Fundamentals of Control Systems - Chapter 1: Introduction

inl the u y y 
state-space equation.
 Features:
 Can be applied to nonlinear systems, time varying 
systems, multiple input- multiple output system.
 Time domain technique
 Analysis and design method:
Optimal control.
 Adaptive control.
 Robust Control
 Controller:
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 State feedback controller
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Intelligent control
 In principle, mathematic models are not required in design 
intelligent control system.
 F tea ures:
 Simulate / emulate biological intelligence system.
 The controller is capable of processing uncertain 
information, learning, and handling large amounts of data
 Intelligent control techniques: 
 Fuzzy Control
 Neural Networks 
Genetic Algorithm

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Course objective
Th F d l f C l S i l e course un amenta o ontro ystems ma n y 
presents the classic method for analysis and design 
of SISO linear time invariant systems. 
 The knowledge gained from the course help student 
to analyze and design control systems at the 
executive level.
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Related courses
T b bl t d i th t l t t th o e a e o es gn e con ro sys em a e 
implementation level, in addition to knowledge of 
automatic control theory a designer needs to master the , 
relevant knowledge, such as:
Circuits Electronic circuits, 
 Industrial Measurement
Digital system Microprocessor , 
Computer based control system, ...
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Graphic Symbols for 
Process Displays
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Tiê h ẩ ISA 5 1 i ớ á ký hiệ đồ h dù để ẽ
Standard ISA 5.1
 u c u n . qu ư c c c u ọa ng v sơ 
đồ các quá trình điều khiển và cách đặt tên thiết bị trong sơ 
đồ điều khiển.
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Symbol of process equipments
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Symbol of process equipments
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Symbol of valves
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Symbol of control valves
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Symbol of electrial component (cont.)
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Symbol of electrial component (cont.)
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Symbol of measurement equipment and indicator 
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Symbol of power supply
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Symbol of power supply (cont.)
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Symbol of power supply (cont.)
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Ký hiệu đường tín hiệu
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Symbol of connection
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Symbol of measument equipment
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Symbol of level measurement equipment (cont.)
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Symbol of level measurement equipment (cont.)
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Symbol of flow measurement equipment
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Symbol of flow measurement equipment (cont.)
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Symbol of function blocks
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Symbol of function blocks
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Equipment Identification Label
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Equipment Identification Label
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Control process diagram – Example 1
PT100
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Control process diagram – Example 2
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Control process diagram – Example 3
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Control process diagram – Example 4
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Applications of control systems
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Applications of control theory
Feedback control can be found in many applications:
 Production system: cement plants, sugar mills, ....
 Industrial processes: temperature, flow, pressure, speed, ...
 Mechatronics: robot arms, computer numerical control
(CNC), ...
 Information systems
 Power generation and transmission
 Transportation s stems cars trains aircraft spacecrafty : , , , , ...
 Military equipments
 Measurement
 Home appliances: air conditioners, televisions, refrigerators, 
washing machines, cameras, rice cookers, ...
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 Medical equipments
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Temperature control
 Temperature control plays an important role in many
manufacturing systems: production of cement, ceramic tiles,
pulp and paper rubber and plastic oil and gas food and, , ,
beverage,
Cement factory Paper factory
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Examples of temperature control
A i lt l d t d i t ( ff h t gr cu ura pro uc ry ng sys em co ee, cas ew nu ,
black pepper,)
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Agricultural product drying system
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Block diagram of a temperature control system
Controller
Power 
amplifier
HeaterDifferential 
amplifier
Measurement
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4.7k 4.7k
VCC
4.7k 4.7k
Temperature controller and user interface
1k
D6
LED 7DOAN1 4 5 7
1k
PORTD
Q2
A1015
Q3
A1015PORTD 1k
1k
Q1
A1015PORTD
Q4
A1015PORTD
. . . .
