ISSN: 1693-6
930
9
Control Syste
m
In Our Daily Life (Roha
n
i
Jahja
Wido
d
o
)
CONTROL SYSTEMS IN OUR DAILY LIFE
Roha
ni Jahja Widodo
MASDALI (In
done
sia
n
Co
ntrol System
s Society)
Electri
c
al Eng
i
neeri
ng Dep
a
rteme
n
t Bandung In
stitute of Techn
o
log
y
Jln. Gan
e
sha
10 Bandun
g 4013
2, Indon
esia
Telp/Fax: +6
2 022 25
009
6
0
, e-mail:
rjwi
dodo
@yah
oo
.com
,
masdal
i@yaho
o.co
m
A
b
st
r
a
ct
This pa
per p
r
esents d
e
vel
opm
ent an
d
appli
c
at
ion
s
of Co
ntrol
System
s (CS).
Seve
ral
cha
r
a
c
teri
stics of CS can b
e
linked to hu
m
an behavi
o
r. CS can "think" in the sen
s
e that they ca
n
repla
c
e to
so
m
e
extent, hum
an ope
ration. CS can d
i
stingui
sh b
e
twee
n ope
n-l
o
op an
d clo
s
e
d
-
loop
CS
and
i
t
is a
con
c
e
p
t or pri
n
ci
ple t
hat
seem
s to
fundam
ental i
n
natu
r
e
an
d
not ne
ce
ssa
r
ily
peculiar to
e
ngine
erin
g. In hum
an
so
cial
and
polit
ical
organi
za
tions, fo
r e
x
am
ple, a le
a
der
rem
a
ins the l
eade
r o
n
ly a
s
lo
ng
as sh
e is succe
s
sf
ul in
reali
z
in
g
the d
e
si
re
s
of the g
r
ou
p. CS
theory ca
n be
discusse
d from
four
viewpoints a
s
: an
intellectu
a
l disci
pline
within sci
en
ce an
d the
philo
soph
y of
sci
ence, a p
a
rt of engi
ne
ering,
wi
th in
dustri
a
l ap
pli
c
ation
s
an
d
Social Syste
m
s
(SS) of the
pre
s
ent an
d the future
. In global com
m
unicati
on, develop
e
d
cou
n
trie
s
and
developin
g
countrie
s
sho
u
ld build several attra
c
tive and so
und
sym
biosi
s
b
r
idge
s, to preve
n
t
loss
of uni
ve
rse bala
n
ces. CS
a
pplicatio
ns ha
ve
so
ci
al im
pact
s
n
o
t
only in
de
ve
loped
countri
es
but also in de
velo
ping cou
n
tries. A new
work forc
e st
rategy with
out
denyin
g the exi
s
ting of CS is
establi
s
h
ed b
y
reto
oling th
e wo
rk fo
rce
s
, thus the
cha
llenge
s of
so
cial im
pacts
co
uld be
an
swe
r
s
wisely a
nd would be b
r
ight
opportu
nities to im
prove h
u
m
an standa
rds of livin
g.
Keywords: CS, SS, social
im
pac
ts, hum
an stan
dards
of living
.
I.
INTRODUCTION
Control
System
(CS
)
is
used
to
co
nt
rol po
sition,
velocity, and acceleration
is very com
m
on
in indu
strial
and milita
r
y applicatio
ns. Th
ey h
a
ve bee
n
given the
speci
a
l nam
e
o
f
servomechanisms.
With all their many
advantage
s,
CS in advertently act as an oscillat
o
r
.
Thro
ugh
prop
er d
e
si
gn, ho
wever,
all th
e advanta
g
e
s
of CS
can
b
e
utilize
d
without havin
g
an
unsta
ble sy
stem.
S
e
v
e
ral
ch
ara
c
t
e
ri
st
ic
s
of
CS
ca
n
be
link
ed to
hu
man be
havio
r. CS can "thi
nk" in the
se
nse
that they
can
re
pla
c
e to
some
extent, human
op
era
t
ion. CS
ca
n
disting
u
ish b
e
twee
n o
pen
-loop
and
clo
s
e
d
-lo
op
CS an
d it i
s
a
con
c
ept
o
r
p
r
in
ciple
tha
t
see
m
s to fu
ndame
n
tal in
nature
an
d n
o
t
necessa
rily p
e
culi
ar to
en
ginee
ring. In
human
soci
al
and
politi
c
al
orga
nization
s, for exam
ple
,
a
leade
r re
main
s the lea
d
e
r
o
n
ly as lon
g
a
s
she i
s
su
ccessful in reali
z
ing th
e de
sires of the g
r
o
up.
CS theory ca
n be discu
s
se
d from four viewp
o
ints
a
s
: an intelle
ctual
disci
pline wit
h
in scien
c
e a
nd
the philo
sop
h
y
of scien
ce,
a part of en
gi
neeri
ng, wi
th
indu
strial a
p
p
lication
s
an
d
so
cial p
r
oble
m
s
of the prese
n
t and th
e fu
ture. In glo
b
a
l co
mmuni
cation, develo
ped
cou
n
trie
s an
d d
e
velo
ping
cou
n
trie
s sh
ould build
several attra
c
t
i
ve and s
o
u
nd symbio
si
s bridge
s, to
prevent loss of
universe
bala
n
ce
s.
CS ap
p
lication
s
h
a
ve
so
cial
i
m
pa
ct
s n
o
t only in
develop
ed
co
untrie
s
b
u
t al
so
in developin
g
countri
es.
II.
HUMAN
CONTROL SY
STEMS
The
relatio
n
betwe
en th
e
behavio
r of li
ving creatu
r
e
s
a
nd th
e fu
nctioni
ng
of
CS ha
s
recently gai
n
ed
wide
atten
t
ion. Wie
ner i
m
plied th
at al
l system
s, livi
ng a
nd m
e
ch
anical a
r
e
bo
th
informatio
n a
nd
CS. Wi
en
er
su
gge
sted
that th
e
mo
st p
r
omi
s
ing
techni
que
s fo
r
studying
bo
th
system
s are Informatio
n theory and
CS theory.
