Machine Control

System
Muhammad Arshad
Lecturer EED NEDUET
Sessional Criteria :

• Assignments 10 marks

• Viva 10 marks

• Final viva 30 marks

Feedback Control System:

Control : The word control is usually taken to mean regulate,

direct, or command. The word control means that the output is to
be adjusted as desired
System :A system is an arrangement, set, or collection of things
connected or related in such a manner as to form an entirety or
whole.
Examples of mechanical systems include levers, gears and shafts.
An electronic system is a system that employs electronic signals to
control devices, such as radios, calculators, video game machines,
mobile phones, portable computers.
Control System
A control system is an arrangement of physical components
connected or related in such a manner as to command, direct, or
regulate itself or another system

Feedback Control System: A system that maintain a prescribed

relationship between the output and the reference input by
comparing them and using the difference as a mean of control is
called feedback control system
Example :
A control system is any system which takes a certain inputs and
gives certain outputs is called a control system.
An electric switch is a manufactured control system,
controlling the flow of electricity.
Flipping the switch on or off may be considered as the input.
That is, the input can be in one of two states, on or off. The
output is the flow or non flow (two states) of electricity
The electric switch is one of the most rudimentary control
systems.
The basic components of this intentionally oversimplified control
system description are the brain, arm , hand, and eyes.
The brain sends the required nervous system signal to the arm and hand
to reach for the object. This signal is amplified in the muscles of the
arm and hand, which serve as power actuators for the system. The eyes
are employed as a sensing device, continuously “feeding back” the
position of the hand to the brain.
Hand position is the output for the system. The input is object position
Tank filling Control system:
Temperature controlled system:
Block diagram of temperature control system:
Examples of Modern Control Systems

(a) Automobile
steering control
system.
(b) The driver uses
the difference
between the actual
and the desired
direction of travel
to generate a
controlled adjustment
of the steering wheel.
(c) Typical direction-
of-travel response.
 OPEN-LOOP AND CLOSED-LOOP CONTROL SYSTEMS:
An open-loop control system is one in which the control action is
independent of the output.
( a ) automatic washing machine,
( b ) automatic toaster, ( c ) voltmeter ,(d) Traffic lights control

A closed-loop control system is one in which the control action is

somehow dependent on the output.

Most automatic toasters are open-loop systems because they are

controlled by a timer. The time required to make ‘‘good toast” must be
estimated by the user, who is not part of the system.

An autopilot mechanism and the airplane it controls is a closed-loop

(feedback) control system. Its purpose is to maintain a specified airplane
heading, despite atmospheric changes. It performs this task by continuously
measuring the actual airplane heading, and automatically adjusting the
airplane control surfaces
(rudder, etc.)
Open Loop System:
Advantages:
Simplicity and stability: They are simpler in their layout and hence are
economical and stable too due to their simplicity.
Construction: Since these are having a simple layout so are easier to
construct.
Disadvantages:
Accuracy and Reliability: since these systems do not have a feedback
mechanism, so they are very inaccurate in terms of result output and hence
they are unreliable too.
Due to the absence of a feedback mechanism, they are unable to remove the
disturbances occurring from external sources.
Closed Loop System:
Advantages:
Accuracy: They are more accurate than open loop system due to their
complex construction. They are equally accurate and are not disturbed in the
presence of non-linearities.
Noise reduction ability: Since they are composed of a feedback
mechanism, so they clear out the errors between input and output signals, and
hence remain unaffected to the external noise sources

