MEC 3825: Control Systems

Lecture Notes 1

Dr. Mohamed Okasha

Department of Mechanical Engineering
Room : E1-5-2.8
Email: mokasha@iium.edu.my

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 Course Information
Course outline
Lectures (when, where, how many, etc.)
Textbook
Tips to pass this course
Attend
Do Exercises and homework
Be familiar with Matlab
Ask question and be active in class (Bonus)
Work in group

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Chapter 1: Introduction

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 Objectives
Define a control system and describe some applications
Describe the basic features and configurations of
control systems
Describe control systems analysis and design objectives
Describe historical developments leading to modern
day control theory
Describe the benefit from studying control systems
Describe the design process for control systems

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 Control System Definition
An interconnection of components that provide a desired
system response
Numerous applications are around us:
Physical worlds:
Rocket fire
Space shuttle lifts off to Earth orbit/Space Station assembly
Pancreas regulates our blood sugar
Our eyes follow a moving object to keep it in view
Nonphysical worlds:
Student performance model (input: study time, output: grade)

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 Example (an elevator)
Two major measures of performance:
transient response
steady state response
What about passenger comfort and patient if the elevator is too fast or too
slow?
What about passenger safety and convenience?

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 Advantages of Control Systems
Power amplification
move large equipment like
elevator/antenna with precision
Remote Control
use robots in remote dangerous area
Convenience of input form
just click a button !
Compensation of disturbances
Move the antenna while compensate
for the wind disturbance

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 System Configurations
Open-loop
Toaster, microwave oven, laundry machine, shooting a basketball

A toaster toasts bread, by setting timer

Objective: make bread golden browned and crisp
A toaster does not measure the color of bread during the toasting process
For a fixed setting, in winter, the toast can be white and in summer, the
toast can be black (Calibration!)
A toaster would be more expensive with sensors to measure the color and
actuators to adjust the timer based on the measured color
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 System Configurations
Closed-loop

Compare actual behavior with desired behavior

Take corrective action based on the dereference
Deceivingly simple idea, but very powerful concept

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 System Configurations
Closed-loop
Automobile direction control

Manual closed-loop (feedback) control

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 System Configurations
Open-loop
Cannot compensate for disturbances that affect the plant
Commanded by the input

Closed-loop
Commanded by the error via feedback
Relatively more complex and expensive
Improved performance and stability

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 Control Systems Elements

The plant or process is the physical system

Actuators are used to apply forces or torques to the physical
system
Sensors are used to measure system behavior

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 Analysis and Design Objectives
Analysis is the process by which a
system's performance is determined
Design is the process by which a
system's performance is created or
changed
Common goals
Achieving stability
Performance
Producing the desired transient response
(short-term characteristics)
Reducing steady-state error (long-term
characteristics)
Other design concerns: cost,
robustness and sensitivity to
disturbances, modeling errors, noise,
etc.

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 The Design Process

Step 1: Transform Requirements Into a Physical System

Step 2: Draw a Functional Block Diagram
Step 3: Create a Schematic
Step 4: Develop a Mathematical Model (Block Diagram)
Step 5: Reduce the Block Diagram
Step 6: Analyze and Design
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 The Design Process
Step 1: Transform Requirements Into a Physical System
Antenna Azimuth Example (position control system)

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 The Design Process
Step 2: Draw a Functional Block Diagram

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 The Design Process
Step 3: Create a Schematic

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 The Design Process
Step 4: Develop a Mathematical Model (Block Diagram)
Step 5: Reduce the Block Diagram

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 The Design Process
Step 6: Analyze and Design

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 The Design Process
Most common test
signals

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 Computer Aided Design
Matlab
Control toolbox
Simulink
Symbolic toolbox
Labview

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 Course road map
1. Modeling
Laplace transform
Transfer function
Models for systems
Mechanical
electrical
Electromechanical
Linearization
2. Analysis
Time response
Frequency response
Stability
3. Design
Root locus
PID

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 Summary
Introduction
Examples of control systems
Open loop and closed loop (feedback) control
Analysis and Design objectives
Design process
Next
Modeling
Exercises
Buy the course textbook at the Bookstore.
Read Chapter 1 and 2.

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