Several ch
aracteri
stics of CS can
be li
nke
d
to human behavio
r. CS can
"think"
in the
sen
s
e th
at th
ey can
re
pla
c
e to some ex
ten
t, human
operation. Th
ese
devices do
not have
t
he
privilege
of freedom
in th
eir thin
kin
g
p
r
ocess
and
a
r
e
con
s
traine
d by the
de
signer to
som
e
pred
etermi
ne
d fun
c
tion. A
daptive CS,
whi
c
h i
s
cap
a
b
le of m
odifying thei
r fun
c
ti
oning i
n
o
r
de
r to
Evaluation Warning : The document was created with Spire.PDF for Python.
ISSN: 16
93-6
930
TELKOM
NIKA
Vol. 5, No. 1, April 2007 : 9 - 16
10
archive o
p
timum pe
rforma
nce
in a
vary
ing env
i
r
onm
ent,
have re
cently
gaine
d wide attentio
n.
These sy
ste
m
s are a step
closer to
the
adaptive cap
ability of human beh
avior.
The h
u
man
body is, in
d
eed, a ve
ry com
p
lex an
d highly p
e
rfected a
dapti
v
e CS.
Con
s
id
er, fo
r
example, the
human
a
c
tion
s requi
re
d
to
steer an
auto
m
obile. T
he d
r
iver'
s
o
b
je
ct i
s
to keep th
e automobil
e
traveling in th
e cente
r
of a
cho
s
en l
ane
on the ro
ad.
Chan
ge
s in
the
dire
ction
of the ro
ad a
r
e
co
mpen
sated
fo
r by the
drive
r
turni
ng th
e
steeri
ng
wh
e
e
l. The d
r
iver’s
obje
c
t is to kee
p
the inp
u
t (the ca
r'
s
desi
r
ed
po
sition on the
ro
ad) a
nd the
input (the
ca
r's
desi
r
ed p
o
siti
on on the ro
a
d
) as
clo
s
e to
zero a
s
po
ssible.
Fig. 1 illustrates the block di
agram
of t
he
CS involv
ed in
steering an autom
obile. The
error dete
c
to
r in this ca
se i
s
the brai
n of the driv
er. T
h
is in turn a
c
tivates the dri
v
er's m
u
scle
s,
whi
c
h
cont
rol
the ste
e
ri
ng
whe
e
l. Power amplific
ation
is p
r
ovid
ed
by the auto
m
obile'
s
steeri
ng
mech
ani
sm,
whi
c
h
cont
rol
s
the
po
sitio
n
of the
whe
e
ls. Th
e feed
back el
eme
n
t rep
r
e
s
ent
s t
he
human
's
se
n
s
ors
(visu
a
l a
nd tactile
). O
f
cou
r
se,
this description i
n
very crud
e, any attempt
to
con
s
tru
c
t
a m
a
thematical
model
of the
pro
c
e
s
s
shou
ld someh
o
w
accou
n
t for the a
dapta
b
ility of
the human b
e
i
ng and the ef
fects of lea
r
ni
ng, fatigue,
motivation, and
familiarity with the road.
CS pro
c
e
s
s
as that foun
d
in physi
cal, biol
ogi
cal, an
d so
cial
syst
ems. Ma
ny systems
control them
selves throug
h
informatio
n feedb
ack,
whi
c
h
sho
w
s de
viations fro
m
stand
ard
s
a
n
d
initiates cha
n
ges.
In
oth
e
r words, syste
m
s
u
s
e som
e
of their en
ergy to f
eedba
ck information
that
comp
ares p
e
rforman
c
e
with a stand
ard
s
and initiates
corre
c
tive act
i
on.
The h
o
u
s
e th
ermo
stat i
s
a
system
of fee
dba
ck an
d inf
o
rmatio
n
cont
rol.
When
the
hou
se
temperature f
a
lls belo
w
th
e pre
s
et level, an el
ectric
messag
e is sent to the heating syste
m
,
whi
c
h i
s
th
en
activated.
When th
e tem
peratu
r
e
in
creases an
d re
ach
e
s the
se
t level, anoth
e
r
messag
e
shu
t
off the heat
er. Thi
s
conti
nual m
e
a
s
urement a
nd t
u
rnin
g o
n
an
d off the h
e
a
t
er
kee
p
s th
e ho
use
at the d
e
sired tem
p
e
r
ature. A
sim
ilar p
r
o
c
e
ss
activates th
e
air-co
nditioni
ng
system. As soon a
s
the temperat
ure ex
cee
d
s the p
r
e
s
et level,
the air-co
nditioni
ng system
co
ols
the hou
se
to
the de
si
red
temperature.
Like
wi
se
, in t
he hu
man
bo
dy, a num
ber of CS
cont
rol
temperature,
blood pressure, motor
rea
c
tion
s,
an
d other con
d
itions. Anot
her exam
ple
o
f
feedba
ck
i
s
t
he
g
r
a
de a st
udent re
ceive
s
on a midter
m test. This is intende
d, of course, to give
the stu
dent
in
formation
ab
out ho
w he
o
r
she
is d
o
ing
and,
if pe
rformance i
s
l
e
ss than
de
sirabl
e,
to send a
sig
nal su
gge
stin
g improvem
e
n
t.
III.
CONTROL SYSTEMS
IN PHYSICAL SYSTEMS
CS is to be f
ound in al
mo
st every asp
e
ct
of our
da
ily environme
n
t. In the home, the
refrigerator
utilizes a tem
per
ature-cont
rol system. The
desi
red temperature is
set and a
thermostat m
easures the
actual
temperature and the
error. A compressor
motor is
utilized for
power am
plification. Oth
e
r application
s
of cont
rol in
the home a
r
e the h
o
t-water he
ater, the
central h
eatin
g sy
stem, an
d the
oven,
whi
c
h
all work o
n
a
simil
a
r prin
cipl
e. We al
so e
n
cou
n
ter
CS
when
d
r
i
v
ing ou
r
auto
m
obile.
