EE 351 Principles of Control Systems Int

EE 351: Principles
of Control Systems
Prof. Khoder Melhem
Qassim University
Fall 2014/1434
College of Engineering
Department of Electrical Engineering
Lectures 1-3
Introduction to
Control and Systems
Lecture outline
In these introductory lectures we will study the following:

Control and control system
Response characteristics of control systems
Different configurations of control systems
Control system analysis and design objectives
Overview of modeling and design process of control systems
Computer aided design
Some history on control systems
Control implementation and technology
Examples of control systems
Course description
What is control?
What is control? Control is whenever some quantity, such as temperature, altitude, or speed must be
made to behave in some desirable way over time. In other words, control makes some object (called
plant or process) behave in some desirable manner.
What is a control system? A control system consists of subsystems and a process, assembled for the
purpose of controlling the output of the process. For example, an electric furnace produces heat as a
result of electricity.
Prof. K. Melhem (Qassim University) Principles of Control Systems Academic year 2014-2015 4
What is control?
What is a control system? A control system is typically represented by the following
functional block-diagram
In its simplest form, a control system, as represented by the following functional

block-diagram, provides an output or response for a given input or stimulus.
What is control? A real life example . . .
• Water inflow u(t) must be controlled to reach and maintain the desired
temperature r(t)
• Skin sensations measure water temperature y(t)
• Water inflow u(t) manipulated so that y(t) ≈ r(t) . . .
• . . . in spite of flow and temperature fluctuations d(t)
What is control? A real life example . . .
• Steering wheel must be controlled to reach and maintain the desired lateral
displacement r(t) within the lane (e.g.: staying in the middle of the lane)
• Eyes measure current lateral displacement y(t)
• Steering wheel u(t) manipulated so that y(t) ≈ r(t) . . .
• . . . in spite of road conditions and car stability d(t)
What is automatic control?
• Operator has been replaced by a machine, usually an electronic circuit
• Control is now automatic: it is accomplished without human intervention
What is a control system?
Objective: To make the system OUTPUT and the desired REFERENCE as close as
possible, i.e., to make the ERROR as small as possible.
Key Issues: 1) How to describe the system to be controlled? (Modeling)

2) How to design the controller? (Control)
What is an output in a control system?
TYPICALLY, the output variable is

• Temperature in thermal systems
• Position and velocity in mechanical systems
• Voltage, current, charge, or frequency in electrical systems
Why do you need control (or a control system)?
We build control systems for five primary reasons:
1. Power amplification
2. Precision
3. Remote control
4. Convenience of input form
5. Compensation for disturbances
With control systems, elevators carry us quickly to our destination, automatically stopped at the
right floor. We alone could not provide the power required for the load and the speed; motors
provide the power (power amplification) and controllers regulate the position and speed (precision).
Control systems are useful in remote or dangerous locations. A remote-controlled robot arm can be
used to pick up material in a radioactive environment (remote control).
In a temperature control systems (like a thermostat), the input is a position on the thermostat
while the output is heat. A convenient position input yields a desired thermal output (convenience of
input form).
An antenna that points in a commanded direction can be subjected to wind (disturbance) forcing
the antenna rotates from its commanded direction. A feedback controller must detect the
disturbance and correct the antenna position (compensation for disturbances).
Open-loop versus closed-loop control
Open-loop control (or feedforward control) The manipulated input variable is generated without
measuring the output variable.
A disadvantage of an open-loop control system is that it cannot compensate for any disturbances
that add to the manipulated input (or controller’s driving signal) and the process’ output. Thus,
the output of an open-loop control system is corrupted by disturbances.
Examples of open-loop control systems
Example 1: Toaster The output of a toaster is the

color of the toast. The device is designed with the
assumption that the toast will be darker the longer
it is subjected to heat. The toaster does not measure
the color of the toast; it does not correct for the fact
that the toast is rye or white, nor does it correct for
the fact that toast comes in different thicknesses.
Example 2: Examination system Assume that you calculate the amount of time you
need to study for examination that covers three chapters to get an A. If the professor
adds a fourth chapter - a disturbance - you are an open-loop system if you do not
detect the disturbance and add study time to that previously calculated. The result
of this oversight would be a lower grade than you expected.
Closed-loop control (feedback control) Measurements of the output variable are fed back to the
process through the controller.
The disadvantage of open-loop systems that are sensitive to disturbances and thus not able to
correct for these disturbances may be now overcome in closed-loop systems. However, closed-loop
systems are more complex and expensive than open-loop systems.
Example of closed-loop control
Example: Temperature control system
Computer-controlled systems (or digital control systems)
In most of modern control systems, the controller is a digital computer. The

