Automatic Control

(BMM3613)

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 Course Outcomes
• CO1:
Evaluate the basic control system concepts and illustrate the required control system
into block design process.
• CO2:
Develop frequency domain transfer function of linear, time invariant (LTI) control
systems for mechanical systems
• CO3:
Synthesize the transient response, steady state response and system stability of LTI
control system compensators to achieve specified control system performances
which is related to the real world problems by utilizing root locus technique and PID

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 Contents
1. Basic Control System Concepts (1 week)
2. Modeling of Dynamic Systems (3 weeks)
3. Analysis of Control System (3 weeks)
4. Controller Design via Root-Locus Techniques(3 weeks)
5. Controller Design via Frequency Response Techniques (2 weeks)
6. PID Controller Design (2 weeks)

References:
• Norman S. Nise, 2008. Control Systems Engineering, sixth Edition, John Wiley & Sons, Inc.
• Katsuhiko Ogata. 2009. Modern Control Engineering, Fifth Edition, Prentice Hall.
• Richard C. Dorf and Robert H. Bishop, 2010. Modern Control Systems 12th Edition.
Prentice Hall.
• Benjamin C. Kuo and Farid Golnaraghi, 2002, Automatic Control Systems, Eighth Edition,
John Wiley & Sons, Inc.
• Gene F. Franklin, J. David Powell, Abbas Emami-Naeini, 2009, Feedback Control of
Dynamic Systems, 6th Edition, Prentice Hall

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 Assessment Methods

Assessments CO1 CO2 CO3 Distribution

Midterm Exam √ √ 20%
Projects √ 40%
Final Examination √ √ √ 40%
Total       100%

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 Projects

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 Chapter 1

Basic Control System Concepts

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 After completing this chapter, the student will be
able to:
1. Define a control system and describe some
applications
2. Describe the basic features and configurations of
control systems (input, output, plant, open loop,
close loop etc.)
3. Describe control system analysis and design
objectives
4. Describe a control system’s design process
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 Introduction
• Control system are an integral part of modern
society.
• Numerous applications are all around us.
– Mechanical Engineering
– Computer Science
– Electrical Engineering
– Instrumentation Engineering
– Chemical Engineering
– and so on.
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 Control system definition
• A control system consists of subsystems and
processes (or plants) assembled for the
purpose of obtaining a desired output with
desired performance, given a specified input.

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 Example
• Consider an elevator, when the
fourth-floor button is pressed on
the first floor, the elevator rises to
the fourth floor with a speed and
floor-leveling accuracy designed
for passenger comfort.
• The push of the fourth-floor button
is an input represent the output.
• The performance of the elevator
can be shown in figure 1.2.
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 Elements of a control system

Any control system consist of four elements:

1. The input is the desired response of a control system
2. The output is the actual response of a control system
3. Subsystem is any system that helps controlling the
output of the control system
4. A plant is a system in which its output is the one to be
controlled or a set of machine parts functioning
together, the purpose of which is to perform particular
operation.

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 Control means measuring the value of the controlled variable
of the system and applying the manipulated variable to the
system to correct of the measured value from a desired value.

A system is a combination that act together and perform a

certain objective.

“A control system consists of subsystems and plant assembled

for the purpose of controlling the outputs of the plants.” ->
Norman S. Nise

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 Control system types

Two types:
1. Open loop control system
2. Closed loop control system. Also called Feedback control
system or Automatic control system

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 OPEN-LOOP VERSUS CLOSED-LOOP SYSTEMS
• Open Loop
1. The output is not compared with the reference input.
2. The accuracy of the system depends on calibration.
3. In the presence of disturbances, an open loop control system
will not perform the desires task.
Example:
Washing machine operate on a time based. The machine does
not measure the cleanliness of the clothes.

• Close Loop
1. The difference between the input/reference signal and the
output signal is fed to the controller so as to reduce the error
and bring the output of the system to a desired value.

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 Differences between open loop and closed-
loop control systems
1. Additional subsystem call sensor
2. Error signal (e) is the command to the controller subsystem
not the desired input (set point)

e
sensor

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 Open-loop control system:
Sun Light or
Blocked light

Desired On-Off Actual

On-Off Bulb Room
light Switch Bulb Room Light
Switch

Closed-loop control system:

Sun Light or blocked light

Desired
light On-Off
On-Off Actual
Bulb
Bulb Room
Room
Switch
Switch Light

Light
Light
sensor
sensor

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 Example
Simple Control System

Desired Actual
light On-Off Light
On-Off Bulb Room
Switch Bulb Room
Switch

Room is the process or plant

Actual light intensity is the output
Desired light intensity is the desired input
The switch and the bulb are the subsystems
The bulb is the actuator

An actuator is the mechanism by which a control systems

acts upon an environment. (Motor, hydraulic, pneumatic,
etc.)
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 Control System
Desired Actual
temp On Temp temp
On Temp Air
Off Setting Air Room
Off Setting Conditioned Room
Switch knob Conditioned
Switch knob

What is the process or plant?

What is the output?
What is the desired input?
What are the subsystems?
What is the actuator?

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 Example
Simple Control System

Desired Actual
light On-Off Light
On-Off Bulb Room
Switch Bulb Room
Switch

Room is the process or plant

Actual light intensity is the output
Desired light intensity is the desired input
The switch and the bulb are the subsystems
The bulb is the actuator

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 Control System
Desired Actual
temp On Temp temp
On Temp Air
Off Setting Air Room
Off Setting Conditioned Room
Switch knob Conditioned
Switch knob

What is the process or plant?

What is the output?
What is the desired input?
What are the subsystems?
What is the actuator?

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 Open-loop control system:
Sun Light or
Blocked light

Desired On-Off Actual

On-Off Bulb Room
light Switch Bulb Room Light
Switch

Closed-loop control system:

Sun Light or blocked light

Desired
light On-Off
On-Off Actual
Bulb
Bulb Room
Room
Switch
Switch Light

Light
Light
sensor
sensor

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 The design process

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 The design process
Step 1: Transform requirements into a physical system
Step 2: Draw a functional block diagram
Step 3: Create schematic
Step 4: Develop mathematical model (block diagram)
Step 5: Reduce the block diagram
Step 6: Analyze and design the system to meet specified
requirements and specifications that include stability,
transient response and steady state response.

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 Case study
• Antenna azimuth
• A position control
system converts a
position input
command to a position
output response.

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 Detail layout

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 Schematic

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 Block diagram

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 Response of position control system

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