CS i
s
u
s
e
d
fo
r m
a
intaining
co
nstant
sp
eed
(crui
s
e
control),
con
s
tant tem
peratu
r
e
(cli
mate co
ntrol
)
, steerin
g, susp
en
sion, e
ngine
cont
rol
,
and to con
t
rol
ski
ddin
g
(ant
i
ski
d sy
st
e
m
).
In industry, the term automation i
s
very
common.
Modern industrial
plant
s utilized
robot
s
for m
anufa
c
turin
g
temperature
controls
, pre
s
sure
control
s
,
sp
eed co
ntrols, po
sition
controls, et
c. The chemi
c
al
pro
c
e
ss
cont
rol fi
eld is a
n
area
whe
r
e
automation
s
have played
an
importa
nt rol
e
. Here, the CS engin
e
e
r is inte
re
sted in co
ntrolling temp
erature, pressure,
humidity, thickne
s
s, volum
e
, quality, a
nd ma
ny
oth
e
r va
riable
s
.
Area
s of
ad
ditional inte
rest
inclu
de auto
m
atic wa
re
ho
usin
g, inventor
y cont
rol an
d automation
of farming.
In this se
ction
,
it is pre
s
ent
ed the state
o
f
t
he CS field by illustratin
g
its appli
c
ation
in the
followin
g
imp
o
rtant a
s
pe
ct
s of engin
e
e
r
ing: ro
botics, space trav
el, comme
rci
a
l rail an
d a
i
r
transportation, military system
s, surface
effect ships, hy
drofoil
s
and biomedi
cal
CS.
IV. CONTROL SYSTEMS
IN INDUSTRI
AL ROBOTS
A
new wo
rk
f
o
rce strategy wit
hout d
enyi
ng the
existin
g
of CS
i
s
est
ablished by
retooling
the wo
rk forces, thus the
chall
enge
s of
soci
al
impa
cts coul
d be a
n
swers
wisel
y
and woul
d be
bright op
po
rtunities to imp
r
ove hum
an standards of li
ving.
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOMNI
KA
ISSN:
1693-6930
■
Control Syste
m
In Our Daily Life (Roha
n
i
Jahja
Wido
d
o
)
11
In manufa
c
tu
ring pla
n
ts in
several co
u
n
tries, the
r
e
has b
een a l
a
rge
-
scale in
cre
a
se in
the u
s
ag
e of
CS for ind
u
st
rial
rob
o
ts,
which
are p
r
o
g
r
amma
ble
m
a
chi
ne to
ols
desi
gne
d in
man
y
ca
se
s to a
c
co
mplish
arduo
us o
r
compl
e
x tasks. Altho
ugh the
r
e h
a
s been
som
e
o
ppo
sition to t
h
e
fact that robo
ts often repla
c
e hum
an la
bor, but
the trend to
wa
rd robotics
will continue, an
d on
balan
ce, be b
enefici
a
l to the national e
c
onomy.
CS developm
ents of the last decade a
r
e
likely
to have as profo
und
a potential impact on
prod
uctivity, labor m
a
rkets, work
ing con
d
itions, an
d the quality of
life in the develope
d co
untries
as the int
r
od
uction
of rob
o
t into wo
rkp
l
ace.
Th
e co
nclu
sio
n
s
ca
n be rea
c
he
d ba
sed o
n
four
f
a
ct
or
s:
1.
First
, the esti
mate of the numbe
r of jobs that
could be
performed b
y
is relatively small.
2.
Sec
o
nd
, alm
o
st all
of the
s
e
wo
rkers
woul
d be
sp
ared
force
d
unempl
oyme
nt be
cau
s
e
o
f
retrai
ning a
n
d
in some
cases the job attrition that occurs th
rou
gh n
o
rmal retirem
ent.
3.
Third
, total e
m
ployment is a function of
real
e
c
ono
m
i
c gro
w
th: ro
bots can hav
e a positive
effect on re
al eco
nomi
c
gro
w
th and, therefor
e, a po
sitive effect on total employm
ent.
4.
Fourth
, i
n
10
years, ret
r
ai
ning p
r
o
g
ra
m
s
can
ade
qu
ately shift di
spla
ce
d workers to n
e
w
caree
r
s. In fa
ct, the main challen
ge po
sed to
poli
c
ymake
r
s
by increased u
s
e of
robot
s is n
o
t
unempl
oyme
nt but need fo
r retraining.
Histo
r
y sho
w
s that la
bor-saving te
ch
ni
que
s have
l
ed to imp
r
ov
ed living
sta
ndards,
highe
r
real
wage
s, an
d e
m
ployment
growth. In l
a
rge
mea
s
u
r
e, th
e robotics rev
o
lution i
s
m
e
rely
a contin
uatio
n of a centu
r
ies-l
ong trend
that
has resul
t
ed in enormo
us mate
rial progre
s
s.
Protectio
n
fro
m
job loss ca
n come th
rou
gh retraining
prog
ram
s
. Worki
ng conditi
on and
job safety will improve as ro
bots take over dang
erous and unde
sirable forms
of works.
Tech
nolo
g
ica
l
advan
ce
s i
n
co
mpute
r
s a
nd mi
croproc
essors are in
cre
a
si
ng th
e
sop
h
isti
cation
of
robot
s, giving
them
so
me
“thinkin
g” ca
p
a
city t
hat i
n
crease p
o
tentia
l uses.
The
key to u
s
ag
e i
n
su
ch area a
s
office wo
rk
depe
nd
s in large p
a
rt
on
the ability to develop “i
n
t
elligent” rob
o
ts
cap
able
of p
e
rformi
ng ta
sks th
at vary
some
wh
at
ov
er time. Som
e
indu
stry o
b
s
erve
rs beli
e
ve
brea
kth
r
ou
gh
s may allow f
o
r extensive i
n
trodu
cti
on of
robotics in n
on-m
anufa
c
tu
ring tasks wit
h
in
a few years.
