Lecture 1

KON 317E
CONTROL SYSTEMS
LECTURE 1
19/10/2020
• Lecturer:
Dr. Gülay ÖKE GÜNEL
e-mail: [email protected]
room: EEB 4220
• Teaching Assistant:
Muhammed Emre SANCI
e:mail: [email protected]
Evaluation
• There will be 2 midterm exams, 1 quiz and 1 final exam.
• They will all be classical exams.
• 1st midterm exam: 25%
• 2nd midterm exam: 30%
• Quiz: 5%
• Final exam: 40%
• In order to take the final exam, your score should be:

• (Mid1*0.25+Mid2*0.3+Quiz*0.05) 20
TOPICS
• Introduction
• Review of basic concepts in signals and systems
• Modelling, transfer function, state-space representation
• Modelling of systems (Electrical, mechanical,
electromechanical)
• First order systems
• Second order systems
• Time domain criteria
• Steady-state error
• Stability
• Root Locus method
• Controller design (P,PI,PD, PID)
References
• K. Ogata, Modern Control Engineering, 5th Edition, Prentivce
Hall, 2010.
• B.J. Kuo, F. Golnaraghi, Automatic Control Systems, 8th
Edition, Prentice Hall, 2002.
• N.S. Nise, Control Systems Engineering, 6th Edition, John-
Wiley, 2011.
• R.C. Dorf, R.H. Bishop, Modern Control Systems, 12th
Edition,Prentice-Hall, 2010.
• G.F. Franklin, J.D. Powell, A.E. Emami, Feedback Control of
Dynamic Systems, 6th Edition Addison-wesley, 2009.
Examples of control systems in nature
• Pancreas regulates glucose level in blood

• In cases of danger adrenaline is secreted, this
incerases heart beat rate and provides more oxygen
to the body cells
• Our hand grasps an object and puts it in a specified
place.
• ………….
Examples of control system applications
• Room temperature control
• Motor speed control
• Autopilot systems in aircrafts
• Robot systems
• Rocket applications
• Industrial applications and manufacturing
• Inventory control
• ………….
Advantages of Control Systems
 With control systems, it is possible to move and locate

large and heavy objects precisely (lifts, satellites, etc….)
 Robots can perform tasks in dangerous places where
humans cannot work (Ex: radioactive places, nuclear
plants….)
 Robots can perform monotonous tasks that need
continuous repetition (Ex: screwing in automobile
manufacturing)
 Control systems provide power amplification (Ex: It is
possible to rotate a large radar antenna with a small
action.)
 In control systems, “disturbances” are generally
observed. (Ex: In an antenna system which is oriented
towards a desired orientation, wind is a disturbance)
 An important aim of control systems is to extinguish
disturbance effects.
 Thanks to theoretical and practical improvements in
automatic control, it is possible to achieve “optimal”
performance in dynamical systems (Ex: minimum energy/
minimum time/minimum error) This makes it possible to
increase the quality of production and to decrease costs,
increase production rates, etc….
Control Systems History
 Water clocks in ancient Egypt (1400 BC)
 Ktesibios – Flow rate regulator (300 BC)

 Automatic opening of temple doors (100 AC – Heron
from Alexandria)
 1681 – Vapor pressure regulator

 1745 – Speed control in windmills
 1788 – James Watt’s speed governor
 Second half of 19th century – start of control theory as
we know today
 1868 – James Clerk Maxwell – analyzed stability of a 3rd
order system from diff. equations
 1874 – Edward John Routh – studied stability of 5th order
systems
 1877 – Routh established Routh-Hurwitz stability
criterion
 1892 – Alexandr Michailovich Lyapunov – analyzed
stability of nonlinear systems in his PhD thesis
 1874 – Henry Bessemer – worked on ship steering and
stability
20th Century
 1922 – Sperry Gyroscope Company produced an automatic
steering system for ships
 1922 – Nicholas Minorsky worked on ship control and set the
foundations of PID control
 End of 1920’s, beginning of 1930’s – Bode and Nyquist from
Bell laboratories analyzed feedback amplificators – sinusoidal
frequency analysis and design techniques
 1934 – Hazen worked on servomechanisms that track varying
inputs
 1948 – Walter R. Evans - Root locus technique
 End of 1950’s – Work on optimal systems
 1960’s – Modern control theory based on time domain
analysis and state variables, MIMO systems
Recent Developments
 Optimal control of deterministic and stochastic systems
 Adaptive and intelligent control of complex systems
 Integration of AI with control systems
 Control applications on biological, biomedical,
economical and socio-economical systems
 Control of multi-agent systems
 …………
Definitions and Important Concepts
• System
A system is a combination of components that act together and
perform a certain objective.
• Signal
Any measurable variable that provides interaction between
systems or system components
input system output