advantages of using a computer to implement a controller include:
• Many loops can be controlled by the same computer through time sharing.
• Adjustment of the controller gains or the controller itself required to yield a
desired response can be made by changes in software rather than hardware.
• Computer can also perform supervisory and monitoring functions, such as
scheduling many required tasks.
A typical control system
Terminology
• Plant or Process: System to be controlled
• Inputs: Excitations/stimulus and disturbances (known, unknown) to the system
• Disturbances: Unwanted inputs to the system
• Outputs: Responses of the system
• Sensors: They measure system variables (excitations, responses, etc.)
• Actuators: They drive various parts of the system.
• Controller: Device that generates control signal
• Control Law: Relation or scheme according to which the control signal is
generated
• Control System: Plant + controller, at least (can include sensors, actuators,
signal conditioning, etc.)
• Feedback Control: Control signal is determined according to plant response
• Feedforward Control: No feedback of plant response to controller
Response characteristics of a control system
Elevator example
When the fourth-floor button of an elevator is pushed on the ground floor, the elevator rises to the
fourth floor with a speed and floor-leveling accuracy designed for passenger comfort.
• Physical entities cannot change their states instantaneously. Thus, the elevator undergoes a
gradual change as it rises from the first floor to the fourth floor. That is the transient response.
• After the transient response, a physical system approaches its steady-state response (elevator
reaches the fourth floor), which is an approximation to the desired response.
• The accuracy of the elevator’s leveling with the floor could also make the output different from
the input. We call this difference as steady-state error. Steady-state errors must designed to be
zero for some applications such as a robot inserting a memory chip onto a board.
Elevator example
Summary: A control system is dynamic; It responds to an input by undergoing a transient
response before reaching a steady-state response that generally resembles to the input.
Transient response is important. a slow response makes elevator passengers impatient,
whereas an excessively rapid response makes them uncomfortable. If the elevator oscillates
about the arrival floor for more than a second, a disconcerting feeling can result. Transient
response is also important for structural reason: Too fast a transient response could cause a
permanent physical damage. Thus, we analyze the elevator for its transient response and (if
needed) we adjust parameters or design components to yield desired transient response.
The steady-state response of the elevator is its location reached near the fourth floor. An
elevator must be level enough with the floor for the passengers to exit. Thus, the elevator’s
steady-state error should be analyzed and (if needed) design corrective action to reduce the
steady-state error should be taken.
Elevator example
STATEMENT: Discussion of transient response and steady-state error is moot if the system
does not have stability.
Actually, the total response of a system is
Total response = Natural response + Forced response
For a control system to be stable, the natural response must eventually approach zero, thus
leaving only the forced response, which is an approximation of the input.
BE CAREFUL: If the natural response grows without bound the system is no longer
controlled or unstable. Instability could lead to self-destruction of the physical device if
limit stops are not part of the design. In our example, the elevator would crash through the
floor or exit through the ceiling. Thus, a control system must be analyzed and designed to
be stable.
NOTICE THAT: The transient response is the sum of natural and forced responses when the
natural response is large, while the steady-state response is the sum of the natural and
forced responses when the natural response is small.
What is important in a control system?
• Stability
• (Transient) response speed
• Accuracy
⊲ dynamic overshooting and oscillation duration
⊲ steady-state error
• Robustness
⊲ errors in models (uncertainties and nonlinearities)
⊲ effects of disturbances
⊲ effects of noises
What is important in a control system?
Solutions for robustness:
• Plant nonlinearities – nonlinear control
• Sensor nonlinearities – nonlinear control
• Control input nonlinearities (control saturations) – nonlinear control
• Plant parameter uncertainties – robust control or adaptive control
• Noise and disturbance rejection – robust control or optimal control
These issues are complicated to be considered in this undergraduate course . . .

