EMG 2405 CONTROL ENGINEERING I

INTRODUCTION

Control Engineering is concerned with techniques that are used to solve the following six
problems in the most efficient manner possible:

(a) The identification problem: to measure the variables and convert data for analysis.
(b) The representation problem: to describe a system by an analytical form or mathematical
model.
(c) The solution problem: to determine the above system model response.
(d) The stability problem: general qualitative analysis of the system
(e) The design problem: modification of an existing system or development of a new one.
(f) The optimization problem: from a variety of designs to choose the best.

It is based on the foundations of feedback theory and linear system analysis, and it generates the
concepts of network theory and communication theory. Accordingly, control engineering is not
limited to any engineering discipline but is applicable to aeronautical, chemical, mechanical,
environmental, civil, and electrical engineering.

1.1.Basic Terminologies

A system: Anything with inputs and outputs. For Optimal Control, we have two sets of inputs
and outputs:

▪ Inputs: Actuators and Disturbances

▪ Outputs: Sensor Measurements and Regulated Output

Control: The action to command, direct or regulate a system.

Plant: The part or component of a system that is required to be controlled

A control system: It is an interconnection of components forming a system configuration that

will provide a desired system response. The basis for analysis of a system is the foundation
provided by a linear system, which assumes a cause-effect relationship for the components of a
system. A component or process to be controlled can be represented by a block as shown in
Figure 1.
 Figure 1: A process under control

Input: It is the signal or excitation supplied to a control system.

Output: It is the actual response obtained from the control system.

Disturbances: The signal that has an adverse effect on the performance of a control system.

Actuator: This is the mechanism by which the controller affects the input to the plant. It is the
device that causes the process to provide the output. Examples: Rudder, Force transducers:
servos, motors etc.

Sensor: The mechanism by which the controller detects the outputs of the plant.

Design: The process of conceiving or inventing the forms, parts, and details of system to achieve
a specified purpose.

Simulation: A model of a system that is used to investigate the behavior of a system by utilizing
actual input signals.

Optimization: The adjustment of the parameters to achieve the most favorable or advantageous
design.

Feedback Signal: A measure of the output of the system used for feedback to control the system.

Negative feedback: The output signal is feedback so that it subtracts from the input signal.

Regulator: The control system where the desired values of the controlled outputs are fixed, and
the main problem is to reject disturbance effects.

Servo system: The control system where the outputs are mechanical quantities like acceleration,
velocity, or position.
Stability: It is a notion that describes whether the system will be able to follow the input
command. In a non-rigorous sense, a system is said to be unstable if its output is out of control or
increases without bound.

Multivariable control system: A system with more than one input variable or more than one
output variable.

Time-variant control system: It is a control system where any one or more parameters of the
control system vary with time, i.e., driving a vehicle.

Time-invariant control system: It is a control system where none of its parameters vary with
time i.e., control system made up of inductors, capacitors, and resistors only.

Linear control system: It is a control system that satisfies homogeneity and additive properties:

Homogeneity property: 𝒇(𝒙 + 𝒚) = 𝒇(𝒙) + 𝒇(𝒚)

Additive property: 𝒇(𝜶𝒙) = 𝜶𝒇(𝒙)

Non-linear control system: It is a control system that does not satisfy properties of
homogeneity and additive. Example: 𝒇(𝒙) = 𝒙𝟑

Deterministic control system: It is a control system where its output is predictable or repetitive
for certain input signal or disturbance signal.

Stochastic control system: It is a control system where its output is unpredictable or non-
repetitive for certain input signal or disturbance signal.

Continuous-time control system: It is a control system where performances of all its

parameters are function of time. Example armature type speed control of motor.

Discrete time control system: It is a control system where performances of all of its parameters
are function of discrete time. For instance, microprocessor type speed control of motor.

Single Input Single Output control system (SISO): It is a control system that has only one
input and one output.

Multiple Input Multiple Output control system (MIMO): It is a control system that has more
than one input and more than one output.
Open-loop control system: A system that utilizes a device to control the process without using
feedback. Thus, its control action only depends on input signal and does not depend on its output
response. It has actuation, but no measurement. Examples: traffic signal, washing machine, bread
toaster, etc.

Figure 2: Open loop control systems

Advantages:

▪ Simple design and easy to construct.

▪ Economical
▪ Easy for maintenance
▪ Highly stable operation

Disadvantages:

▪ Not accurate and reliable when input or system parameters are variable in nature.
▪ Recalibration of the parameters is required time to time.

Closed-loop feedback control system: A system that uses a measurement of the output and
compares it with the desired output through a feedback system. Thus, its control action depends
on both its input signal and output response. It uses Sensors in addition to Actuators. Examples:
automatic electric iron, missile launcher, speed control of DC motor, etc.
Advantages:

▪ More accurate operation than that of open-loop control system

▪ Can operate efficiently when input or system parameters are variable in nature.
▪ Less nonlinearity effect of these systems on output response
▪ High bandwidth of operation
▪ They can be automated.
▪ Time to time recalibration of the parameters is not required.

Disadvantages:

▪ Complex design and difficult to construct.

▪ Expensive than that of open-loop control system
▪ Complicated for maintenance.
▪ Less stable operation than that of an open-loop control system.

Figure 3: Closed loop control systems

1.2. Examples of basic control system designs

(a) Turntable (Open loop system)
 (b) Turntable (Closed loop system)

(c) Temperature control (closed loop system)

The figure below shows a diagram of temperature control of an electric furnace. The temperature
in the electric furnace is measured by a thermometer, which is an analog device. The analog
temperature is converted to a digital temperature by an A/D converter. The digital temperature is
fed to a controller through an interface. This digital temperature is compared with the
programmed input temperature, and if there is any error, the controller sends out a signal to the
heater, through an interface, amplifier, and relay, to bring the furnace temperature to a desired
value.
(d) Thermostatically controlled car air conditioning system
Many luxury automobiles have thermostatically controlled air-conditioning systems for
the comfort of the passengers. Sketch a block diagram of an air-conditioning system
where the driver sets the desired interior temperature on a dashboard panel.