Glossary of terms

Glossary

Concept Module. Short explanation

Video

Abstraction 2.4 Capturing the essence of the behavior of interest (getting a

model or representation)

Action in the control

Derivative 4.2 The control signal is proportional to the error derivative

Integral 4.2 The control signal is proportional to the error integral

Proportional 4.2 The control signal is proportional to the error

Actuator 3 Element generating the manipulated variable based on the

control signal

Algorithm 2.2, 2.3 Implementable step by step procedure to compute a function

Analogy 2.2 Similarity in the dynamic behavior of systems and signals,

independently of their technological support

Analysis 6 Process of extracting properties of a model

Anti wind-up 4.3 Limiting the integral action to avoid saturation

Automation 1.2, 5.2 Automatic generation of control signals (usually on-off) to

manage a complex system

Autonomous system 2.2 Evolves by itself, without manipulated variables (solar

system, or UAV- unmanned aerial vehicle)

Balance 2.2 Process variables balance (of mass, flow, force …)

Bio-inspired systems 5.3 Systems designed following the behavior of natural elements
or systems

Block diagram 2.3 Representation where elements/subsystems are represented by

boxes and signals by arrows

Blood glucose regulation 1.1 Regulation system of glucose level in blood

system
Car washing system 1.2 Automatic car washing plant

Communication 4 Sending information between two (or more) locations

Control 1.1 Select the actions to get a desired behavior

Adaptive 4.3 The control algorithm is adapted based on information about

the process model obtained on-line

Cancellation 4.2 The controller, in series with the plant, cancels some terms of
 Glossary of terms
the plant operator

Cascade 4.1, 4.3 There are two (or more) controllers controlling internal
variables accessible to be measured. Each controller generates
the reference for the next. The outer one is the master
controller

Collaborative 5.3 The information from different internal variables is used by

different controllers to generate the corresponding control
signals

Coordinated 4.1 The set points of different control loops are determined to
fulfill a global goal

Event-based 5.3 The control is computed any time an event happens

Feedforward 4.1 The control information flows in one direction, from external
data/commands to the plant input

Goal oriented 3.4 The control actions are generated to achieve a global goal
Hierarchical 4.1 Different goals, at different level of aggregated information,
are nested to achieve a global goal

Intelligent 4.3, 5.3 The control action is generated by using AI techniques (fuzzy
logic, Neural networks, …)

Loop 4.1 Control when implemented by fed backing information from

the process

Model Predictive 4.3 The control action is computed (in an optimal way) based on
the plant model and expected reference

Necessary 5.1 If the plant is open-loop unstable

Networked systems 4.3, 5.3 The control signals as well as the measurements are delivered
through a communication network

On/Off 4.2 Simple control with two options (relay)

PID 4.2 The control action is proportional to the error, its derivative
and its integral

Remote 5.1 Control goals are fixed (can be based on received information
from the plant) locally and transmitted

Robust 4.3 When the control is acceptable for a wide range of process
models (parameters)

Supervisory 4.1 The loop generating the set-point for a lower level control

System 3 Subsystem generating the control actions

Two-degrees-of- 4.1 One controller in the loop, for disturbance rejection, and one
 Glossary of terms
freedom controller in the feedforward path, for reference tracking.

Controller 4 Component delivering the control action based on information

about requirements and behavior

Cyber-physical systems 5.3 Systems where sensing, information processing and actuation
devices are integrated in a physical process.

Delay operator 2.3 Transforms a signal into the same but time-delayed

Design (control) 4, 6 Process of determining the structure and parameters of the

control system

Discretization 2.4 Approaching the CT behavior of a system/signal by its DT

representation

Disturbance 3.2 External variable not manipulated

Disturbance rejection 3.4 Control design to reject the effect of disturbance on the
controlled variables
Embedded systems 5.3 Sensing, computing and actuation components embedded in a
larger device.

Error 3 Difference between the reference and the controlled variable

Estimation 4 Based on the model of a process and the information attached

to it, compute the current or future values of internal variables

Experimental modeling 2.3, 6 Obtaining the model of a process from experimental data

Factory automation 1.2 Integrated control of different subprocesses to achieve an

ultimate goal (quality tiles factory)

Feedback 3, 1.1, Information from a process used to generate its input

First principles 2.2 Basic knowledge to establish variables’ relationships

Homeostasis 1.1 Human system in which variables are regulated remaining

stable and relatively constant

Information flow 2.1 Logical and temporal dependency of signals

Initial conditions 2.2 System’s variables value when an external signal is applied

Instability 3 Inability to keep around a given equilibrium point

Integrated design 6 Design of the control and its implementation on a computing

system

Interaction 2.1 Directional influence between elements or processes.

