Mojtaba Azadi , Associate Professor at San Francisco State University

To counter the Eurocentric narrative that prioritizes the contributions of Greek, Roman, and Western civilizations and scientists, it's crucial to acknowledge and celebrate the accomplishments of all our ancestors, globally.

Background and Disclaimer: In automatic and process control engineering education, textbook introductions to control system history exhibit a marked Eurocentric bias. My students and I observed that these accounts predominantly feature Greek, Roman, and Western European contributions, neglecting diverse global innovations, despite our students' varied international ancestries. A survey of textbooks confirmed this bias, though some underlying resources were more inclusive. This work, building on a previous study with Palestinian students, aims not to be an exhaustive history, but rather to provide diverse examples from various civilizations. It seeks to encourage engineers to challenge the prevailing Eurocentric narrative in textbooks, fostering a more inclusive appreciation of control system development worldwide! I used AI to find some of the resources and create the image!

Introduction

Control systems are not a modern invention; they predate humanity, evident in the biological mechanisms of early life forms. However, human-engineered control systems emerged with the rise of ancient civilizations, reflecting a rich tapestry of global innovation. This section traces the development of control systems from antiquity to the present, incorporating contributions from diverse culture. While we highlight some key examples from civilizations such as the Sumerians, Egyptians, Persians, Greeks, Romans, and those of the Islamic Golden Age, it is important to acknowledge that this overview does not capture the contributions of all our ancestors. Many other cultures and societies, whose innovations may be less documented or recognized, also played vital roles in the evolution of engineering fields including control systems. The examples provided here represent only a fraction of the collective human ingenuity that has shaped this field over millennia.

Early advancements in Control Systems Across Civilizations

The earlier stories are narrated from urban societies. Around 3000 BCE, the Sumerians in Mesopotamia developed water clocks, or clepsydras, using float mechanisms to regulate water flow for timekeeping (Mark, 2018). These devices represent an early liquid-level control system, vital for managing agricultural schedules in a region dependent on the Tigris and Euphrates rivers. Their irrigation systems, with canals and levees, further demonstrate hydraulic control to ensure stable water distribution (Postgate, 1992). In Ancient Egypt, by 1500 BCE, water clocks similar to those of the Sumerians were in use, possibly influenced by Mesopotamian designs or independently developed (Clagett, 1995). Egyptians also employed the shaduf, a lever-based tool for lifting water from the Nile, showcasing a basic mechanical control system for irrigation (Nicholson & Shaw, 2000). The Indus Valley Civilization (circa 2500 BCE) excelled in urban hydraulic control. Cities like Mohenjo-Daro featured sophisticated drainage systems with covered drains and manholes, reflecting deliberate water flow management for sanitation (Kenoyer, 1998). In Persia, around 500 BCE, qanats—underground aqueducts—controlled water transport from aquifers to the surface with precise gradients, supporting agriculture in arid regions (Wulff, 1968). This hydraulic control system highlights Persia’s engineering prowess.

In Africa, the Saqqara bird (Egypt, 200 BCE) may reflect early experiments in aerodynamics and flight control (Benson, 2011). The Ishango bone (Congo, 20,000 BCE), though not a control system, suggests mathematical foundations for later engineering (Marshack, 1991).

The Phoenicians (circa 1200 BCE) controlled ship speed and direction with adjustable sails and steering oars (Aubet, 2001). The Minoans of Crete (circa 2000 BCE) employed similar techniques for navigation and trade (Warren, 1987). In the Americas, the Norte Chico Civilization (circa 3000 BCE) likely used ramps and levers to control material movement during pyramid construction (Shady Solís, 2006).

The Babylonians (circa 1000 BCE) used the astrolabe for precise celestial measurements (Rochberg, 2004). Mesopotamian and Hittite kilns (circa 1600 BCE) regulated heat for pottery and ironworking, marking early thermal control systems (Moorey, 1994).

The Ancient Greeks refined control engineering around 300 BCE with Ktesibios’ water clock and Philon’s oil lamp (Lahanas, n.d.; Nise, 2019). The Romans engineered aqueducts with valves and reservoirs for large-scale hydraulic control (Hodge, 1992).

During the Islamic Golden Age (8th–14th centuries), scientists and engineers across Muslim lands—encompassing Arabs as well as non-Arabs with Arabic names, such as Turks, Persians, and Berbers of diverse ethnic backgrounds—made significant advancements in control systems. The prevalence of Arabic names in Muslim regions emerged from the unifying influence of Islam and its language, fostering a shared scholarly culture that bridged ethnic divides.

 The Banu Musa brothers (9th century) wrote the Book of Ingenious Devices, featuring a self-trimming oil lamp and a water dispenser with feedback control (Muslim Heritage, 2010). Al-Jazari (12th century), dubbed the "father of robotics," created water-powered automata, including a water clock and a boat with automated musicians, using camshafts and gears for precise control (Muslim Heritage, 2010). Ibn al-Haytham (10th century) pioneered optics, influencing optical sensors (Muslim Heritage, 2010). Al-Muradi (11th century) designed geared devices like a water-powered clock, foreshadowing European advancements (Muslim Heritage, 2010). These innovations from the Islamic world significantly shaped the development of control systems. In east and central Asia, early control systems emerged across multiple cultures. In India, the Arthashastra (circa 4th century BCE) describes yantra—mechanical devices like automated fountains—demonstrating early control concepts (Srinivasan, 2007). In China, Zhang Heng’s seismoscope (132 CE) detected earthquakes and indicated their direction using a feedback mechanism (Needham, 1986).

