Automatic Control Systems

-Lecture Note 1-
Introduction

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Automatic Control Systems
 History of Automatic Control

□ History of Automatic Control

Human beings basic instinct
Replacing human effort with machines and
control systems (Ex, water clock and flush toilet with
float-valve feedback)

1769 Industrial Revolution Age

Fly-ball governor: The first industrial control system
invented and used by James Watt’s
- A mechanical feedback control method
- The output speed of rotational shaft controls the
amount of steam input to engine
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Automatic Control Systems
 History of Automatic Control
Mathematical Analysis was done by J. C. Maxwell (1868)
- Mathematical model is adopted for the governor control

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Automatic Control Systems
 History of Automatic Control

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Automatic Control Systems
 History of Automatic Control
During 1920～30’s
Frequency domain analysis of systems was developed
by Bode and Nyquist
Negative feedback amplifier for telephone
transmission(1927) was invented by Harold Stephen
Black of Bell
The first electronic device using feedback concept

During the World War II (1940’s)

Control theories were developed for aircraft, gun turret
position control, radar control, and other military systems and
equipment for the purpose of destroying the enemy
The art of trial-and-error designs
Engineering technology of analytic designs
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Automatic Control Systems
 History of Automatic Control
During the Space Age (1960’s)
Spaceship guidance control was extensively developed.
Modern control methods were begun
(Time Domain design)

Modern Control & Digital Microprocessor(1970’s~)

State-space control, Adaptive control, Stochastic control,
Expert system control, Intelligent control, etc.
Digital microprocessors were invented and accelerated the
advancement of modern control
The first (4bit) u-processor, Intel 4004, appeared in 1971

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Automatic Control Systems
 Concept of Automatic Control

□ Concept of Automatic Control

What is Control?
(Engineering Definition): An activity which guides the state
or output of target system to show the desired characteristic
(by manipulating its input)

What forms Control System?

Plant or Process : control target
(Ex : car, motor, missile, network system)
Controller : producing control signal or plant input

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Automatic Control Systems
 Concept of Automatic Control
System : Plant/process with its input and output defined
definitely

Control System : Target system + Controller

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Automatic Control Systems
 Concept of Automatic Control
Two types of Control System
◈ Open-loop control system

◈ Closed-loop control system

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Automatic Control Systems
 Concept of Automatic Control
•Feedback is used to reduce the error between the reference input
and the system output.

•Feedback also has effects on such system performance characteristics

as stability, bandwidth, overall gain, impedance, and sensitivity.

Feedback Loop

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Automatic Control Systems
 Concept of Automatic Control
Closed-loop control uses feedback signal to counteract the
uncertainty of target system
Comparison by example : open-loop control of motor speed

y (rpm) = K * Ea (volt ), K = 100(rpm / volt )

← (without load)
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Automatic Control Systems
 Concept of Automatic Control
Operation Characteristic
Increase of load weight
à motor speed reduction
à non-uniformity in the width of injection molding object
forged from molten glass

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Automatic Control Systems
 Concept of Automatic Control
Comparison by example : closed-loop control using feedback

Target speed (2 volt): y = 2000(rpm)

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Automatic Control Systems
 Concept of Automatic Control

Operation Characteristic
Reduction of motor speed due to increase in load weight
à sensed value Vt is less than 2
à positive value of error (2-Vt) results in increase in Ea
à increases the motor speed
Motor speed larger than the target speed
à sensed value Vt is larger than 2
à negative value of error (2-Vt) results in reduction of Ea
à decreases the motor speed
Regulation of motor speed using the sensed output feedback
à uniformity of the injection molding object
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Automatic Control Systems
 Concept of Automatic Control
What to consider for feedback control design

◦ Stability

ex) You stopped by a karaoke to have some fun!

Amp Speaker

(stable without any feedback)

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Automatic Control Systems
 Concept of Automatic Control

Amp Speaker

(unstable due to positive feedback)

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Automatic Control Systems
 Concept of Automatic Control

◦ Disturbance rejection, robustness, and sensor noise

suppression

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Automatic Control Systems
 Concept of Automatic Control

◦ Good performance of regulation/tracking

◦ Trade-off between stability and performance

(noise suppression, disturbance rejection....)

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Automatic Control Systems
 Terminology

□ Definition of terms
System : a collection of things which operates as a whole with
input and output
Plant : a physical object as control target of control system
Process : a plant dealing with chemical, thermodynamic, or fluid
dynamics quantity of output like as temperature, pressure, fluid,
water level, pH, etc.
Reference input : a command signal that output is supposed to
track

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Automatic Control Systems
 Terminology
Disturbance : an unexpected external signal which have a
negative influence on the output performance of system
Measurement noise : an additive signal to sensor measurement
of output
Feedback control : a closed-loop control method whose output
signal is fed back to the input of control system
Closed-loop control : = feedback control
Open-loop control : a control method with only the reference
control input without any feedback signal

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Automatic Control Systems
 Terminology
Servo system : a control system whose output signal represents
physical or mechanical quantity like as position, velocity,
acceleration, etc.
Process control system : a control system which is aiming at
managing its whole operation flow and manufacturing process
Time-varying system : a system whose input-output
characteristic is time variant
Time-invariant system : a system whose input-output transfer
characteristic is not variant with time
Linear system : a system whose input-output transfer function
model G satisfies
G (a u1 + b u2 ) = a G (u1 ) + b G (u2 )
where u1 ,u 2 are inputs and a , b arbitrary constants.