• Plant
A plant may be a piece of equipment, perhaps just a set of
machine parts functioning together, the purpose of which is
to perform a particular operation. Any physical object to be
controlled (such as a mechanical device, a heating furnace, a
chemical reactor, or a spacecraft) is called a plant.
• Process
A natural, progressively continuing operation or development
marked by a series of gradual changes that succeed one
another in a relatively fixed way and lead toward a particular
result or end (Examples are chemical, economic, and
biological processes.)
• Control
The method/technique to make a system variable
conform (take the same value) to a desired value
(reference value)
Reference value
Control System
Input Output
Basic Components of Control Systems
1) System to be Controlled (Plant/Process)
2) Controller A combination of elements (could be an
electronic circuit/ or a mechanical part / or software) that
generates control signals necessary to make the control
system produce outputs conforming to reference inputs.
input control signal output

Controlled
Controller
System
r u y
plant/process
• Feedback
A system is called a”feedback system” if the magnitude of an
output variable affects the magnitude of an input variable
(additive or subtractive)
Feedforward element
reference
input u output
Controlled
Controller
+ System
r y
+/-
Feedback Element
• Disturbance
A signal that tends to adversely affect the value of the
output of a system
(Example: In an antenna system which is oriented
towards a desired orientation,wind is a disturbance)
Room Temperature Control System
Thermostat Qout
Desired for
- Room
Temp. comparison +
Heater Temp.
Gas Valve Room
+ Qin
-
Sweating – Body Temperature Control System
Comparison Organ –
Nervous System Actual
+ Skin Temp.
Sweat
Skin
Normal Glands
Skin Temp. -
Driving A Car
Comparison Organ – Actual

Eyes Direction
Wheels of the car
+
Brain Hands and
Direction car
of traffic -
lanes
• Open Loop Control Systems
Systems in which the output has no effect on the control
action. In an OLCS the output is neither measured nor
fed back for comparison with the input.
n
Disturbance
input control signal output

Controlled
Controller
System
r u y
plant/process
 The accuracy of the system depends on calibration.
 In the presence of disturbances, an open-loop control
system will not perform the desired task.
 OLCS can be used in practice only if the relationship
between the input and output is known and if there are
no disturbances.
 Operates in time basis.
 Examples: Washing machine (soaking, washing, rinsing
on a time basis), traffic lights
• Closed Loop Control Systems
(Feedback Control Systems)
reference
input
error output
Controlled
Controller
+ System
-
Open Loop Control Systems (OLCS)
 Fewer components are used.
 Lower in cost and power.
 Not possible to use inaccurate and inexpensive
components.
 Stability is not a problem.
 It is advisable to use open loop control for systems for
which system dynamics is fully known ahead of time and
there are no disturbances.
Closed Loop Control Systems (CLCS)
 The number of components used is more.
 Higher in cost and power.
 Relatively inaccurate and inexpensive components can
be used (use of feedback makes the system response
insensitive to disturbances)
 Stability is an important problem.
 Have advantages when unpredictable disturbances
and/or unpredictable variations in system components
are present.
Open-Loop Control System
Closed-Loop Control System

Classification of Control Systems
1) Linear versus Nonlinear Systems
2) Time Invariant versus Time Varying Systems
3) Continuous Time versus Discrete Time Systems
4) Single Input Single Output (SISO) versus Multi Input Multi
Output (MIMO) Systems
5) Lumped Parameter (described by ODE) versus Distributed
Parameter (described by PDE) Systems
6) Deterministic Systems versus Stochastic Systems
In this course, we will be studying Linear, Time-Invariant,

Continuous, SISO, Lumped Parameter, Deterministic
Systems…..

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KON 317E

• In order to take the final exam, your score should be:

• Pancreas regulates glucose level in blood

 With control systems, it is possible to move and locate

 Ktesibios – Flow rate regulator (300 BC)

 1681 – Vapor pressure regulator

input system output

input control signal output

Comparison Organ – Actual

input control signal output

Closed-Loop Control System

In this course, we will be studying Linear, Time-Invariant,

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