Principles of Automatic Control

Systems
Instructors: Dr. Helmy El-Zoghby
Third Power

2013

11/02/15

References.
Text books and references

1-Automatic Control Systems,

Benjamin C. Kuo & F. Golnaraghi
2-Modern Control Engineering, Katsuhiko
Ogata
3-Feedback Control of Dynamic Systems,
Gene F. Franklin et al

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Goals of this course

Understand the basic concepts of automatic

control
Know how to conduct design and analysis of
linear control system with the following
techniques:

Mathematical modeling techniques

Time-domain analysis techniques
Root-locus analysis techniques
Frequency-domain analysis techniques
Use Matlab to design and analyze control systems

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Chapter 1
Introduction to Control Systems

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Outline of chapter.1
What is a control system?
A brief history of control
Basic components of a control

system
Open-loop control vs. closed-loop
control
Classification of control systems

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What is a control system?

In general a control system is a system that is used to realize

a desired output or objective.

Control systems are everywhere
They appear in our homes, in cars, in industry, in scientific

labs, and in hospital

Principles of control have an impact on all fields as

engineering, economics, biology and medicine

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A brief history of control

Two of the earliest examples
1-Water clock (270 BC)
2-Self-leveling vessel (100BC)

The idea is
still used
today, i.e.
flush
toilet

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A brief history of control

Fly-ball governor (James Watt,1769)

the first modern controller

regulated speed of steam engine
reduced effects of variances in load
propelled Industrial Revolution

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A brief history of control

Birth of mathematical control theory
G. B. Airy (1840)
the first one to discuss instability in a feedback control system
the first to analyze such a system using differential equations
J. C. Maxwell (1868)
the first systematic study of the stability of feedback control
E. J. Routh (1877)
deriving stability criterion for linear systems
A. M. Lyapunov (1892)
deriving stability criterion that can be applied to both linear and
nonlinear differential equations
results not introduced in control literature until about 1958
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A brief history of control

Birth of classical control design method
H. Nyquist (1932)
developed a relatively simple procedure to determine stability from a

graphical plot of the loop-frequency response.

H. W. Bode (1945)
frequency-response method
W. R. Evans (1948)
root-locus method

With the above methods, we can design control systems that

are stable, acceptable but not optimal in any meaningful sense.

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A brief history of control

Development of modern control design
Late 1950s: designing optimal systems in some meaningful sense
1960s: digital computers help time-domain analysis of complex systems, modern control

theory has been developed to cope with the increased complexity of modern plants
1960s~1980s: optimal control of both deterministic and stochastic systems; adaptive

control and learning control

1980s~present: robust control, H-inf control
Recent applications of modern control theory include such non-engineering systems as

biological, biomedical, economic and socioeconomic systems

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Basic components of a control system

12

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Basic concepts of a control system

Plant

Controlled
variable

Expected
value

13

1.Plant: a physical object to be controlled

such as a mechanical device, a heating
furnace, a chemical reactor or a spacecraft.

2.Controlled variable: the variable

controlled by Automatic Control System ,
generally refers to the system output.

3.Expected value : the desired value

of controlled variable based on requirement,
often it is used as the reference input
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Controller

4.Controller: an agent that can calculate

the required control signal.

5.Actuator: a mechanical device that takes

Actuator

energy, usually created by air, electricity, or

liquid, and converts that into some kind of
motion.

6.Sensor : a device that measures a

Sensor

physical quantity and converts it into a

signal which can be read by an observer or
by an instrument.

7.Disturbance: the unexpected factors

Disturbance
14

disturbing the normal functional relationship

between the controlling and controlled
parameter variations.
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Block diagram of a control system

r
Expected
value

e
-

Controller

Actuator

Error

Disturbance

Plant

y
Controlled
variable

Sensor
comparison component
(comparison point) :
its output equals the
algebraic sum of all input
signals.
+: plus; -: minus

15

lead-out point:
Here, the signal is
transferred along two
separate routes.

The Block represents

the function and name of its
corresponding mode, we dont
need to draw detailed structure,
and the line guides for the transfer route.

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Open-loop control systems

System
input

CONTROLLER

Control
signal

PLANT

System
output

Open-loop control systems: those systems in which the output has no effect on the

control action.
The output is neither measured nor fed back for comparison with the input.
For each reference input, there corresponds a fixed operating conditions; the accuracy

of the system depends on calibration.

In the presence of disturbances, an open-loop system will not perform the desired task.

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Open-loop control systems Examples

Washing machine

Traffic signals

Note that any control systems

that operates on a time basis are
open-loop.

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Comments on Open-loop control systems

Simple construction and ease of

maintenance.
Less expensive than a closed-loop
system.
No stability problem.
Recalibration is necessary from
time to time.
Sensitive to disturbances, so less
accurate.