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Automatic Control Systems
 Terminology
Nonlinear system : a system which is not linear
Control objective : a design goal whose control system is aiming
at
Stability
Command following
Disturbance rejection
Noise reduction

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Automatic Control Systems
 Feedback Concept

□ What and Why?

Open-loop Control :

<Fig. 1> Constant Gain System

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Automatic Control Systems
 Feedback Concept
‧ An Ideal Case : with known constant gain and without
disturbance and noise, the open-loop inverse gain
control achieves the control objective of tracking

<Fig. 2> Open-loop control

u = G -1r
-1
(1)
y = Gu = G (G )r = r
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Automatic Control Systems
 Feedback Concept
‧ Problem : the ideal case does not apply to real system
‧ Uncertainty in system model parameter, external
disturbance, and sensor noise exist :

y = (G + DG )u + d (2)

• G : nominal gain
• DG : system modeling parameter error
• d : external disturbance

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Automatic Control Systems
 Feedback Concept

DG
d

+ +
u + + y
G

<Fig. 3> Uncertain Constant Gain Plant

Assuming the open-loop inverse gain control G -1

y = (G + DG )G -1r + d = r + DGG -1r + d (3)

Tracking error exists

y - r = (DGG -1 )r + d
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Automatic Control Systems
 Feedback Concept
<Note>
① Gain error ΔG and disturbance d induce control error
② Since ΔG and d are not known, the open-loop control can
not achieve the perfect tracking of reference input or
reduction of disturbance

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Automatic Control Systems
 Feedback Concept

DG
d

+ +
r + e u + + y
C G
-

<Fig. 4> Feedback Control System

C : controller e : control error

e=r-y
u = Ce = C (r - y )
y = (G + DG )u + d = (G + DG )C (r - y ) + d (4)
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Automatic Control Systems
 Feedback Concept

(G + DG )C 1
y= r+ d (5)
1 + (G + DG )C 1 + (G + DG )C

When the control gain C is large and approaches to infinity

(G + DG )C 1
» 1, »0 (6)
1 + (G + DG )C 1 + (G + DG )C

implying y » r.

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Automatic Control Systems
 Feedback Concept
<Note>
① The larger C, the better tracking performance and lesser effect of
disturbance à called high gain control
② The high gain control applies only to the case without the sensor
noise of output measurement

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Automatic Control Systems
 Feedback Concept

‧ Feedback Control System with Sensor Noise

DG
d

+ +
r + e u + + y
C G
-

+
v
+

<Fig. 5> Feedback Control System

v : sensor noise

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Automatic Control Systems
 Feedback Concept

(G + DG )C 1 (G + DG )C
y= r+ d- v (7)
1 + (G + DG )C 1 + (G + DG )C 1 + (G + DG )C

High Control Gain implies

y » r -v ¹ r

‧ How to design controller gain C à how to balance

the disturbance gain and noise gain
1 (G + DG )C
+ =1
1 + (G + DG )C 1 + (G + DG )C

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Automatic Control Systems
 Control System Example

Idle-Speed Control of Automobile

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Automatic Control Systems
 Control System Example
Sun-Tracking Control of Solar Collectors

•One of the most important features of the

solar collector is that the collector dish
must track the sun accurately. Therefore,
the movement of the collector dish must be
controlled by sophisticated control systems.

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Automatic Control Systems
 Control System Example

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Automatic Control Systems
 Control System Example

Elevators

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Automatic Control Systems
 Control System Example
a. Early elevators were controlled by hand ropes or an
elevator operator.
b. Today, elevators are fully automatic, using control
systems to regulate position and velocity.

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Automatic Control Systems
 Control System Example
Robots

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Automatic Control Systems
 Control System Example

Video Laser Disc Player

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Automatic Control Systems
 Control System Example
Industrial and Intelligent Service Robot Systems
Hybrid Car Motor Control Systems
Semiconductor Process Control Systems
Communication Network Control Systems
Telecommunication Device Control Systems
Embedded Control Systems
Steel Mill Process Control Systems
Automobile Active Suspension Control Systems
Intelligent Building Automation Control Systems
Flight Guidance Control Systems
Power Plant Distributed Control Systems
Phase Locked Loop Control Systems
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Automatic Control Systems