CONTROL ENGINEERING
Lecture No 1
“CONTROL SYSTEMS ENGINEERING”
By NORMAN S. NISE, 6th Edition
Text Book: Chapter 1
Instructor: Mr. Usman Nasim
Class: BEME B11
Mechanical Engineering Department
1
Course Information
Course Title: Control Engineering Lab (yes)
Credit hrs: 3-1
Prerequisites For this Course: Calculus, Complex Variables and
Transforms
Instructor: Mr. Usman Nasim
e-mail:
Office: Faculty office A 2.2
[Link]@[Link]
Text Book:. Control Systems Engineering
by Norman S. Nise 6th Edition
Reference Book(s):
1. Feedback Control Systems by Phillip and Harbor 4th Edition
2. MODERN CONTROL SYSTEMS by RICHARD C DORF
2
Main Topics
No. Topics
1 Introduction
2 Modeling in the frequency domain
3 Time response of systems
4 Reduction of multiple subsystems
5 Steady state errors
Sessional-1
6 Root locus
7 Design via root locus
8 Frequency response techniques
Sessional-2
9 Design via frequency response
10 Modeling in time domain – State Space
11 Design via State Space
Terminal Exam 3
Control Systems (Definition)
Comprises subsystems and processes (or plants) assembled for
the purpose of obtaining a desired output with desired
performance, given a specified input.
Signals flow from the input, through the system and
produce an output
4
Control Systems (Example)
Consider an elevator. When the fourth-floor button is pressed,
the elevator rises to the fourth floor with a speed and floor-
leveling accuracy designed for passenger comfort.
Two measures of
performance are :
(1) the transient
response
(2) the steady-state
error.
Passenger comfort and passenger patience are dependent
upon the transient response
5
Classification of Control Systems
Control Systems
Natural Man-made
Manual Automatic
Open-loop Closed-loop
Non-linear linear
Non-linear linear
Time variant Time invariant
Time variant Time invariant 6
System Configurations
Block diagrams of control systems:
open-loop system
closed-loop system 7
Antenna azimuth position control system:
system concept
detailed layout
8
Antenna azimuth position
control system:
Schematic diagram
functional block diagram
9
Response of a position control system showing effect of
high and low controller gain on the output response
10
The control system design process
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One Example
Disturbance
Forces
Desired
Neural Output
position Control algorithm Signal Muscle Hand Position
(Brain) G(s)
Actuator Y(s)
R (s) Controller U (s) Plant
Reference Control block
Input
Eye
Sensor
Open loop No Feedback
Closed loop With Feedback
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What is a Actuator?
• Actuator is a device which produce
mechanical energy (output motion) in
response to some type of energy input.
Complex
Electrical
Mechanical
Energy Actuator Motion Linear
Thermal Electro-
Mechanical
Fluid
• Hydraulic Rotary
• Pneumatic
Chemical
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What is a sensor?
Sensors are transducers that produce (transform) electrical
energy (signals) as a result of some type of stimulation
(measurement space)
Temperature
Distance
Sensor
Electrical Voltage
Measurement Signals
Voltage
Force Current
Digital
Speed
Types of Sensors
Active.. Need External Power
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Passive.. No External Power
Use of Sensors in
Feedback Control:
In The Next 3-Slides
Air condition
Cooling System
is explained 17
Temperature
+
200C
- 220V, 50Hz
150C
mV
WAPDA Supply
15 20
Reference Error=0 volts
20mV=
+ 200C 200C
- Compensator
+-
Desired
Thermistor
Gain=10 Converts
20mV 2mV Heat into
Amplifier volts
18
(Op-Amp
Temperature
+
200C
- 220V, 50Hz
150C
mV
WAPDA Supply
15 20
Error=+5 v
Reference
20mV=200C 150C
+- Compensator
Desired
Gain=10
15mV 1.5mV
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Temperature
+
200C
- 220V, 50Hz
150C
mV
WAPDA Supply
15 20
Error= -5 v
Reference
20mV=200C 250C
+- Compensator
Desired
Gain=10
25mV 2.5mV
20
???
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