Thre
e impo
rtant dimen
s
io
n of the gro
w
th of
robotics are subje
c
ts
to econ
omic
analysi
s
.
The first
i
s
the determi
nant
s of the magn
itude of
the g
r
owth
of the robotics ind
u
st
ry.
The se
co
n
d
is the imp
a
ct
roboti
cs
une
mployment.
The third
is t
he impa
ct th
at robot
s
will have on
wa
ges,
profits an
d pri
c
e
s
.
There a
r
e two re
ason
s fo
r the g
r
o
w
th
in t
he u
s
e
of rob
o
ts, on
e rel
a
ted p
r
i
m
arily to
sup
p
ly and th
e se
con
d
pri
m
arily to de
mand. In
the long ru
n, rob
o
ts will be in
cre
a
si
ngly utilized
becau
se the
co
st of traditi
onal la
bor-int
ensive te
ch
ni
que
s is ri
sing
over
time, while
the co
st of
the ca
pital-int
ensive
rob
o
tic techniq
u
e
s
i
s
falling
rel
a
tive to pri
c
e
s
g
enerally. The
s
e
co
sts
de
cline
becau
se the tech
nolo
g
ical
advan
ce
s in robotics lo
wer
the capital
co
sts of ro
bots
per unit outp
u
t
.
On the
othe
r hand,
som
e
government
polici
e
s ma
y spee
d rob
o
tic introdu
cti
on. Fo
r
example, wh
ere envi
r
on
mental re
gul
ations lo
we
r
worke
r
pro
ductivity or raise
capital
co
sts
asso
ciated wi
th the traditional CS, the traditional
tech
nique cost lin
e will shift upward, advan
cing
the date at which roboti
c
a
doption b
e
co
mes p
r
ofitabl
e.
Important ch
ange
s in the
compo
s
ition
of the work
force h
a
ve o
c
curred ove
r
the past
four de
cad
e
s
and, in so
me
opinio
n
s, eve
n
mo
re m
a
ssi
v
e chan
ge
s lie ahea
d as m
any thousand
s
of low-skill jobs are eliminated wh
ile
at the same tim
e
large numb
ers of new j
o
bs are created to
meet the
de
mand
s of te
chnolo
g
ical
ad
vance. If
se
ri
ous empl
oyment di
spla
ce
ment effect
s
are t
o
be avoide
d, developm
ent
of broa
d-
scal
e trainin
g
pro
g
ram
s
in
wh
i
c
h the p
r
ivate se
ctor
plays a
key role, in concert with variou
s gove
r
n
m
ental bodi
e
s
will be re
qu
ired.
V. CONTROL SYSTEM THEORY
CS theo
ry is neede
d for
obtainin
g
the
des
i
r
ed m
o
tion or fo
rce
need
ed; se
n
s
ors fo
r
vis
i
on
and computer
s for pr
ogramming thes
e
devic
es
to
acc
o
mplis
h their
des
ir
ed tasks. J
u
s
t
what i
s
CS th
eory?
Wh
o o
r
wh
at is to
be
co
ntrolle
d a
n
d
by
whom
or by what, and
why i
s
it to
b
e
controlled
?
I
n
a
nutshell,
CS the
o
ry,
someti
m
e
s called
automa
t
ion, cybe
rne
t
ics
or sy
ste
m
s
theory i
s
a b
r
an
ch of
appl
ied mathe
m
a
t
ics that d
eal
s with th
e de
sign
of ma
ch
inery an
d oth
e
r
engin
eeri
ng systems
so th
at these sy
st
ems work, an
d work bette
r than before.
Evaluation Warning : The document was created with Spire.PDF for Python.
ISSN: 16
93-6
930
TELKOM
NIKA
Vol. 5, No. 1, April 2007 : 9 - 16
12
As an exa
m
p
l
e, con
s
id
er t
he proble
m
o
f
c
ontrolli
ng t
he tempe
r
atu
r
e in a
col
d
l
e
cture
hall. Thi
s
i
s
a standard
engine
ering problem familiar to us
all.
T
he thermal
system
consists of
the furna
c
e a
s
the heatin
g
source, an
d the room
the
r
mometer a
s
the re
co
rd of the tempe
r
atu
r
e
of the h
a
ll. T
he exte
rnal
e
n
vironm
ent
we a
s
su
me
fixed a
nd
not b
e
longi
ng to
th
e the
r
modyn
a
mic
system
und
er analysi
s
. Th
e ba
sic he
ating sou
r
ce is
the furna
c
e, b
u
t the control
of the furna
c
e is
throug
h a th
ermo
stat, the
thermo
stat
device
us
uall
y
contain
s
a
thermom
e
ter
to mea
s
ure the
curre
n
t
room temperature and
a
dial on whi
c
h
we
set
the desi
r
e
d
ro
om tempe
r
at
ure. The
co
ntrol
asp
e
ct
of th
ermo
stat i
s
t
hat it compa
r
es t
he
actu
al an
d the
d
e
sired te
mpe
r
atures at e
a
c
h
moment and
then it send
s an electri
c
si
gnal or
c
ontrol comm
and
to the furnace to turn the fire
intensity up o
r
do
wn. In thi
s
case, the jo
b of the
CS e
ngine
er i
s
to invent or d
e
si
gn an effe
ctive
thermo
stat
Let us n
e
xt look at a CS p
r
oblem fro
m
b
i
ol
ogy. Parts
of the worl
d
are b
e
ing ov
errun by
an increa
sin
g
populatio
n of rats. He
re th
e system
co
n
s
ist
s
of the living pop
ulatio
n of rats an
d the
environ
menta
l
param
eters that affe
ct that population.
The natu
r
al
g
r
owth of the rat populatio
n is
to be
controll
ed to n
ear
so
me de
sired n
u
mbe
r
, say,
a
nd zero. He
re
the job
of the
CS en
gine
er is
to build a better mous
e-trap.
