems have an advantage, when unpredictable
components are present in the system.

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Structure Chart of Control Theory

Figure: Source - @System control

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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Map of Control Theory

Figure: Source - https://engineeringmedia.com/

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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References I

Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini: “Feed-

back Control of Dynamic Systems”, Pearson Education, Inc., Upper
Saddle River, New Jersey, Seventh Edition, 2015.
Katsuhiko Ogata: “Modern Control Engineering”, Pearson Education,
Inc., Upper Saddle River, New Jersey, Fifth Edition, 2010.
Brain Douglas: “The Fundamentals of Control Theory ”, 2019.
Farid Golnaraghi and Benjamin C. Kuo: “Automatic Control Systems”,
John Wiley & Sons, Inc., New Jersey, Ninth Edition, 2010.
Karl Johan Åström and Richard M. Murray: “Feedback Systems - An
Introduction for Scientists and Engineers”, Princeton University Press,
Second Edition, 2019.
Norman S. Nise: “Control Systems Engineering”, John Wiley & Sons,
Inc., New Jersey, Sixth Edition, 2011.

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
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References II

S. M. Joshi: “Cartoon Tour of Control Theory: Part I - Classical Con-

trols”, 1990-2015.
Benjamin Drew: “Control Systems Engineering”, Lecture Notes, Uni-
versity of West England, Bristol, 2013.

Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775