EEE 326 Control Systems I
INTRODUCTION
Lecture Notes 1
Feedback Control Systems
Textbook and Syllabus
Textbook:
Gene F. Franklin, J. David Powell, Abbas
Emami-Naeini, “Feedback Control of Dynamic
Systems”, 6th Edition, Pearson International
Edition.
Other Important Reference Books
• Katsuhiko Ogata, Modern Control Engineering,
5th Edition, Prentice Hall
• Norman S. Nise, Control System Engineering,
6th Edition, John Wiley & Sons, Inc.
Feedback Control Systems
Weekly Plan
Week 1: Introduction
Week 2: Review of Laplace Transform
Week 3: System Modelling
Week 4: Block Diagrams
Week 5: Dynamic Response of Systems
Week 6: Stability
Week 7: Steady-State Errors and PID Controller
Week 8: Midterm Exam
Week 9: Root-Locus Analysis
Week 10: Design by using Root-Locus method
Week 11: Phase Lead/Lag Controller Design
Week 12: Bode Plots and Design by Bode Plots
Week 13: Nyquist Plot and Design by Nyquist plot
Week 14: Overview
Grading Policy
Total
Numbers Week # Weighting
(%)
Midterm
2 8, 12 2x40 = 80
Exams
Design
1 11 20
Project
Percent of
In-term 60
Studies (%)
Percentage
of Final
Exam to 40
Total Score
(%)
What you should know going in
Linear ordinary differential equations
Basics of Laplace transform
How to model simple mechanical and electrical,
systems
What you should know going out
Concepts of state space and transfer function models of a linear
system.
How linear systems behave: input-output dynamics
The meaning of poles & zeros
The frequency transfer function and Bode Plots
Block diagram manipulation
How linear systems behave: state dynamics
Eigenvalues & eigenvectors,
Modal analysis and similarity transformations.
Root Locus design
Stability and Routh table
PID controller design
The use of Bode and Nyquist diagrams in control Systems
analysis and design
Basic ability to use MATLAB and Simulink
What you should know going out
Understand why automatic control is useful for an
electrical engineer
Recognize the value of integrated control and
process design
Understand the key concepts of control system
design
Be able to solve simple control problems
Recognize difficult control problems
Know relevant mathematical theory
Have competence in using computational tools
Specific Goals
Introduce time domain (state space) and transform domain
(transfer function) models of linear dynamical systems.
Develop the general process of deriving state pace models from
physical principles.
Introduce the methods of deriving transfer functions from state
space models and vice versa.
Introduce the basics of transform domain analysis: poles &
zeros, the frequency transfer function, Bode Plots and working
with block diagrams.
Introduce the basics of time domain analysis: eigenvalues &
eigenvectors, state transition matrix and the “variation of
parameters formula, modal analysis and similarity
transformations.
Develop concept of stability and tools for parametric stability
analysis.
Provide a comprehensive introduction to the control system
computations using MATLAB.
Specific Goals
Define the control system design problem and develop a
preliminary appreciation of the tradeoffs involved and
requirements for robust stability and performance.
Develop concepts and tools for ultimate state error analysis.
Develop the relationship between time domain and frequency
domain performance specifications, e.g, rise time, overshoot,
settling time, sensitivity function and bandwidth.
Develop frequency domain design methods, including: the root
locus method, Nyquist& Bode methods, and stability margins.
Provide an introduction to state space design: controllability and
observability, pole placement, design via the separation
principle (time permitting).
Emphasize computational methods using MATLAB.
Chapter 1 Introduction
Introduction to Control Systems
Control is a series of actions directed for making a system
variable adheres to a reference value (can be either constant
or variable).
A control system is basically an interconnection of
components that provide a desired system response
The reference value when performing control is the desired
output variable.
Process, as it is used and understood by control engineers,
means the component to be controlled.
Fundamental structures of control are classified based on the
information used along the control process:
1. Open-loop control / Feedforward control
2. Closed-loop control / Feedback control
Chapter 1 Introduction
Some Terminology
The plant/process is the system being controlled.
The sensors measure the quantity that is subject to control.
The actuators act on the plant.
