Introduction to Control System ( updated Sept 2012) 1
1.0 INTRODUCTION TO CONTROL SYSTEM
1.1 OBJECTIVES
• Basic terminologies.
• Purpose of Control System
• System Configurations
• Control System Examples
• Control System Components
1.2 Basics terminologies
o A control system is an interconnection of components forming a system
configuration that will provide a desired system response.
o A control system consists of subsystems and process (or plants) assembled
for the purpose of abtaining a desired out with desired performance.
o Ex : Elevator: When fourth floor botton is pressed on the first floor, the
elevator rises to the fourth floor with the speed and floor-leveling accuracy
designed for passenger confort.
Control is a process of causing a system variable such as temperature or position
to conform to some desired value or trajectory, called reference value or
trajectory.
For example, driving a car implies controlling the vehicle to follow the desired
path to arrive safely at a planned destination.
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i. If you are driving the car yourself, you are performing manual control of
the car.
ii. If you design a machine, or use a computer to do it, then you have built an
automatic control system.
1.2.1 Sub-system and System
subsystem subsystem subsystem
blower room thermostat
o System is a combination of physical and non-physical components that are
configured to serve certain tasks to maintain the output
o Subsystem is part of the system that is grouped for a certain function
1.2.2 Plant
subsystem
input plant output
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o Plant is a subsystem where an output signal is derived from the input
signal
1.3 What is control?
For any control system the following flow structure is needed
objective
model
analysis
design
1.4 Purpose of Control System
1.4.1 Power Amplification
A radar antenna positioned by the low-power rotation of a knob at the input, requires
a large amount of power for its output rotation. A control system can produce the
needed power amplification , or power gain
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1.4.2 Remote Control
Robot designed by control system principles can compensate human disabilities.
Control systems are also useful in remote or dangerous location. For example, a
remote-controlled robot arm can be used to pick up material in radioactive
environment.
1.4.3 Convenience of Input Form
Changing room temperature by thermostat position
1.4.4 Compensation for Disturbances
Controlling antenna position in the presence of large wind disturbance torque
1.5 System Configurations
There are two major configurations of control systems: open loop and closed loop.
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1.5.1 Open-loop system
An open-loop control system utilizes an actuating device to control the process
directly without using feedback.
disturbance
+
input +
controller plant output
o Disturbance is unwanted signal that may sway the ouput
o Controller is a subsystem that is used to ensure the output signal follows
the input signal
1.5.2 Closed-loop system
A closed-loop feedback control system uses a measurement of the output and
feedback of the output signal to compare it with the desired output or reference.
disturbance
error +
input + + output
controller plant
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1.6 Control System Examples
1.6.1 Transportation
Car and Driver
Objective: To control direction and speed of car
Outputs: Actual direction and speed of car
Control inputs: Road markings and speed signs
Disturbances: Road surface and grade, wind, obstacles
Possible subsystems: The car alone, power steering system, breaking
system
Functional block diagram:
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1.6.2 Manufacturing Industry
Consider a three-axis control system for inspecting individual
semiconducting wafers with a highly sensitive camera
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1.7 Control System Components
System, plant or process - To be controlled
Actuators - Converts the control signal to a power signal
Sensors - Provides measurement of the system output
Reference input - Represents the desired output
General Control System
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Turntable Speed Control ( Open loop and closed loop control system)
Application: CD player, computer disk drive
Requirement: Constant speed of rotation
Open loop control system
Block diagram representation:
Closed loop control system
Block diagram representation:
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