From thi
s
vie
w
poi
nt CS th
eory d
o
e
s
n
o
t
appe
ar to
o
sini
ster. O
n
t
he oth
e
r
han
d, it doe
s
not seem too
profou
nd. So let us elabo
ra
te on the
stru
cture of CS theory to indicate the reaso
n
s
why many scienti
s
ts beli
e
ve th
is subj
ect is impo
rt
ant. To or
ga
nize the
s
e id
eas, it shall
be
discu
s
sed CS
theory from two viewpoint
s:
1.
As an intelle
ctual discipline
within scien
c
e and the phil
o
so
phy of sci
ence,
2.
As a
pa
rt of
engin
eeri
ng,
with in
dust
r
ia
l appl
i
c
ation
s
and
as a fo
rce i
n
the
wo
rld rel
a
ted to
so
cial proble
m
s of the pre
s
ent an
d the future.
5.1. CS theor
y
is a Teleological Science
First
con
s
id
er th
e p
h
ilo
sophi
cal
po
sition of
the
di
sci
pline
of
CS theory.
Wi
thin the
frame
w
ork
of metaphy
sics, CS theo
ry i
s
a tel
eol
o
g
i
c
al sci
en
ce. That
is,
th
e con
c
e
p
ts
of CS
involve idea
s su
ch a
s
purpose, goal
-se
e
kin
g
an
d
ide
a
l or
de
sira
bl
e no
rms. T
h
e
s
e a
r
e te
rm
s
of
ninetee
nth ce
ntury
biol
ogy and psy
c
hol
o
g
y,
terms
of
e
v
olution
will
and m
o
tivation such a
s
we
re
introdu
ce
d b
y
Aristotle to explain the
foundatio
ns
of physi
cs, b
u
t then ca
ref
u
lly exorci
ze
d by
Ne
wton wh
e
n
he con
s
tru
c
ted a hum
a
n
geometri
c
mech
ani
cs.
So CS theory repre
s
ent
s
a
synthe
sis of
the phil
o
sop
h
ies of Ari
s
t
o
tle an
d
Ne
wton
sh
owi
n
g that in
ani
mate d
e
termi
n
istic
mech
ani
sm
s
can fu
nctio
n
as p
u
rp
osefu
l
self-r
eg
ulati
ng organi
sm
s. Re
call
ho
w the in
anim
a
te
thermo
stat re
gulate
s
the ro
om te
mperature towards t
he agreed id
e
a
l.
5.2. CS is an Information
Science
Another
philo
sop
h
ical asp
e
ct of CS the
o
ry is
that it
avoids th
e co
nce
p
ts of e
n
e
rgy but,
instea
d, deal
s with th
e p
henom
eno
n
of informat
io
n in phy
sical
system
s. If we
comp
are
the
furna
c
e
with the thermo
sta
t
we note a
g
r
eat di
spa
r
ity of size and
weig
ht. The
powerful fu
rn
ace
sup
p
lie
s qua
ntities of ene
rgy: a con
c
e
p
t of clas
sica
l physics. Th
us CS theo
ry
rest
s on a n
e
w
categ
o
ry of
physi
cal
reali
t
y, namely informatio
n,
whi
c
h i
s
di
st
inct fro
m
en
ergy o
r
m
a
tter.
Possi
bly, this affords
a n
e
w ap
proa
ch
to the con
u
ndru
m
of mi
nd versu
s
m
a
tter, con
c
e
r
nin
g
whi
c
h the phil
o
so
phi
cal re
marked,
"What is
matter? - Never
mind
What is
mind? - No matter"
But what a
r
e
the pro
b
lem
s
,
method
s an
d
result
s of
CS
theory a
s
th
ey are inte
rp
reted in
mode
rn math
ematical p
h
ysics or
engin
eerin
g? In
this se
nse CS theory de
als
with the inverse
probl
em of d
y
namical
systems. That is, suppo
se
we have a dynamical syst
em, for example
many vibratin
g masse
s
interconn
ecte
d by elastic
spri
ngs. Such a d
y
namical
syst
em is de
scrib
ed
mathemati
c
al
ly by an arra
y of ordinary
differentia
l e
quation
s
that
predi
ct the evolution of th
e
vibration
s
accordin
g to Ne
wton'
s laws o
f
motion.
5.3. CS in Nature and in Humanit
y
CS ca
n disti
ngui
sh bet
ween op
en-l
o
o
p
and cl
ose
d
-loo
p CS a
nd it is a co
nce
p
t or
prin
ciple
that
se
em
s to
fu
ndame
n
tal in
natu
r
e
and
not ne
ce
ssa
r
i
l
y peculiar to
engi
nee
ring.
In
human
so
cial
and p
o
litical
orga
nization
s, for example
,
a leade
r re
mains the le
a
der
only a
s
lo
ng
as
she
is succe
ssful
in rea
lizing th
e d
e
sires of the
group. If sh
e fa
ils, anoth
e
r i
s
electe
d o
r
b
y
other me
ans
obtain
s
the effective supp
ort of the
gro
up. The syst
em output in this ca
se is t
he
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOMNI
KA
ISSN:
1693-6930
■
Control Syste
m
In Our Daily Life (Roha
n
i
Jahja
Wido
d
o
)
13
su
ccess of the gro
up in
reali
z
ing its
desi
r
e
s
. The
actual success is mea
s
ured a
gain
s
t
th
e
desi
r
ed
su
ccess, and if the two are not
clo
s
ely align
e
d
, that is, if th
e error i
s
not small, ste
p
s
are
taken to
ensure that the
error b
e
come
s sm
all.
In this
case, c
ont
r
o
l may be
ac
complis
h
ed
by
depo
sin
g
the
leade
r. Individual
s a
c
t in much th
e sa
me way. If our stu
d
y habi
ts do n
o
t pro
duce
the de
sired
unde
rsta
ndin
g
an
d g
r
a
d
e
s
, we
cha
n
g
e
ou
r
study
habit
s
so
that a
c
tual
re
sult
become
s
the desi
r
ed
re
sult
.
