𝐂𝐎𝐍𝐓𝐑𝐎𝐋 𝐒𝐘𝐒𝐓𝐄𝐌𝐒

SEMESTER 1, 2023

INSTRUCTOR: ERASMUS SHAANIKA

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PART B: MODULE DESCRIPTOR
Module Title: CONTROL SYSTEMS
Module Code I3781NM
NQF Level 7
Notional Hours 120
Contact hours 3 Lectures + 1 Tutorial and/or 1PS/Week
NQF Credits 12
(Co-requisites) (I3622CM Measurements and Instrumentation)
Compulsory/Elective Compulsory
Module Purpose
The purpose of this module is to provide knowledge and skills required for modelling, analysis, and design of control systems.
Overarching Learning Outcome
Model, analyse, and design control systems.
Specific Learning Outcomes
On completing the module students should be able to:
1. Apply different control theory terminologies.
2. Model basic mechanical and electrical dynamic systems as control systems or components of control systems.
3. Analyse given mechanical and electrical dynamic systems or models, using transfer functions, state space methods and frequency response
methods, to determine different characteristics required for control engineering.
4. Analyses and design controllers and compensators, using Root Locus methods, frequency response methods and state space methods to
meet set specifications.
5. Model, analyse and design the control systems using engineering software.
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Control Systems Basics: Fundamentals of control Theory, applications of control systems, open and
closed loops.
Modelling of Physical Systems: Laplace transform review, transfer functions, poles and zeros, block
diagrams reduction, signal flow graphs, state variable models, conversion of transfer function to state
space and vice-versa, frequency response representation, modelling of mechanical and electrical
dynamic systems
Control System Analysis: system response (transient and steady state) using transfer functions,
system response (transient and steady state) using state equations. System stability analysis using
Routh's stability criterion, stability in state space representation, frequency response parameters and
stability analysis (phase margin, gain margin and Nyquist criterion), steady state errors from transfer
function, steady state errors for state space represented systems, steady state errors from frequency
response, transfer function from frequency response, Root Locus Method, Analysis using Root Locus
method.
Control Systems Design and compensation techniques: Design using root locus (PID controllers),
Design using frequency response (lead, lag and lead/lag compensators), design via state space,
practical implementation of controllers/compensators.
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1. Students will be assessed through continuous assessments activities and a final
examination
2. The final mark will be made of 60% Continuous Assessment and 40% Examination (1 x
3-hour paper).
3. The Continuous Assessment will be made up of the following assessment activities:
i) Assignments (At least 3 assignments): 20%
ii) Practical report: 20%
iii) Mini design projects: 30%
iv)Tests (At least 2 tests): 30%

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 1. INTRODUCTION TO THE CONTROL PROBLEM
1.1 TERMINOLOGY AND BASIC STRUCTURE

1.1.1 Control systems:

A control system is defined as a system of devices that manages, commands, directs, or
regulates the behavior of other devices or systems to achieve a desired result. A control system
achieves this through control loops, which are a process designed to maintain a process variable
at a desired set point.
Control systems have become an integral part of our modern life. Everyday examples of control
systems include
✓ Toilet tank
✓ Air conditioning system (cooling/heating)
✓ Automatic cookers
✓ Car cruise control, aircraft altitude control
Control systems are an integral part of industries in applications such as motion and process
control.
✓ Automated assembly line
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✓ Machine tools and Robots
 1.1.2. Control engineering
Also known as control system engineering, involves the design, analysis, and optimization
of control systems. These systems are composed of devices that regulate the behavior of
other devices or systems, including both mechanical and electronic components. Despite
their diversity, all control systems share the common goal of controlling outputs.

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 1.1.3. Process, Plant or Controlled System
This course will deal with the control of engineering/ physical systems which are governed by
physical laws. The system to be controlled is called the
✓ process, plant or the controlled system
a plant refers to the system or process that is being controlled or manipulated to achieve a
desired output. This could be a chemical process in a manufacturing plant or the movement of a
robotic arm.
1.1.4. Process control
In process industries such as petroleum, steam power and chemical, there is often a need to
control flow rates, temperature, pressure etc. Such application are called process control.

1.1.5 Servomechanism
A command following system wherein the controlled attribute of the system is required to
follow a given command. An example of a servomechanism would be power-steering in cars.
Automotive power-steering uses hydraulic fluid under great pressure to power an actuator that
redirects the wheels of a car as needed. The driver gently turns the steering wheel and the
power-assist servomechanism provides much of the necessary energy needed to position the
wheels. 7
 1.1.6 Outputs
Process output are response variables which we require to behave in in some specified
fashion (See figure 1.1)

1.1.7 Inputs
Process Inputs are flows of energy and / or material that cause the process to react or
respond. These can be manipulated inputs which we can control or disturbances which we
are beyond our control. Disturbances could originate from within or from the process
environment. The disturbance is the very reason why there is a need to for control. Figure 1.1
shows a block diagram relating the inputs, outputs and the process.

Figure 1.
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 1.1.8 Controller
Control is done by management of the manipulated variables to counteract the effects of the
disturbances. This is done by the controller. Figure 2. shows the relation between input-output
in a control system .

Figure 2.
1.1.9 Regulator
When the desire value of the controlled output is more or less fixed, and the main task is to
reject the effects of the disturbance, the control system is also called a regulator. In this case,
the command input for the regulator becomes a constant, and is called the setpoint. The set
point is the temperature you set on the AC. The set point is therefore the desired value of the
controlled output.

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1.1.10 Resetting Control Problem
The setpoint of the regulator may change from one constant to another from time to time. The
need for the control of the manipulated variable arises from the requirement of both the
setpoint changes, and the disturbance rejection. As an example, consider the air conditioning
of our classroom. We may set our AC at 18°C in summer, and 24 °C in winter (= change
from one constant to another). During summer, we aim to keep the air-conditioned space
cooler the surrounding (disturbance is heat which is entering the classroom), while in winter,
we aim keep our class warmer than the surrounding (disturbance is heat loss). Clearly, the
need to control the temperature is due to the setpoint and the disturbance.

1.1.11 Follow up or Tracking System

In the follow up or tracking System, the controlled output is required to follow or track a
time-varying command input. The need for control of the manipulated variables comes from
the requirements of command-following, and disturbance rejection.

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1.1.12 Open-Loop Control System
Figure 3 shows an open loop control system.

1.1.13 Closed-Loop Control System

Figure 4 shows an open loop control system.

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 𝐻𝑜𝑚𝑒𝑤𝑜𝑟𝑘

Laplace transform

Partial Fractions

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