The controller processes the sensor signals and drives the
actuators.
The control law is the rule for mapping sensor signals to
actuator signals.
Centrifugal governor, invented
by James Watt, to control the
speed of steam engine
Chapter 1 Introduction
Process or System
Reference
Disturbance Measurement
noise
Performance
Input
Measurement
Chapter 1 Introduction
Open-loop vs. Feedback Control
The difference:
In open-loop control, the system does not measure the
actual output and there is no correction to make the actual
output to be conformed with the reference value.
In feedback control, the system includes a sensor to
measure the actual output and uses its feedback to
influence the control process.
Chapter 1 Introduction
Examples
Open-loop control Feedback control
Example: an electric toaster, Example: Speed control of
a standard gas stove. induction motor or DC motor
The controller is constructed The output is fed back for
based on knowledge or control computation.
experience.
The process output is not
used in control computation.
Chapter 1 Introduction
Plus-Minus of Open-loop Control
+ Generally simpler than closed-loop control
+ Does not require sensor to measure the output
+ Does not, of itself, introduce stability problem
– Has lower performance to match the desired output
compared to closed-loop control
Chapter 1 Introduction
The Magic of Feedback
The adjustment of system inputs based on the observation
of its outputs
Feedback is a universal strategy to cope with uncertainty
In engineering we use feedback:
To cause a system to behave as desired
To keep some variables constant
To stabilize an unstable system
To reduce effects of disturbances
To minimize the effect of component variations
As another alternative for designers
Chapter 1 Introduction
Plus-Minus of Feedback Control
– More complex than open-loop control
– May have steady-state error
– Depends on the accuracy of the sensor
– May have stability problem
+ Process controlled by well designed feedback control can
respond to unforeseen events, such as: disturbance, change
of process due to aging, wear, etc.
+ Eliminates the need of human to adjust the control variable
reduce human workload
+ Gives much better performance than what is possibly given
by open loop control: ability to meet transient response
objectives and steady-state error objectives
Chapter 1 Introduction
Classification of Control Systems
Regulator Systems (Process Control):
The controlled variable or output is required to be held as
close as possible to a usually constant desired value or
input despite any disturbaces
Servomechanism (Tracking Control):
The input varies amd the output is requierd to follow or
track it as closely as possible
Chapter 1 Introduction
Analysis and Design (Synthesis)
Analysis :
What is the performance of a given system in Response
to the changes on the input or external disturbances
Design :
If the performance is unsatisfactory how can it be
improved ? (Best if it can be done without changing the
process, actuator and the power amplification blocks)
Chapter 1 Introduction
Performance
Improve transient response
Reduce steady state errors
Reduce the effects of external disturbance
Chapter 1 Introduction
Control All Around Us: The Thermostat
Chapter 1 Introduction
Control All Around Us: The Thermostat
Chapter 1 Introduction
Feedback Control: Some History
Chapter 1 Introduction
Feedback Control: Some History
Chapter 1 Introduction
Feedback Control: Some History
Chapter 1 Introduction
Industrial Process Control
Chapter 1 Introduction
Insights from Flight Control
Chapter 1 Introduction
The Benefits of Negative Feedback: The Op Amp
Chapter 1 Introduction
Control at Bell Labs: Frequency-Domain Methods
Chapter 1 Introduction
Feedback Control after 1940
Chapter 1 Introduction
Evolution of the Control Discipline
Chapter 1 Introduction
Contemporary Applications
These days, control systems are everywhere:
home comfort (Roomba, thermostats, smart homes, ...)
communication networks (routing, congestion control, ...)
automotive and aerospace industry (safety-critical systems,
autopilots, cruise control, autonomous vehicles, ...)
biology and medicine (cardiac assist devices, anesthesia
delivery, systems biology ...)
... but the basic analysis and design techniques are still
the same as in the early days:
block diagrams (flow of information)
Laplace transforms and transfer functions
graphical techniques: root locus, Bode and Nyquist plots
state-space methods (linear algebra)
Examples
Active Control in Automobiles
Key Technology Trends
Feedback Control in Five Minutes
Feedback Control in Five Minutes
Feedback Control in Five Minutes