Laplace transform 2.3, 2.4 Converts a continuous time signal in the time domain to the s-
domain
 Glossary of terms
Linear 2.3 It applies for systems, operators, operations: Follows the
principles of superposition and proportionality

Loop closed 4.1 When there is a feedback

open 4.1 When the information flows in one single direction

Manipulated Variable 1.2 External variable determined by the control

Measurement 3.1 Information related to a process variable

Memory 1.1 The current situation depends on the past

Model 2.2 Partial representation of a system/signal

Noise 2.2 The undesirable content of a signal

Noise filtering 3.4 Reducing the effect of the noise in the estimated process
variables

Nonlinear 2.2 Opposite to linear

Observer 4.3 Dynamic system used to estimate some internal variables not
directly measurable (estimator, filter)

Operator 2.2 Mathematical transformation of signals

Optimization 3.4 Algorithm to design the control to optimize a performance

index

Parameters 1.3 (Physical) magnitudes unchanged while observing

Performance Quality of behavior

Psychological processes 1.1 Human processes related to motivation, cognition and

emotion

Real time 1.2 When information should be treated within time limits

Reference 3.2 Set point or signal to be tracked

Regulation 3.2 Control system to keep the controlled variable as less sensitive
as possible to inner and outer changes

Regulator 3.2 The device providing the control action

Representation 1.3, 2, 6 Equivalent information suitable to be handled

response Steady -state The stabilized output under stationary inputs

response Transient The transient behavior under changes in the inputs

Robotics 3.2 Science dealing with robots

Robustness 3.4 Capability to keep the controlled system performance under

 Glossary of terms
changes in the process

Sensitivity The relative change in a signal or operator under small

changes in an external signal or a parameter

Sensor 3.2 Component providing information related to a variable of

interest

Servosystem 3.2, 5.2 Control system to make the controlled variable to track a
reference signal, in spite of disturbances

Signal 1.3, 2.1 Time variant magnitudes

Binary 2.1 A signal with only two possible values

Continuous time 2.1 A signal taking value at any time instant

Discrete time 2.1 A signal taking value at discrete time instants

External/internal 2.1 Signal generated without/with influence of the process

Input/output 2.1 External/measured signal

Simulation 2.1, 6 Study of a system by running a model

Stability 3 Capability to keep the state of a process around an equilibrium

point or nominal trajectory

State 3 Set of process variables defining the current situation

Steady-state error 4.2 Error in the process once the transient vanishes

System 2.1 Set of elements interacting among them and with the
environment

Complex 1.2, 4.3 Systems with many components and interactions

Continuous time 2.1 The variables of interest are continuous time

Discrete time 2.1 The variables of interest (control) are discrete time

Dynamic 1.1 A system where the current value of some internal variables
depend on past values of system variables

Generator 1.3 Process used to generate required signals: sinusoidals, steps,

ramps …

Hybrid 2.1 There are mixed CT and DT signals

Processor 1.3 The purpose is to process a signal (filter, sampler…)

Reactive 1.1 The control actions try to react to changes in the environment

Static 1.1 A system where the current value of the internal variables
only depend on the current values of the input variables
 Glossary of terms
Unstable 3, 5.1 A system requiring control actions to keep a fixed position

System’s structure 2.1 The way in which the different elements interact

- Loop 2.1 There is a feedback of information

- Parallel 2.1 Several elements have the same input and the outputs are
added

- Series 2.1 The output of an element is the input of the next

System’s Variables 1.3 Signals linked to a process

Tele-operation 5.1 Control actions are sent by communication channels, also

receiving information from sensors

Tracking 1.2 A system created to follow a given reference

Transfer function 2.3 Operator representing the relation between two signals (in the
s-domain)
Transmitter 1.3 A device to send information through cable or air

Virtual sensor 4.3 A sensor providing information about an internal variable

based on the measured inputs and outputs

Water cycle 1.1 Evolution of the water in Nature

Watt’s regulator 2.3 A pioneer reference for an industrial controller

Z transform 2.3, 2.4 Converts a discrete time signal in the time domain to the z-
domain