_4 5 7
V
C
C
1
AF
V
C
C
2
V
C
C
3
V
C
C
4
G CD
O
T
DE B
DOT
238 91
0
1
1
1
2
6
AFG CD DE B
G
C
E
D
VCC
VCC F
A
B
D
SW4A
V_sensor
G
F
B
VREF+
SW4
10k
E
PIC16F877A
2
3
4
5
6
7
33
34
35
36
37
38
39
40
1
RA0/AN0
RA1/AN1
RA2/AN2/VREF-/CVREF
RA3/AN3/VREF+
RA4/T0CKI/C1OUT
RB0/INT
RB1
RB2
RB3/PGM
RB4
RB5
RB6/PGC
MCLR*/VPP
DOT
10k
C
SW5
SW2
SW3
PORTD
10MHz
C16
33p
SW3
SW4
PORTD
PORTD
SW1
SW2
15
16
17
18
23
24
25
26
19
20
21
22
27
28
29
30
13
8
9
RA5/AN4/SS*/C2OUT RB7/PGD
RC0/T1OSO/T1CKI
RC1/T1OSI/CCP2
RC2/CCP1
RC3/SCK/SCL
RC4/SDI/SDA
RC5/SDO
RC6/TX/CK
RC7/RX/DT
RD0/PSP0
RD1/PSP1
RD2/PSP2
RD3/PSP3
RD4/PSP4
RD5/PSP5
RD6/PSP6
RD7/PSP7
OSC1/CLKIN
RE0/RD*/AN5
SW2
SW3
PORTC
PORTD
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CRYSTAL
VCC SW1
C17
33p
SW1
14
32
11
31
12
10
OSC2/CLKOUT
VDD
VDD
VSS
VSS
RE1/WR*/AN6
RE2/CS*/AN7
Temperature measurement using thermocouple
5V
U2
7 1
5VU1
LM35
1
V
C
C
2
C1
10uF
-
+
OP07
3
2
6
4 8
5 5V 5
2
G
N
D
VOUT
V V R1
25k
0
0
- V
-
+
U4
OP07
3
2
6
7 1
V
-
+
U5
OP07
3
2
6
7 1
R5 PA0/ADC0
3
G
V3 Vout
4 85V
R6R2J1
Thermo couple
1 +
U3
3
6
7 1
4 8-5V -5V
R41.8k
100
V1 R3
C2
10uF
3.9k100
-5V
-
OP07
2
4 8
100
0
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0 0
Power circuit
+12V
6
HeaterFUSER3
470
220Vac
0Vdc
Q2
BTA16
Q1
R1
U15
MOC3020
1
2
4PORTC
Q2SC1815
47k
R2
330
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An industrial temperature control system
Temperature 
controller
Furnace
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Thermocouple
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Motor control
 Motors (DC AC) are one of the most common actuators used , 
machinery and manufacturing factory.
 Three basic control problems: speed control, position control, 
torque control
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Antenna position control
Potentiometer
Antenna
 (t)
i(t)
Azimuth
angle
output
Desired
azimuth angle
input
o
Differential amplifier
PotentiometerMotor
and power amplifier
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Analog PID control of DC motor
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Digital PID control of DC motor 
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An industrial DC motor control system
DC Motor
E dnco er
DC Driver
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Level control
f Level control can be ound in industrial processes such 
as food and beverage, waste water treatment,
 Level control, flow control
 Sensor:
Level sensor: presure sensor, capacitor sensor, ultra 
sonic
Flow sensor: ultra sonic
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Level control system in industry
LC
LV
LT
Li id t kqu an
LC: Level Controller
LT: Level Transmitter
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LV: Level Valve
Pulp concentration control
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Pitch angle control
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Block diagram of pitch angle control system
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CNC diagram
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Block diagram of CNC control system
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Distillation Process
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Steam Power Generator
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 Explain the concepts of open-loop and closed-loop control systems
Course learning outcomes
 Describe continuous and discrete control systems using transfer function 
and state space model 
 Calculate the equivalent transfer function of control systems using block 
diagram and signal flow graph
 Analyze the dynamics of control systems in time domain and frequency 
domain
 Analyze the stability of control systems
 Analyze the transient and steady-state performances of control systems
 Analyze the controllability and observerbility of control systems 
 Design lead-lag compensator using root locus and frequency response
 Design PID controller using frequency response, Zeigler-Nichols method
D i t t f db k t ll i l l t th d es gn s a e ee ac con ro er us ng po e p acemen me o
 Use teamwork and comunication skills in collaborating course design 
projects
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 Use modern software in analysis and design control systems
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Review of complex 
variables and matrix theory
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Review
C l i bl A di B F db k C t l f omp ex var a es: ppen x , ee ac on ro o
Dynamic Systems, Franklin, Powell, and Emami-Naeini, 6th
ed Prentice Hall 2009., ,
 Matrix theory: Appendix C, Feedback Control of Dynamic
Systems Franklin Powell and Emami Naeini 6th ed, , , - , .,
Prentice Hall, 2009
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