Becau
s
e
CS
is
so
evident
in b
o
th n
a
tu
re a
nd
hum
a
n
ity, it is imp
o
ssible
to d
e
t
ermine
whe
n
CS wa
s first intenti
onally u
s
ed.
Ne
wton, G
o
u
l
d, and
Kaise
r
'
cite the
u
s
e of fee
dba
ck in
water
clo
c
ks
built by the
Arab
s as ea
rly as t
he beg
inning of the
Chri
st
ian era, but their next
referen
c
e
s
i
s
not d
a
ted
u
n
til 175
0. In
the yea
r
M
a
rkl
e
inve
nte
d
a
device f
o
r a
u
tomati
cally
steeri
ng
windmill into the wind, and thi
s
was follo
wed in 1788 by Watt's in
vention of the fly-ball
govern
o
r for
regulatio
n of the steam e
n
g
i
ne.
5.4. Dev
e
lop
m
ent of
CS theor
y
Ho
wever, th
e
s
e i
s
olate
d
in
ventions ca
n
not
be
co
nst
r
ued a
s
refle
c
t
i
ng the
appli
c
ation of
any CS th
eory. There
sim
p
ly wa
s n
o
t theory
al
thou
gh at
rou
ghly the same ti
me a
s
Watt
wa
s
perfe
cting th
e fly-ball governo
r both L
a
Place an
d Fouri
e
r were
developing t
he two tran
sf
orm
method
s that
are no
w so i
m
porta
nt in electri
c
al
en
gi
neeri
ng an
d i
n
CS theo
ry in parti
cula
r. The
final mathem
atical ba
ckground
wa
s lai
d
by Cau
c
hy,
with his theo
ry of the com
p
lex variable.
It is
unfortun
a
te t
hat the
re
ad
ers of thi
s
te
xt cann
ot b
e
expe
cted
to
have
co
mpl
e
ted a
cou
r
se in
compl
e
x vari
able
s
, althou
gh som
e
may
be taking thi
s
co
urse at prese
n
t. It is expecte
d, howe
v
er
,
that the read
er i
s
verse
d
in the u
s
e
of
the La
Place tran
sfo
r
m.
Note th
e word u
s
e. Pre
s
e
n
t
pra
c
tice i
s
to begin the u
s
e of La Place
trans
fo
rm m
e
thod
s early i
n
the engin
e
e
ring
cu
rri
cul
u
m
so th
at, by th
e senio
r
yea
r
, the stu
dent
is a
b
le
to
use the L
a
Pla
c
e tran
sfo
r
m i
n
solving lin
e
a
r,
ordin
a
ry diffe
rential e
quati
on with
co
nstant
coeffici
e
n
ts. But no
until com
p
lex
variable
s
a
r
e
maste
r
ed d
o
e
s a stu
dent
actually ap
pre
c
iate ho
w and why th
e La Place
transfo
rm i
s
so
effective. In this text we
assume th
at t
he rea
d
e
r
d
oes
not have
any kno
w
le
dge of
compl
e
x
variable
s
b
u
t doe
s
have a workin
g kno
w
ledge of
La P
l
ace t
r
an
sform method
s.
Although th
e
La
Place tran
sfo
r
m is the mat
hematical lan
guag
e of
the
CS en
ginee
r,
in u
s
ing thi
s
boo
k the
rea
der
will not find it necessa
ry to
use mo
re tra
n
sform theory
.
Although the
mathemati
c
al
backg
rou
nd
for CS
e
ngin
eerin
g was l
a
id by Ca
uchy (178
9-
1857
), it wa
s
not until abo
u
t
75 years after hi
s de
ath that an a
c
tual
CS theo
ry began to evolv
e
.
Important e
a
r
ly pape
rs
were "Re
g
e
neratio
n
The
o
ry," by Nyquist, 193
2, and "The
ory of
Servome
c
ha
nism
s," by Haze, 19
34. World
War
II produ
ced a
n
ev
er-i
ncrea
s
in
g need fo
r wo
rking
CS and thu
s
did much to stimulate the developme
n
t of a cohe
sive CS theory. Followin
g
the wa
r
a larg
e num
b
e
r of line
a
r
CS theo
ry bo
oks be
gan to
appe
ar, alth
ough th
e the
o
ry wa
s n
o
t yet
compl
e
te. As
recently a
s
1
958 the
auth
o
r of
a wi
dely
used cont
rol text
stated
in his prefa
c
e
th
at
"CS are de
sig
ned by trial a
nd error."
In the e
a
rly 1
960
s a
ne
w
CS desi
gn
met
hod
refe
rre
d t
o
a
s
mo
de
rn
CS theo
ry a
p
peared.
This the
o
ry i
s
highly mathe
m
atical in
nat
ure a
nd al
mo
st co
mpletely
oriente
d
to the time do
ma
in.
Elementary convention
a
l
li
near
sy
stem and sub
s
ys
te
m
modeli
ng (again usi
ng compute
r
tool
s)
and app
ro
aches to loop d
e
sig
n
: a com
pari
s
on of tr
a
d
itional and "i
ntelligent" techniqu
es; noti
ons
of self-tunin
g
and ad
aptive controlle
rs.
.
5.5. Establis
hment of Sta
ndards
Becau
s
e
pla
n
s
a
r
e
the ya
rdsticks a
gain
s
t wh
ich
m
a
n
agers devise cont
rols,
the f
i
rst
step
in the
CS p
r
o
c
e
s
s logi
cally
wo
uld b
e
to
establi
s
h
pla
n
s.
Ho
wever,
sin
c
e
plan
s
very in d
e
tail
and
compl
e
xity,
and sin
c
e m
anag
ers ca
n
not usu
a
lly
watch everything, spe
c
ial
standa
rd
s are
establi
s
h
ed. Standards a
r
e, by def
inition, simply
criteria of
pe
rforma
nce. Th
ey are
sele
ct
ed
points i
n
an
entire pl
ann
ing prog
ram
at whi
c
h me
asu
r
e of p
e
rf
orma
nce are
made
so th
at
manag
ers ca
n re
ceive si
g
nals a
bout ho
w thing
s
are going a
nd th
us do n
o
t hav
e to watch
every
step in the ex
ecutio
n of pla
n
s.
