Introduction to Control Systems

Engr. AB Tarun Jr. IL TIP Cubao

What is a Control System?

A device or set of devices to manage, command, direct or regulate the behavior of other devices or systems A system used to realize a desired output or objective A system consisting of processes and sub-systems assembled together for the purpose of controlling the output of the processes (physical variable) Could be electrical, mechanical, electromechanical, chemical, etc. Can be found in household, cars, industries, hospitals, commercial areas, military, etc.

Controls Engineering requires:

Mathematical Analysis (Differential Equations, Laplace Transforms, Linear Algebra) Modeling of physical systems and quantities Knowledge on different Engineering fields: Electric circuits, Mechanics (Statics and Dynamics), Hydraulics, Data Communications

Control Methodologies:
Classical Modern Digital

Classical Control Method

Physical systems are modeled in the time domain, where the response of a given system is a function of the various inputs, the previous system values, and time. Time-domain models for systems are frequently modeled using high-order differential equations, which can become very difficult for humans to solve, and some of which can even become impossible for modern computer systems to solve efficiently. The Laplace Transform, and the Fourier Transform are employed to change an Ordinary Differential Equations (ODE) in the time domain into a regular algebraic polynomial in the s-domain.

Once a given system has been converted into the transform domain, it can be manipulated with greater ease, and analyzed quickly and simply, by humans and computer alike.

Modern Control Method

Instead of changing domains, Modern Control method converts the differential equations into a system of lower-order time domain equations called State Equations, which can then be manipulated using techniques from linear algebra (matrices).

Digital Control Method

Digital Control Method were designed to incorporate the emerging power of computer systems into previous control methodologies. A special transform, known as the Z-Transform, was developed to describe digital systems and which can be converted (with some effort) into Laplace domain. Once in Laplace domain, the digital system can be manipulated and analyzed in a very similar manner to the Classical analog systems.

The History of Control Systems

The field of control systems started essentially in the ancient world. Early civilizations, notably the Greeks and the Arabs were heavily preoccupied with the accurate measurement of time, the result of which were several water clocks that were designed and implemented. However, there was very little in the way of actual progress made in the field of engineering until the beginning of the renaissance in Europe. Leonhard Euler (for whom Eulers Formula is named) discovered a powerful integral transform, but Pierre Simon Laplace used the transform (late called the Laplace Transform) to solve complex problems in probability theory. Joseph Fourier was a court mathematician in France under Napoleon I. He created a special function decomposition called the Fourier Series, that was later generalized into an integral transform, and named in his honor (the Fourier Transform).

Leonhard Euler

Pierre Simon Laplace

Joseph Fourier

The History of Control Systems (continuation)

The golden age of control engineering occurred between 1910-1945, where mass communication methods were being created and two world wars were being fought. During this period, some of the most famous names in controls engineering were doing their work: Nyquist and Bode. Hendrik Wade Bode and Harry Nyquist, especially in the 1930s while working with Bell Laboratories, created the bulk of what we now call Classical Control Methods. These methods were based on the results of the Laplace and Fourier Transforms, which had been previously known, but were made popular by Oliver Heaviside around the turn of the century. Bode is credited with the discovery of the closed-loop feedback system, and the logarithmic plotting technique that still bears his name (bode plots). Harry Nyquist did extensive research in the field of system stability and information theory. He created a powerful stability criteria that has been named for him (The Nyquist Criteria).

Hendrik Wade Bode

Harry Nyquist

Oliver Heaviside

Modern Control Systems

Modern control methods were introduced in the early 1950s, as a way to bypass some of the shortcomings of the classical methods. Modern control methods became increasingly popular after 1957 with the invention of the computer, and the start of the space program. Computers created the need for digital control methodologies, and the space program required the creation of some advanced control techniques, such as optimal control, robust control, and nonlinear control.

Milestones in Control Systems

Hero of Alexandria (Greek mathematician, 10-70AD) invented device for opening temple doors First widely used closed-loop control system was James Watts Flyball Governor in 1788 Maxwells studies on the stability of Watts governor on 1868 Minorskys application of non-linear elements in closed-loop systems (Automatic Ship steering) in 1922 Theory of Servomechanism (Hazens paper) publication in 1934 Military applications (World War 1 and 2). After WW2, controls engineering flourished

Types of Control Systems

Regulator-type : maintains physical variable at some constant value in the presence of disturbances Ex; Heat chamber, ACUs, Voltage regulator, Refrigerator, washing machines Servo-mechanism type: enables a physical variable to follow track some desired time or spatial function Ex: Disk Drives, Antennas, Robotic Arms, Gas Pedal

Configurations of CS
Open-Loop Control Systems Closed-Loop Control Systems

OpenOpen-Loop Control Systems (OLCS)

Also called a non-feedback controller Basically made up of a controller and the plant (controlled process) Output signal has no influence on the control of the process Input simply drives output Does not correct for disturbances and is usually unstable It cannot engage in machine learning It cannot correct errors Ex. Toaster, DC Motor, Electric Fan, Washing Machine Timer, Streetlight switch, Stereo volume control, Electric drill speed control Input Controller Controller Output = Input x Gain Output = Input x Gain Controlled Variable Output Plant Plant

Disturbance Input

ClosedClosed-Loop Control Systems (CLCS)