Come back for postgraduate studies if you are interested in these topics.
Brief view of control techniques:
There are tons of research published in the literature on how to design control laws for various
control purposes. These can be roughly classified into the following techniques:
• Classical control: Proportional-integral-derivative (PID) control, developed in 1940s and used

for control of industrial processes. Examples: chemical plants, commercial aeroplanes.
• Optimal control: Linear quadratic Gaussian control (LQG), Kalman filter, H2 control, developed
in 1960s to optimize a certain ‘cost index’ and boomed by NASA Apollo Project.
• Adaptive control: Uses online identification of the process parameters, thereby obtaining strong
robustness properties. Adaptive control was applied for the first time in the aerospace industry
in the 1950s.
• Robust control: H∞ control, developed in 1980s & 90s to achieve robust performance and/or
stability in the presence of small modeling errors. Example: military systems.
• Nonlinear control: Currently hot research topics, developed to handle nonlinear systems with
high performances. Examples: military systems such as aircraft, missiles.
• Intelligent control: Predictive control, neural networks, fuzzy logic, machine learning,
evolutionary computation and genetic algorithms, researched heavily in 1990s, developed to
handle systems with unknown models. Examples: economic systems, social systems, human
systems.
Other considerations in control system analysis and design
• Factors affecting hardware selection

⊲ motor sizing to fulfill the power requirements
⊲ choice of sensors for accuracy
• Design economic impact

⊲ budget allocation
⊲ competitive pricing
Modeling of dynamic systems
Dynamic system: Response variables are functions of time, with non-negligible rates
of changes.
Model: A representation of a system.
Types of models:
• Physical models (Prototypes or scale models)
• Mathematical models
1. Analytical models (using physical laws)
2. Computer (numerical) models (using simulations)
3. Experimental models (using input/output experimental data)
Mathematical models for physical dynamic systems:
• Distributed-parameter models (PDEs). Example: Spring element (flexibility,
inertia, damping)
• Lumped-parameter models (ODEs)
How to design a (modern) control system?
• Understand the automation problem:
⊲ what are the automation requirements?
⊲ which plant or process can be used to meet the requirements?
⊲ what are the specifications to be achieved?
⊲ which variables can be manipulated by actuators?
⊲ what are the output variables of interest?
⊲ what should we measure?
⊲ which are the disturbances?
• Choose sensors to measure the required feedback signals
• Choose actuators to drive the plant
• Get a simplified mathematical model or a reliable simulation model of the plant, sensors, and
actuators
• Synthesize the control algorithm based on the developed models and the control criteria
• Test the controller designed analytically by simulation
• Validate on the real physical system (implementation)
• Repeat this procedure until a satisfactory physical system response is achieved

