ELECTRONICS ENGINEERING DEPARTMENT

ELE-361 Control Systems

Spring-2023

Lecture 1
Introduction to Control Systems
Instructor
Dr. HAIDER ZAMAN
[email protected]
 Lecture 1
• Syllabus
• Course Learning outcomes (CLOs)
• Recommended Books
• Introduction to control systems
• Advantages of feedback control systems
• Analysis and design objectives
• Control system design steps
• Definitions

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 Syllabus

Prerequisite:

Code Course Title Required Knowledge

Differential Higher order differential equation as system of first order
BSI-231
Equations differential equations, time constant.
Laplace transform, inverse Laplace transform, Pole-zero
ELE-322 Signals and Systems
diagram, block diagrams

BSI-111 Linear Algebra Eigen values , Eigen vectors, positive definite matrix

Knowledge Area / Sub Area: Major Based Course (Breadth) / Breadth-VI

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 Syllabus

Objective: Introduce the concepts of open-loop and closed-loop systems and their transfer
functions. Teach the methods for the analysis and design of closed-loop feedback systems.

Course Outline:
• Introduction to control systems open-loop and closed-loop systems,
• Introduction to mathematical modelling, transfer functions, block diagrams, formation of
differential equations of electrical, mechanical and other systems, signal flow graphs;
• Steady-state and transient response of first-order, second-order and higher-order
systems;
• Types and analysis of feedback control systems;
• Stability, Routh’s stability criterion, root locus, Bode plots, polar plots, Nyquist stability
criterion, gain and phase margins, Nichol’s chart;
• introduction to state-space concepts and design techniques, formation and solution of
state equations, eigenvalues and eigenvectors, transfer function matrices;
• controllers and compensators.

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 Course Learning outcomes (CLOs)

Bloom’s
CLO No. Description PLOs
Taxonomy
To illustrate a mathematical model using input/output
CLO-1 differential equations, Transfer Functions and state-space C-3 PLO-2
for LTI electrical and mechanical systems
To analyze the stability of LTI complex engineering systems
CLO-2 using Routh’s Criteria, Root Locus, Bode plots and State C-3 PLO-2
Space analysis.
To design a compensator to achieve desired closed loop
CLO-3 response for a system using, Root Locus, Bode plots and C-5 PLO-3
State Space

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 Recommended Books

S. No. Description
Nise, Norman S. “Control systems engineering,” seventh edition, John Wiley &
1
Sons, 2020.
Franklin, Gene F., J. David Powell, and Abbas Emami-Naeini. “Feedback control
2
of dynamic systems,” seventh edition, Pearson, 2015.
Katsuhiko Ogata, “Modern Control Engineering,” Fourth Edition, Prentice Hall,
3
2002.
Strang, Gilbert “Linear algebra and its applications”. Belmont, CA: Thomson,
4
Brooks/Cole, 2006.

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 Introduction to Control System

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.

• Process – The device, plant, or system under control.

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 Introduction to Control System: System Configurations

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 Introduction to Control System: System Configurations

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 Introduction to Control System: System Configurations

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 Advantages of feedback control systems: Cruise control
Cruise Control Example: The purpose of the cruise control system is to maintain a constant vehicle
speed despite external disturbances, such as changes in wind or road grade. This is accomplished by
measuring the vehicle speed, comparing it to the desired or reference speed.

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 Advantages of feedback control systems: Cruise control
Cruise Control Example: 1. After measuring the speed of the vehicle on a level road at 65 mph, we find that
a 1◦ change in the throttle angle (our control variable, u) causes a 10 mph change in speed.
2. From observations while driving up and down hills, it is found that when the grade changes by 1%, we
measure a speed change of 5 mph.

Open-loop control without disturbance

The error in speed is

• If r = 65 and the road is level, then w = 0 and the

speed will be 65 with no error.
• However, if w = 1 corresponding to a 1% grade, then
the speed will be y=60 and we have a 5-mph error.
Open-loop control with disturbance

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 Advantages of feedback control systems: Cruise control
Cruise Control Example:

• Using u in ycl

• Simplification gives ycl and ecl as

• Reduced sensitivity of the speed error to the grade by a

factor of 101 compared to open-loop.
• Note, however, that there is now a small speed error on
level ground because even when w = 0,
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 Advantages of feedback control systems: Elevator control

Elevator
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 Advantages of feedback control systems

Stability

Programmable transient response

Programmable steady state error

Disturbance rejection

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 Analysis and design objectives

We will go for a bottom-up design approach: components analysis first and overall picture at
the end

Analysis
• A process to determine system performance
• It is vital to know the technique for computing the response of the
system with and without the controller.

Design
• A process to create or change system performance.
• It is the core objective to judge the system response, select an
appropriate controller and design the dynamic response of the overall
system.

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 Control system design steps

Differential equations

Transfer function

State-space model

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 Definitions
Manual control
• A person controlling a machine

Automatic control
• A system that involves machines only for controlling

Servo systems
• Systems designed to track a reference signal are called tracking or servo
systems.
Regulators
• Systems designed to hold an output steady against unknown disturbances

Robustness
• Ability to achieve desired performance even if some change in system
parameters occur.
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