Also called feedback controller Characterized by a closed-loop/ feedback operation Use a measurement of output to control the input Less sensitive to noise, disturbances and changes in the external environment Gain Adjustment and compensation are possible to modify system response Ex. Aircon thermostat, Missile-launch system, Hard-disk controller, Automobile cruise control Output = (Input-Output) x Gain Output = (Input-Output) x Gain
Input Error/Actuating Controlled Signal Variable + Controller Controller Sensor Sensor Output Plant Plant Disturbance Input

Advantages of CLCS Over OLCS

Disturbance rejection Guaranteed performance even with model uncertainties Unstable process can be stabilized Reduced sensitivity to parameter variations Improved reference tracking performance

Components of CLCS
Command Input Reference Selector/Gain Reference Input Actuating Signal Controller Plant System Output Sensor -the moving/ user-input signal -establishes value of reference input -actual input signal to the control system -difference between reference input and feedback signal referred to as Error signal if Sensor Gain equals 1 -drives/ controls the plant -physical system/ process to be controlled -physical variable/ quantity to be controlled -instrumentation to measure output as feedback to the control system Actuating Signal Controller Controller Sensor Sensor Plant Plant System Output

Command Input

Reference Reference Selector/Gain Selector/Gain

Reference Input +

ClosedClosed-Loop Control Systems Examples

ClosedClosed-Loop Control Systems Examples

ClosedPID Closed-Loop Control Systems

Proportionalintegralderivative controller or PID controls the gain portion of the closed loop control system PID algorithms adjust the gain to the plant based on several characteristics of the feedback, not just the current value Widely used in industrial control systems

Automobile cruise control

Output = (Input-Output) x ((P Gain + IIGain + D Gain) Output = (Input-Output) x P Gain + Gain + D Gain) P Gain -the proportional value determines the reaction to the current error, P depends on the present error I Gain -the integral value determines the reaction based on the sum of recent errors, I depends on the accumulation of past errors D Gain -the derivative value determines the reaction based on the rate at which the error has been changing, D predicts future errors

Adaptive cruise control

Control System Analysis and Design Process

Describe Describe System System Specs/Reqts Specs/Reqts

Determine Determine System System Model Model

Obtain Block Obtain Block Diagram Diagram

Reduce Reduce Block Block Diagram Diagram

Describe Describe System System Specs/Reqts Specs/Reqts

Analyze and Analyze and Test Control Test Control System System

Performance Specifications
Frequency domain Time domain

Desired System Characteristics

Speed of response Relative stability System accuracy and allowable error

Control Systems Analysis and Design Process

Describing System Specifications/ Requirements
Determine the physical variable to be controlled Identify output/ response characteristics What are the possible control variables What are the processes/ sub-systems needed?

Determining System Model

Determine the physical layout Draw schematic diagram Identify re-usable sub-systems Write the mathematical model for the system

Obtaining System Block Diagram

Determine the mathematical model in the s-domain (Laplace)

Control Systems Analysis and Design Process

Reducing/ Simplifying the Block Diagram
Perform Manual Block Diagram Reduction Draw the equivalent Signal Flow Graph and simplify using Masons Gain Formula Block Diagram simplification is necessary in determining system poles (stability), system type, transfer function, Root locus, Bode plots, and the like G
3

1 R

G1

G4

G2

H1 -H2

Signal Flow Graphs

Block Diagram

Control Systems Analysis and Design Process

Analyzing and Testing the Control Systems
Using different test input signals, determine system response Input signals may be: impulse, step, ramp, parabola, pulse, sinusoidal Compare system response with the desired requirements Determine systems stability, controllability, observability and robustness
Impluse
f(t) (t) t f(t) 1

Step

Ramp
f(t)

Parabola
f(t)

f(t) Sinusoid

t t

Control Systems Analysis and Design Process

Re-designing the System
Re-visit system specifications; objectives may be infeasible Adjust system model (simplify or extend model)

Industrial Control Systems (ICS)

Encompasses several types of control systems used in industrial production, including supervisory control and data acquisition (SCADA) systems, distributed control systems (DCS), and other smaller control system configurations such as skidmounted programmable logic controllers (PLC) often found in the industrial sectors and critical infrastructures ICSs are typically used in industries such as electrical, water, oil, gas and data

Supervisory and Data Acquisition Systems (SCADA)

SCADA's history is rooted in distribution applications, such as power, natural gas, and water pipelines, where there is a need to gather remote data through potentially unreliable or intermittent low-bandwidth/highlatency links SCADA system uses RTUs (remote terminal units, also referred to as remote telemetry units) to send supervisory data back to a control center

Distributed Control Systems (DCS)

DCSs are used to control industrial processes such as electric power generation, oil and gas refineries, water and wastewater treatment, and chemical, food, and automotive production DCSs are integrated as a control architecture containing a supervisory level of control, overseeing multiple integrated subsystems that are responsible for controlling the details of a localized process

Programmable Logic Controller (PLC)

PLCs are computer-based solidstate devices that control industrial equipment and processes While PLCs can control system components used throughout SCADA and DCS systems, they are often the primary components in smaller control system configurations

References:
Control System Engineering By Norman Nise Feedback Control System By Charles Philips Internet Wikipedia

Introduction to Control Systems

Engr. AB Tarun Jr. IL TIP Cubao