Control systems engineer’s skills and knowledge are many
Control systems engineering is an exciting field in which to apply your engineering talents,
because it cuts across numerous disciplines and numerous functions within those disciplines.
Many engineers are engaged in only one area, such as circuit design and software
development. However, as a control systems engineer, you may find yourself working in a
broad arena and interacting with people from numerous branches of engineering and the
sciences. A control systems engineer must be good in:
• Mathematics to get a good mathematical model for the process and design a controller
that responds to the desired requirements and specifications.
• Physics to understand the physical phenomenon of the process to be controlled so as a
good mathematical model can be found.
• Simulation to analyze the control system as well as simulate its performance.
• Being aware of the current available technology to choose the best hardware and software
for implementation of the proposed control system.
A lot of skills and knowledge to have got from a control systems engineer, which makes the
control systems engineering one of a kind!
Computer-aided design tools (or CAD tools)
The computer plays an important role in the design of modern control systems. In the past,
control system design was labor intensive by using hand calculators or at the best plastic
graphical aid tools. The process was slow and the results not always accurate. Large
mainframe computers were then used to simulate the designs.
Today we are fortunate to have our own desktop computers and softwares to perform
analysis, design, and simulation with one program (such as Matlab):
• With the ability to simulate a design rapidly, we can easily make changes and
immediately test a new design.
• We can try alternate solutions to see if they yield better results, such as reduced
sensitivity to parameter changes.
• We can include nonlinearities and other dynamical effects and test our models for
accuracy.
Computer-aided design tools (or CAD tools)
In this course we will use Matlab which is a trademark of The MathWorks, Inc as a computer-aided
design tool for control systems analysis and design. In addition, we will make use of some additional
functionalities to Matlab, namely: Simulink, which uses a graphical user interface, and the Symbolic
Math Toolbox, which saves labor when making symbolic calculations required in control system
analysis and design.
Matlab is used here as an alternate method of solving control system problems. You are encouraged
to solve problems first by hand and then by Matlab so that insight is not lost through mechanized
use of computer programs.
You must go to MathWorks website: http://www.mathworks.com/academia/ and read about Matlab
ant its Simulink and Symbolic Math Toolbox. Many important lectures and interactive control
systems tutorials can be found.
History of control engineering
• 300 B.C. Greece (Float valves and regulators for liquid level control)
• 1770 James Watt (Steam engine; Governor for speed control)
• 1868 James Maxwell (Cambridge University, Theory of governors)
• 1877 E.J. Routh (Stability criterion)
• 1893 A.M. Lyapunov (Soviet Union, Stability theory, basis of state space
formulation)
• 1927 H.S. Black and H.W. Bode (AT&T Bell Labs, Electronic feedback amplifier)
• 1930 Norbert Wiener (MIT, Theory of stochastic processes)
• 1932 H. Nyquist (AT&T Bell Labs, Stability criterion from Nyquist gain/phase
plot)
• 1936 A. Callender, D.R. Hartee, and A. Porter (England, PID Control)
• 1948 Claude Shannon (MIT, Mathematical Theory of Communication)
History of control engineering (Cont’d)
• 1948 W.R. Evans (Root locus method)
• 1940s Theory and applications of servomechanisms, cybernetics, and control
(MIT, Bell Labs, etc.)
• 1959 H.M. Paynter (MIT, Bond graph techniques for system modeling)
• 1960s Rapid developments in State-space techniques, Optimal control, Space
applications (R. Bellman and R.E. Kalman in USA, L.S. Pontryagin in USSR,
NASA)
• 1965 Theory of fuzzy sets and fuzzy logic (L.A. Zadeh)
• 1970s Intelligent control; Developments of neural networks; Widespread
developments of robotics and industrial automation (North America, Japan,
Europe)
• (1980s-today) Nonlinear, robust, adaptive, optimization-based, (. . .) control
• 1990s Widespread application of smart products; MEMS
A typical control system
Most used sensors and actuators in control systems
Sensors and actuators in control systems
Application areas of control engineering
• Aeronautics & aerospace

• Automotive
• Manufacturing
• Process control (chemical, pharmaceutical, steel, pulp &
paper, ...)
• Power electronics
• Telecommunications
• Environmental systems
• Financial engineering
• Supply chains
• Power networks
• . . .
Control systems in nature
Within our bodies are numerous control systems such as:

The pancreas which regulates our blood sugar
In time of ‘fight or flight’, our adrenaline increases along with our heart rate,
causing more oxygen to be delivered to our cells
Our eyes follow a moving object to keep it in view
Our hands grasp the object and place it precisely at a predetermined location
Power control
Speed control system
Temperature control system
Drug delivery system
Aircraft turbojet engine
Robot manipulator
Challenges in control
Autonomous land, underwater, air, and space vehicles

Highly automated manufacturing
Intelligent robots
Reliable electric power generation and distribution
Highly efficient fuel control for cleaner environment
Highly efficient and fault tolerant voice and data networks
Seismically tolerant structures
Systems that are able to cope and maintain acceptable performance levels under
significant unanticipated uncertainties and failures
. . .
What you will learn in this course
Having successfully completed this course, you will be able to demonstrate

knowledge and understanding of:
• How to model continuous-time control systems in the frequency- domain using
transfer functions and block diagrams, and in the time-domain using differential
equations and state-space equations
• How to analyze the stability of a feedback control systems and find design
parameters that guarantee and improve stability
• How to solve and analyze the performance of feedback control systems.
• How to design feedback controllers using multiple techniques
What you will learn in this course (Cont’d)

• Expressing real engineering problems as an exercise in linear controller design
• Choice of appropriate design methodology
• Choice of performance analysis tools