There are m
any kin
d
s of
stand
ard
s
. A
m
ong the
be
st are ve
rifia
b
le goal
s o
r
obje
c
tives,
as sugg
este
d
in the discussion
of man
a
g
ing by obje
c
tives.
5.6. Measure
ment of Per
f
ormance
Although
su
ch
mea
s
u
r
e
m
ent i
s
n
o
t
alway
s
p
r
acticable, th
e me
asure
m
ent of
perfo
rman
ce
again
s
t
sta
ndards shoul
d ideally
b
e
done
on
a
forwa
r
d
-
loo
k
i
ng ba
si
s
so
that
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14
deviation
s may be detecte
d in advance of their oc
curren
ce an
d avoided by app
rop
r
iate actio
n
s.
The ale
r
t, forward-l
o
o
k
ing
manag
er
can
sometim
e
s p
r
edi
ct probabl
e depa
rtures
form sta
nda
rds.
In the abse
n
ce of such abili
ty, however, deviati
on
s sh
ould be di
sclo
sed a
s
ea
rly as po
ssible.
If standards
are a
p
p
r
op
ria
t
ely drawn an
d if
mean
s a
r
e available fo
r dete
r
minin
g
exactly
what
su
bordi
nates are d
o
i
ng, ap
pr
ai
sal
of a
c
tual
or
expecte
d p
e
rforman
c
e
is fairly ea
sy. B
u
t
there a
r
e ma
ny activities for which it is diffi
cult to develop a
c
curate stand
ard
s
, and the
r
e
are
many activities that are hard to me
a
s
ure.
It may be quite si
mple to esta
blish la
bor-h
our
stand
ard
s
fo
r the pro
d
u
c
tio
n
of a ma
ss-p
rodu
ce
d item,
and it may b
e
equ
ally sim
p
le to mea
s
u
r
e
perfo
rman
ce
again
s
t the
s
e
stand
ard
s
, but if t
he item is cust
oms-mad
e
, the ap
prai
sal
of
perfo
rman
ce
may be a formidable ta
sk
becau
se sta
n
dard
s
a
r
e difficult to set.
5.7. Correc
t
i
on of Dev
i
ations
Standards should
refle
c
t
the va
riou
s p
o
sitio
n
s
in an
o
r
ga
n
i
zation
st
ru
cture. If
perfo
rman
ce
is mea
s
u
r
ed
accordingly, i
t
is eas
i
e
r to
corre
c
t deviat
i
ons. Ma
nag
e
r
s
kno
w
exa
c
tly
whe
r
e, in the assignm
ent o
f
individual or group d
u
ties,
the corre
c
tive measure must be ap
plie
d.
Corre
c
tion of
deviation
s is the point at whic
h
control can be seen a
s
a part of the whol
e
system of m
anag
ement a
nd ca
n be rel
a
ted to t
he other man
age
rial function
s. Manag
ers m
a
y
corre
c
t d
e
viations by red
r
a
w
ing
their pla
n
s
or
by mo
di
fying their
go
als. Thi
s
i
s
a
n
exerci
se
of
the
prin
ciple of n
a
vigational chang
e or the
y
may co
rre
ct deviations by exer
ci
sing
their orga
nizing
function throu
gh rea
s
signm
ent or cla
r
ification of dut
ies. They may corre
c
t, also, by that ultima
te
re-staffing
me
asu
r
e
-
firing
o
r
, ag
ain, they
may co
rre
c
t throu
gh
better leadi
ng-full
er explan
ation
of
the job or mo
re effective le
adershi
p
tech
nique
s.
VI. CONCL
U
S
ION
1.
CS is to be fo
und in almo
st
every aspe
ct
of our daily environm
ent.
2.
The hum
an b
ody is, indee
d, a very complex
and high
ly perfected a
daptive CS. Con
s
id
er, for
example, the human a
c
tion
s req
u
ired to steer a
n
auto
m
obile.
3.
CS is highly
multidisciplin
ary, with issu
es an
d features that are di
stin
ct from th
ose of othe
r
bran
ch
es of
engin
eeri
ng. These
issu
e
s
are num
erous
and
sub
t
le, and often the mo
st
importa
nt asp
e
cts d
epe
nd
on the se
emi
ngly most insi
gnifica
nt deta
ils.
4.
Histo
r
ically, the
subj
ect
ha
s a
d
van
c
ed
b
y
empl
oying
abstractio
n
to
extra
c
t pri
n
ci
ples that a
r
e
potentially ap
plica
b
le to a broa
d ran
ge
of applic
atio
n
s
. Unfortu
nat
ely, this abstraction often
obscu
re
s the
pra
c
tical ra
mification
s of
impo
rtant id
eas. A m
o
re
con
c
rete a
p
p
r
oa
ch to
the
subj
ect an rejuvenate an
d reinvigo
rat
e
edu
cation i
n
this excitin
g
and impo
rtant area of
techn
o
logy.
Wien
er
su
gg
ested th
at the mo
st p
r
o
m
ising
techn
i
que
s for
st
udying b
o
th
system
s are informatio
n
theory and
CS theory.
5.
CS pro
c
e
s
s as that found in
physi
cal, biologi
cal, and
so
cial sy
stem
s. Like
wi
se, in the human
body, a num
ber of
CS control temp
erature,
blo
od
pre
s
sure, mo
tor re
action
s,
and othe
r
con
d
ition
s
. T
he h
u
man
b
o
d
y is, in
dee
d, a ve
ry comp
lex and
hig
h
l
y
perfe
cted
a
daptive
CS.
Con
s
id
er, for
example, the human a
c
tion
s req
u
ired to steer a
n
auto
m
obile.
6.