Global Developments in Control Systems (after 14 th Century–18th Century)

Japan’s karakuri ningyo (17th–19th centuries) were mechanical puppets that performed tasks via intricate automation (Hornyak, 2006). In Korea, the honcheonui (17th century), an astronomical clock, used gears and water flow to track celestial movements (Korea Astronomy and Space Science Institute, n.d.). In Russia, Ivan Polzunov’s steam engine regulator (1765) used a float to maintain boiler water levels, predating similar Western designs (Shukhardin, 1977). In 1681, Denis Papin’s safety valve regulated steam pressure (Nise, 2019). Cornelis Drebbel’s incubator (17th century) used a temperature-sensitive mechanism for heat control (Tierie, 1932).

Early modern control systems (after 18th Century 20th)

James Watt’s flyball governor (18th century) controlled steam engine speed via feedback, building on earlier windmill controls by Edmund Lee (1745) and William Cubitt (1809) (Nise, 2019). In the 19th century, James Clerk Maxwell and Edward John Routh developed stability criteria, while Alexandr Lyapunov addressed nonlinear systems (Nise, 2019; Lyapunov, 1992). Henry Bessemer’s gyro-stabilized ship saloon (1874) applied motion control (Nise, 2019).

In 1922, the Sperry Gyroscope Company automated ship steering with adaptive control (Nise, 2019). Nicholas Minorsky’s PID controller theory, H.W. Bode’s and H. Nyquist’s frequency analysis, and Walter R. Evans’ root locus technique solidified modern control systems (Nise, 2019; Bennett, 1993).

Conclusion

The history of control systems is a testament to human ingenuity across civilizations and eras. From the Sumerians' water clocks to Persian qanats, Phoenician navigation, Roman aqueducts, Indian yantra, Chinese seismoscopes, and the sophisticated mechanical devices of the Islamic Golden Age, diverse cultures have contributed to this field. Recognizing these contributions enriches our understanding of control systems engineering as a universal endeavor, culminating in the advanced theories and technologies of today. As we explore modern control systems, it’s vital to appreciate this intricate mosaic of global innovation, which reflects the collective genius of humanity across time and space. This inclusive historical perspective not only honors the diverse origins of engineering knowledge but also encourages future generations to draw inspiration from the collaborative spirit of past innovators, ensuring that the legacy of control systems continues to evolve and thrive.

The history of control systems reflects a global mosaic of innovation, from Sumerian water clocks to Persian qanats, Indian yantra, Chinese seismoscopes, and the mechanical ingenuity of the Islamic Golden Age. Contributions from Arab engineers, alongside those from East Asia, India, Russia, and Africa, highlight the universal nature of this field, culminating in today’s advanced technologies. Recognizing these diverse origins fosters a deeper appreciation of control systems engineering as a collective human achievement.

References

• Aubet, M. E. (2001). The Phoenicians and the West: Politics, Colonies and Trade. Cambridge University Press.

• Bennett, S. (1993). A History of Control Engineering, 1930-1955. Institution of Electrical Engineers.

• Clagett, M. (1995). Ancient Egyptian Science: A Source Book, Volume Two: Calendars, Clocks, and Astronomy. American Philosophical Society.

• Hodge, A. T. (1992). Roman Aqueducts & Water Supply. Duckworth.

• Kenoyer, J. M. (1998). Ancient Cities of the Indus Valley Civilization. Oxford University Press.

• Lahanas, M. (n.d.). Ancient Greek Technology. Retrieved from http://www.mlahanas.de/Greeks/Tech.htm.

• Lyapunov, A. M. (1992). The General Problem of the Stability of Motion (Trans. A. T. Fuller). Taylor & Francis (original work published 1892).

• Mark, J. J. (2018). Sumer. Ancient History Encyclopedia. Retrieved from https://www.ancient.eu/sumer/.

• Moorey, P. R. S. (1994). Ancient Mesopotamian Materials and Industries: The Archaeological Evidence. Clarendon Press.

• Muslim Heritage. (2010). A Review of Early Muslim Control Engineering. Retrieved from https://muslimheritage.com/a-review-of-early-muslim-control-engineering/

• Nicholson, P. T., & Shaw, I. (Eds.). (2000). Ancient Egyptian Materials and Technology. Cambridge University Press.

• Nise, N. S. (2019). Control Systems Engineering (8th ed.). Wiley.

• Postgate, J. N. (1992). Early Mesopotamia: Society and Economy at the Dawn of History. Routledge.

• Rochberg, F. (2004). The Heavenly Writing: Divination, Horoscopy, and Astronomy in Mesopotamian Culture. Cambridge University Press.

• Shady Solís, R. (2006). Caral: The First Civilization in the Americas. Proyecto Especial Arqueológico Caral.

• Tierie, G. (1932). Cornelis Drebbel (1572-1633). H.J. Paris.

• Warren, P. (1987). The Aegean Civilization. Phaidon Press.

• Wulff, H. E. (1968). The Qanats of Iran. Scientific American, 218(4), 94-105.