Introduction to control system
Introduction to control system
By Tewedage Sileshi
Outline
What is a Control System?
Basic Definitions
Types of Control Systems
Examples
Design and compensation of control systems
Outline of the course
What is control system?
Process – The device, plant, or system under control. The input and output
relationship represents the cause-and-effect relationship of the process.
Control – Control means measuring the value of controlled variable of the system
and applying the manipulated variable to the system to correct or limit the
Manipulated
deviation of the measured value from Variable
a desired value.
Input
or Output
Set point Controll Proces
Or
or er s Controlled Variable
reference
Cont’d
Universe
Human Body
Cont’d
Aeroplanes
Chemical Process
Cont’d
Manual Control Systems
desired response.
Input Output
Controlle
r
Process
e.t.c
Cont’d
• Since in open loop control systems reference input is not compared with
measured output, for each reference input there is fixed operating condition.
Therefore, the accuracy of the system depends on calibration.
Measurement
some reference input by comparing them and using the difference (i.e. error)
Feedback
• Convenient when output is hard to measuring the output precisely is economically not
feasible.
• Disturbances and changes in calibration cause errors, and the output may be different
• To maintain the required quality in the output, recalibration is necessary from time to
Cont’d
Linear vs. Nonlinear Control System
A Control System in which output varies linearly with the input is called a linear
0 30
25
-5
y(t)
y(t)
20
-10
15
-15
10
-20
0 2 4 6 8 10 5
u(t) 0 2 4 6 8 10
u(t)
Cont’d
When the input and output has nonlinear relationship the system is said to be
nonlinear.
Adhesion Characteristics of Road
0.4
Adhesion Coefficient
0.3
0.2
0.1
0
0 0.02 0.04 0.06 0.08
Creep
Cont’d
• When the characteristics of the system do not depend upon time itself then the
y(t ) 2u(t ) 1
• Time varying control system is a system in which one or more parameters vary
with time.
y(t ) 2u(t ) 3t
Cont’d
• In continuous data control system all system variables are function of a continuous
x(t)
time t.
• A discrete time control system involves one or more variables that are known only
X[n]
at discrete time intervals.
n
Control theories
complex)
Example of Control systems
Speed control systems (James Watt’s speed governor)
Cont’d
1. Performance specifications
given specifications.
3. Design procedures
Control System Design Process
1. Determine a physical system and specifications from the
requirements