Let us next look at a CS probl
em from
biol
ogy. Parts of the worl
d are bein
g
o
v
erru
n by an
increa
sing p
o
pulation of ra
ts. Here the system
con
s
i
s
ts of the living pop
ulation
of rats and
the environm
ental parame
t
ers that
affect that popul
ation. The n
a
tural g
r
owt
h
of the rat
popul
ation i
s
to be
controll
ed to
ne
ar so
me d
e
si
red
n
u
mbe
r
, say,
and
ze
ro.
He
re th
e jo
b
of
the CS engin
eer is to buil
d
a better mou
s
e-t
r
ap.
7.
CS is to b
e
fo
und i
n
in
du
stry, the term
a
u
tomation i
s
very co
mmon
.
Mode
rn in
du
strial
plant
s
utilized
ro
bot
s for man
u
fa
cturin
g temp
eratu
r
e
cont
rols, p
r
e
s
sure
co
ntrol
s
, sp
eed
cont
rol
s
,
positio
n cont
rols, etc. The chemi
c
al p
r
o
c
e
ss
control field is an are
a
where autom
ations have
played an im
portant role.
8.
The p
h
ilo
so
phical po
siti
on of the
d
i
sci
pline
of
CS
theory
within
the
framework
of
metaphysi
cs, CS theory is a teleologica
l scie
n
ce
. That is, the con
c
ept
s of CS involve ideas
su
ch a
s
purp
o
se, go
al-see
king a
nd ide
a
l
or desi
r
a
b
le
norm
s
.
9.
Another phil
o
sop
h
ical asp
e
ct of CS theory is
that it avoids the
con
c
e
p
ts of energy but,
instea
d, deal
s with the ph
enome
non of
informati
on i
n
physical sy
stem
s. In this se
nse CS
theory deal
s
with the inverse pr
oble
m
of dynamical
system
s.
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TELKOMNI
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ISSN:
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■
Control Syste
m
In Our Daily Life (Roha
n
i
Jahja
Wido
d
o
)
15
10.
Becau
s
e
CS is so evide
n
t in both nature
and huma
n
ity, it is impossi
ble to dete
r
mine when
CS wa
s first intentionally u
s
ed.
Ne
wton, Gould, a
nd K
a
ise
r
'
cite the
use of fee
d
b
a
ck in water
clo
c
ks
built
by the Arab
s as ea
rly a
s
the b
egin
n
i
ng of th
e
Ch
ristian
e
r
a, b
u
t their next
referen
c
e
s
is not dated
u
n
til 1750. In
the y
ear
17
88 by Watt's invention of
the fly-ball
govern
o
r for
regulatio
n of the steam e
n
g
i
ne.
11. In the e
a
rly
1960
s
a ne
w CS d
e
si
gn
method
refe
rred to
as mo
dern
CS
the
o
ry ap
pea
red
.
This theo
ry is highly mat
hematical in nature
a
nd a
l
most co
mple
tely oriented
to the time
domain. Ele
m
entary con
v
entional line
a
r syste
m
a
nd su
bsy
s
te
m modeling
(agai
n usi
n
g
comp
uter tool
s) an
d app
ro
ach
e
s to loop
desig
n:
a co
mpari
s
o
n
of tradition
al and
"intelligent"
techni
que
s; n
o
tions of self-tuning an
d ad
aptive
12.
Becau
s
e
plan
s a
r
e the ya
rdsticks ag
ain
s
t wh
i
c
h man
agers devise
controls,
th
e first
ste
p
in
the CS p
r
o
c
e
ss l
ogi
cally would b
e
to e
s
tablis
h
plan
s.
Ho
wever,
si
nce
plan
s ve
ry in detail
and
com
p
lexi
ty, and si
nce
mana
ge
rs cannot
usua
lly wat
c
h
every
t
hing, spe
c
ial
stan
dards
are e
s
tabli
s
h
ed.
13.
Standards a
r
e, by definition,
simply crite
r
ia of perfo
rm
ance.
14.
Although
su
ch mea
s
u
r
em
ent is n
o
t al
ways
pr
a
c
ticable, the m
e
asu
r
em
ent of
perfo
rman
ce
again
s
t
stand
ard
s
sho
u
ld i
deally be
do
n
e
on
a
fo
rward-loo
k
in
g
b
a
sis so
that dev
iations
may
be dete
c
ted i
n
advan
ce of t
heir occu
rren
ce an
d avoid
ed
by ppro
p
ri
ate action
s.
15.
The al
ert, fo
rwa
r
d
-
loo
k
in
g
mana
ger can
sometime
s p
r
edi
ct p
r
obabl
e de
pa
rture
s
fo
rm
standards. In the absence of
su
ch
ability, however, deviations
should be di
sc
losed as early
as po
ssible.
Standards
sh
ould refle
c
t the vari
ou
s po
sitions in an o
r
gani
zation
structure.
16.
If performan
ce is me
asu
r
e
d
a
c
cordi
ngly
,
it
is e
a
si
er to corre
c
t dev
iations. M
ana
gers
kno
w
exactly whe
r
e, in the assi
gnment of in
dividual
or
group dutie
s, th
e co
rre
ctive measure
must
be appli
ed.
17.
Corre
c
tion
of deviation
s is the point at
wh
i
c
h
control
can
be
see
n
as a
part of
the wh
ole
system of m
anag
ement a
nd can be
re
lated to
the
other m
ana
g
e
rial fun
c
tion
s. Mana
ge
rs
may corre
c
t d
e
viations by redra
w
in
g t
hei
r plan
s or by
modifying the
i
r goal
s.
18.
CS appli
c
atio
ns h
a
ve soci
al impa
cts n
o
t
onl
y in deve
l
oped
co
untri
es b
u
t also in
developin
g
cou
n
trie
s. A new
work force st
rategy without
denyin
g the existing
of CS is est
ablished by
retoolin
g the
work fo
rces,
thus the
ch
al
lenge
s of
so
cial imp
a
ct
s
coul
d be a
n
swers
wisely
and would b
e
bright opp
ort
unities to
imp
r
ove hum
an standards of li
ving.
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