Disadvantages:
Construction: They are relatively more complex in construction and
hence it adds up to the cost making it costlier than open loop system.
Since it consists of feedback loop, it may create oscillatory response of the
system and it also reduces the overall gain of the system.
Stability: It is less stable than open loop system but this disadvantage can
be striked off since we can make the sensitivity of the system very small so
as to make the system as stable as possible.
Comparison of open loop and close loop
system
• 1. An open loop system has the ability
to perform accurately, if its calibration
is good . If the calibration is not perfect
its performance will go down.
2. It is easier to build.
3. In general it is more stable as the
feedback is absent.
4. If non- linearity’s a re present; the
system operation is not good.
5. Feed back is absent.
Example:
(i) Traffic Control System.
(ii) Control of furnace for coal heating.
(iii) An Electric Washing Machine
1. A closed loop system has got the ability
to perform accurately because of the
feed back.
2. It is difficult to build.
3. Less Stable Comparatively.
4. Even under the presence of
non-linearity’s th e system o p erates
better than open loop system.
5. Feed back is present.
Example:
(i) Pressure Control System.
(ii) Speed Control System.
(iii) Robot Control System.
(iv) Temperature Control System
Control System Design Cycle
1st Lecture’s
Outline
 Introduction to MATLAB
Basic Concepts in
MATLAB
Starting with MATLAB ®
 Learn about command window
 Learn about workspace window
 Learn about command history
 Learn about toolbox
 Information about any function or toolbox
is available via the command-line help
function (or from the Help Browser
launched from the Help menu):
>> help
Basic Concepts in
MATLAB
Write following commands on main
window
>>8 + 3i + 5
>>pi
>> sqrt(-4)
>> sin(0)
>> sin(90)
>> sin(90*pi/180)
>> 2^2
>> power(3,2)
Creating Arrays
• The basic data structure in MATLAB is the
two-dimensional array. Array variables can
be scalars, vectors, or matrices:
>> n = 1
>> a = [1 2 3 4]
>> A = [1 2 3 4; 5 6 7 8]
• In MATLAB, the case of a variable matters;
e.g., the arrays a and A are different
variables.
• To recall the last command executed, press
the up-arrow key (↑).
Creating Arrays
• An empty array is considered a 0 × 0
matrix:
 a = []
• The following operators and functions can
be used to automatically create basic
 Vectors with equally
structured arrays: spaced elements can be
 a = 1:5 constructed using the
 a = 1:2:5 colon notation(: )
 a = 10:-2:1  x = starting value :
increment
 a = ones(1,5) % five time one : maximum
valuevector
 a = ones(5,1) %columen
 Default increment of 1 is
 a = zeros(1,5)
used if the increment is
Creating Arrays
• A random permutation of the integers 1 to
n can be generates using the randperm(n)
function:
>>randperm(5)
• To create a 3 × 3 identity matrix:
>>eye(3)
• The variable ans is used as a default name
for any expression that is not assigned to
a variable.
Selecting Arrays
Selecting Arrays
 In MATLAB, index arrays inside of
parenthesis are used to select elements of
an array. The colon operator is used to
select an entire row• The vector [1 3] is an
or column.
>>A = [1 2 3 4;5 6 7 8] index array, where
>>A(1,2) each element
>>A(:,[1 3]) corresponds to a
column index number
>>A(:,end) of the original matrix
A.
• The keyword end can
be used to indicate
Changing and Deleting Array
Elements
Changing and Deleting Array
Elements
Changing and Deleting Array
Elements
sa
Changing and Deleting Array
Elements
>> A = [1 2 3 4;5 6 7 8]
Manipulating Arrays
Manipulating
Arrays
 The following operators and functions can
be used to manipulate arrays:
Manipulating
Arrays
 The following operators and functions can
be used to manipulate arrays:
Manipulating
Arrays
 Concatenate to Arrays
 A = [1 2 3 4;5 6 7 8]
 B= [10 20 30 40;50 60 70 80]
>> [A B]
Manipulating
Arrays
 A=[1 3 4; 5 7 8]
 Add two new elements
 [A ([10 20])']
Manipulating
Arrays
 as
Algebra
Algebra
 Type the following commands on the
screen:
 Note that pi display
>>pi output result up to four
>>x=sqrt(2*pi+1) decimal digits
>>3^2-(5+4)/2+6*3 See BODMAS
 Use of ans
>>ans^2+sqrt(ans)
>>u=cos(10)
>>v=sin(10)
>>u^2+v^2
>> 1/2+1/3
>> ezplot('x^3-x')
Algebra
• MATLAB has a command called simplify,
which you can sometimes use to express a
formula as simply as possible. For
example,
• Try commands on the trigonometric
expression
• sin(x)*cos(y) + cos(x)*sin(y)
>>simplify(sin(x)*cos(y) + cos(x)*sin(y))
Solving Equations
Solving Equations
• You can solve equations involving
variables with solve or fzero. For example,
to find the solutions of the quadratic
equation x2 - 2x - 4 = 0, type
>> solve(‘x^2 - 2*x - 4 = 0’)
ans =
[ 5^(1/2)+1]
[ 1-5^(1/2)]
• Note that the equation to be solved is
specified as a string; that is, it is
surrounded by single quotes.
• The answer consists of the exact
Graphics
Graphing with ezplot
• The simplest way to graph a function of
one variable is with ezplot, which expects
a string or a symbolic expression
representing the function to be plotted.
• For example, to graph x2 + x + 1 on the
interval -2 to 2 (using the string form of
ezplot), type
>> ezplot(‘x^2 + x + 1’, [-2 2])
• The plot will appear on the screen in a
new window labeled “Figure No. 1”.
Graphing with plot
The command plot works on vectors of
numerical data. The basic syntax is
plot(X, Y) where X and Y are vectors of the
same length. For example,

>> X = [1 2 3];
>> Y = [4 6 5];
>> plot(X, Y)

The command plot(X, Y) considers the

vectors X and Y to be lists of the x
and y coordinates of successive points on a
Graphing with plot
• To plot x2 + x + 1 on the interval from -2
to 2 we first make a list X of
x values, and then type
>>plot(X, X.ˆ2 + X + 1)
• We need to use enough x values to ensure
that the resulting graph drawn by
“connecting the dots” looks smooth. We’ll
use an increment of 0.1. Thus a recipe for
graphing the parabola is
>> X = -2:0.1:2;
>> plot(X, X.ˆ2 + X + 1)
The result appears in Figure