• Ability to use Matlab and its Simulink and symbolic computational toolboxes in
the modeling, analysis, and design of continuous-time control systems
• Formulate a control problem, design a solution, and test the result by simulating
it via Matlab
Topics covered in this course
Introduction to systems and control (3 lectures)
Review of mathematical material extensively used in the course (3 lectures)
Dynamic system representations (block diagram, transfer function, signal-flow

graph, state-space representation) (5 lectures)
Modeling of electric and mechanical systems (4 lectures)
Transient response, stability, and steady-state error analyses (9 lectures)
Analysis and design of control systems by the root-locus technique (9 lectures)
Analysis and design of control systems by the frequency-response technique (9

lectures)
Modeling, analysis, and design of control systems by Matlab/Simulink (3
lectures)
Learning resources
K. Melhem, Lecture notes, (what you’re looking at right now . . .). Soon, available
online at http://faculty.qu.edu.sa/kmelhem
K.C. Dorf and K.H. Bishop, Modern Control Systems, Prentice Hall,
2010.
(Good classical textbook on control engineering, your textbook!)
N.S. Nise, Control systems engineering, Wiley, 2004.

(Very good classical textbook on control engineering)
K. Ogata, Modern control engineering, Prentice Hall, 2002.

(Good classical textbook on control engineering)
Logistics
Lecture and tutorial schedules

Mondays and Wednesdays:
From 9 O’clock to 11 O’clock
Grading
Homework, Quizzes, and Attendance 20 %
First Mid-Term Exam 15 %
Second Mid-Term Exam 15 %
Final Exam 50 %
Office hours for student help: Working days (see Instructor’s schedules for more
details). Also, you may ask your questions after class.
Logistics (Cont’d)
• Dates of midterm exams and final exam are fixed by college administration and
cannot be changed or postponed in general.
• Homework is given as MATLABTM problems to learn how our control problems
can be solved computationally.
• Quizzes are given as multiple choice questions to asses your understanding of the
key concepts of the course.
Lectures & Tutorials
Attendance is essential
Ask your tutor any question related to the course at any time during the
lecture and tutorial
How to succeed in this course
• Before class:
Review material (textbook and notes if available) from previous class
Preview material (textbook and notes if available) to be covered
Arrive on time
• During class:
Attend all classes and tutorials - Not everything can be understood by
self-study within an acceptable short time
Pay attention, take notes, and ask questions if needed
• After class:
Review material (textbook and notes if available)
Identify and understand key points
Do all the problem sets assigned in time

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EE 351: Principles

In these introductory lectures we will study the following:

In its simplest form, a control system, as represented by the following functional

• Operator has been replaced by a machine, usually an electronic circuit

• Control is now automatic: it is accomplished without human intervention

Key Issues: 1) How to describe the system to be controlled? (Modeling)

TYPICALLY, the output variable is

Example 1: Toaster The output of a toaster is the

In most of modern control systems, the controller is a digital computer. The

Total response = Natural response + Forced response

These issues are complicated to be considered in this undergraduate course . . .

• Classical control: Proportional-integral-derivative (PID) control, developed in 1940s and used

• Factors affecting hardware selection

• Design economic impact

• Choose sensors to measure the required feedback signals

• Choose actuators to drive the plant

• Test the controller designed analytically by simulation

• Validate on the real physical system (implementation)

• Repeat this procedure until a satisfactory physical system response is achieved

• Aeronautics & aerospace

Within our bodies are numerous control systems such as:

Autonomous land, underwater, air, and space vehicles

Having successfully completed this course, you will be able to demonstrate

• How to solve and analyze the performance of feedback control systems.

• How to design feedback controllers using multiple techniques

Having successfully completed this course, you will be able to demonstrate

Having successfully completed this course, you will be able to demonstrate

Review of mathematical material extensively used in the course (3 lectures)

Dynamic system representations (block diagram, transfer function, signal-flow

Modeling of electric and mechanical systems (4 lectures)

Transient response, stability, and steady-state error analyses (9 lectures)

Analysis and design of control systems by the root-locus technique (9 lectures)

Analysis and design of control systems by the frequency-response technique (9

N.S. Nise, Control systems engineering, Wiley, 2004.

K. Ogata, Modern control engineering, Prentice Hall, 2002.

Lecture and tutorial schedules

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