BEEE2364

CONTROL PRINCIPLES
SEM 2 2021/2022
LECTURER:
DR. HAFEZ SARKAWI
7th FLOOR, FKM BUILDING
hafez@utem.edu.my
016-8702515

HAFEZ JTKEK FTKEE

 Learning Outcome

LO Description PO Taxonomy
LO01 Demonstrate performance of a design 1 C3
control system.
LO02 Construct experimental investigation on the 4 P4
response of gain adjustment compensator
in controlling broadly define system.
LO03 Demonstrate effective project management 11 A3
skills in solving given problems.

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 Assessment

Learning Program Percentage

No Assessment Method
Outcome Outcome (%)
1 2 4 LAB ASSESSMENT 20
2 2 4 LAB TEST 12
3 2 4 PROJECT 12
4 3 11 PRESENTATION 6
5 1 2 MID TERM TEST 20
6 1 2 PEPERIKSAAN AKHIR 30
TOTAL 100

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 Weekly TP
WEEK SESSION CONTENTS REMARK
Lecture 1 Chapter 1: Introduction to control system 2 hours
1

Lecture 2 Chapter 2: Modelling in Frequency domain 2 hours

2
Project (Part 1) 3 hours
Lecture 3 Chapter 2: Modelling in Frequency domain (Cont.) 2 hours
3
Project (Part 2) 3 hours
Lecture 4 Chapter 2: Modelling in Frequency domain (Cont.) 2 hours
4
Lab 1 3 hours
Lecture 5 Chapter 3: Modelling in Time domain 2 hours
5
Lab 2 3 hours

Lecture 6 Chapter 3: Modelling in Time domain (Cont.) 2 hours

6
Lab 3 3 hours
Lecture 7 Chapter 4: Time Response 2 hours

7 Tutorial 1 3 hours

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 Weekly TP (Cont.)
WEEK SESSION CONTENTS REMARK
Lecture 8 Chapter 4: Time Response (Cont.) 2 hours
8
Project (Part 3) 3 hours
Lecture 9 Chapter 4: Time Response (Cont.) 2 hours
9
Mid term test 2 hours
Lecture 10 Chapter 5: Reduction of multiple subsystem 2 hours
10
Lab 4 3 hours
Lecture 11 Chapter 5: Reduction of multiple subsystem (Cont.) 2 hours

11 Project (Part 4) 3 hours

Lecture 12 Chapter 6: Stability 2 hours

12
Tutorial 2 3 hours

Lecture 13 Chapter 7: Bode plots and gain adjustment compensation 2 hours

13
Lab test 1.5 hours
Lecture 14 Chapter 7: Bode plots and gain adjustment 2 hours

14 Lab 5 3 hours

Presentation 0.25 hour

HAFEZ JTKEK FTKEE
 Main Textbook

NORMAN S. NISE, CONTROL SYSTEMS

ENGINEERING 7TH EDITION, ADDISON
WESLEY PUBLISHING, 2015.

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 CHAPTER 1
INTRODUCTION TO
CONTROL SYSTEM
BEEE2364
CONTROL PRINCIPLES

HAFEZ JTKEK FTKEE

 Introduction
• 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.

• Example: Elevator
o When the fourth-floor button is pressed on the first floor,
the elevator rises to the fourth floor with a speed and
floor-leveling accuracy designed for passenger comfort.

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 Introduction (Cont.)
Why control system is needed?
• Power amplification: Eg. a radar antenna, positioned by the low-
power rotation of a knob at the input, requires a large amount of
power for its output rotation.
• Remote control: Eg. a remote-controlled robot arm can be used to
pick up material in a radioactive environment.
• Convenience of input form: Eg. in a temperature control system,
the input is a position on a thermostat. The output is heat. Thus, a
convenient position input yields a desired thermal output.
• Compensation for disturbance: Eg. an antenna system that points
in a commanded direction. If wind forces the antenna from its
commanded position, or if noise enters internally, the system must
be able to detect the disturbance and correct the antenna’s
position.

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 Open-loop System

• A system in which the control action is independent of the

output signal (desired ouput).
• An open-loop system operates without feedback and directly
generates the output in response to an input signal.
• Example : Toaster

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 Closed-loop System

• A system in which the control action depends on the output (desired signal)
and contains feedback loop.
• The output is controlled by sending a command signal to input.
• The system not only measure the input but take into account on what
happening at the output.
• Uses a measurement of the output signal and compared with the desired
input (reference or command) to generate an error signal.
• Error signal is use for correcting the system to get a desired response.

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 Closed-loop System (Cont.)
• Example: Automobile

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 Open- vs Closed-loop
System
Closed-loop System Open-loop System
Have the feedback path. Does not have the feedback
path.
Greater accuracy. Not accurate.
Less sensitive to noise, Sensitive to noise,
disturbances and changes in the disturbances and changes in
environment. the environment.
The system can compare the The system cannot correct the
output response with the input disturbances.
and make a correction if there
is any difference.
More complex and expensive. Simple and inexpensive.

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 Analysis & Design
• Control systems are dynamic: they response to an input by
undergoing a transient response before reaching steady-state
response that generally resembles the input.

• Three major objectives in the controller design:

1) Producing the desired transient response.
2) Reducing steady-state error.
3) Achieving stability.

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 Analysis & Design (Cont.)
Transient response

• In the case of an elevator,

o a slow transient makes passenger impatient, whereas an
o excessively rapid response makes them uncomfortable.
• Too fast a transient response could cause permanent physical damage.
• Therefore, we have to analyze the system for its existing transient response.
• Then, adjust parameters or design components to yield a desired transient
response.
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 Analysis & Design (Cont.)
Steady-state response

• This response resembles the input and is usually what remains after the
transients have decayed to zero.
• The steady-state error is defined quantitatively (output minus reference) .
• Analyze a system’s steady-state error, and then design corrective action to
reduce this error.
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 Analysis & Design (Cont.)
The design of a control system follows these step:
1. Determine a physical system and specifications from
requirements.
2. Draw a functional block diagram.
3. Represent the physical system as a schematic.
4. Use the schematic to obtain a mathematical model such
as a block diagram.
5. Reduce the block diagram.
6. Analyze and design the system to meet specified
requirements and specifications that include stability,
transient response and steady-state performance.

To verify the controller design, computer numerical simulation

software such as Matlab can be used.
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