18

Good

Bad

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When should we apply open-loop control?

The relationship between the input and output is

exactly known.
There are neither internal nor external

disturbances.
Measuring the output precisely is very hard or

economically infeasible.

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Closed-loop control systems

Expected
value

Error

CONTROLLER

Control
signal

PLANT

System
output

Closed-loop control systems are often referred to as feedback control systems.

The idea of feedback:
Compare the actual output with the expected value.
Take actions based on the difference (error).
This seemingly simple idea is tremendously powerful.
Feedback is a key idea in the discipline of control.

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Closed-loop control systems

In practice, feedback control system and

closed-loop control system are used

interchangeably
Closed-loop control always implies the use of

feedback control action in order to reduce

system error

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Closed Loop Example : flush toilet

Plant: water tank
Input: water flow
Output: water level h(t )
Expected value: h0
Sensor: float
Controller: lever
Actuator: piston
h0

Controller
Lever

lever

h0

Actuator
Piston

Plant
q1 (t ) Water
Tank

h(t )

Float
22

Sensor

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Other examples of feedback

The human body is highly advanced feedback control
system.
-Body temperature and blood pressure are kept
constant by means of physiological feedback.
Feedback makes the human body relatively insensitive
to external disturbance. Thus we can survive in a changing
environment.

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Comments on feedback control (closed

loop)
Main advantages of feedback:
reduce disturbance effects
make system insensitive to variations
stabilize an unstable system
create well-defined relationship between output

and reference

24

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Comments on feedback control

Drawbacks of feedback:
cause instability if not used properly
couple noise from sensors into the dynamics of a

system
increase the overall complexity of a system

25

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Open-loop vs. closed-loop

Open-loop control
Simple structure,
low cost
Easy to regulate

Low accuracy and

resistance to
disturbance

Closed-loop control
Ability to correct error
High accuracy and
resistance of disturbance
Complex structure,
high cost
Selecting parameter is
critical (may cause
stability problem)

Open-loop Closed-loop Composite control system

26

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Thinking time
Examples of open-loop
control and closed-loop
control systems ?

For each system, could you identify

the sensor, actuator and controller?

27

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Classification of control systems

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Classification of control systems

the reference input

(expected value) is a
constant value
the controller works to
keep the output around
the constant value
e.g. constanttemperature control,
liquid level control and
constant-pressure
control.
29

the reference input

may be unknown or
varying
the controller works
to make the output
track the varying
reference
e.g. automatic
navigation systems on
boats and planes,
satellite-tracking
antennas

the input changes

according to a
program
the controller
works according to
predefined command
e.g. numerical
control machine

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Classification of control systems

f ( x1 ) y1

f ( x2 ) y2
superposition principle

f ( x1 x2 ) f ( x1 ) f ( x2 ) y1 y2
superposition principle applies
described by linear
differential equation

described by nonlinear
differential equation
30

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Classification of control systems

All the signals are functions

of continuous time variable
Signals are in the form of
either a pulse train or a
digital code
e.g. digital control system
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Classification of control systems

The parameters of a control

system are stationary with
respect to time
System contain elements that
drift or vary with time
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Basic requirements for control systems

Stability: refer to the ability of a system to recover equilibrium
Quickness: refer to the duration of transient process before the

control system to reach its equilibrium

Accuracy: refer to the size of steady-state error when the

transient process ends

(Steady-state error=desired output actual output)

------------------------------33

END.lec.1
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The Laplace Transform

The Laplace transform was developed

by the French mathematician by the same

name (1749-1827) and was widely adapted
to engineering problems in the last
century. Its utility lies in the ability to
convert differential equations to algebraic
forms that are more easily solved. The
notation has become very common in
certain areas as a form of engineering
language for dealing with systems.

34

Steps involved in using the Laplace transform

L[ f (t )] F ( s )

L1[ F ( s )] f (t )

F ( s ) f (t )e st dt
0

35

Basic Theorems of Linearity

L[ Kf (t )] KL[ f (t )] KF ( s )

L[ f1 (t ) f 2 (t )] L[ f1 (t )] L[ f 2 (t )]
F1 ( s ) F2 ( s )
The Laplace transform of a product is not the product

of the transforms.

L[ f1 (t ) f 2 (t )] F1 ( s ) F2 ( s )
36

Laplace transform of the basic signals

unit step function

F ( s ) (1)e st dt
0

st

e
F (s)
s

37

e 0
1
0

s
s

Laplace transform of the exponential function

f (t ) e t

F (s) e

e dt e ( s )t dt

( s ) t

( s )
1

38

st

e 0
0
( s )

Common transform pairs.

39

Laplace Transforms of Common

Functions
Name
Impulse

40

f(t)
1
f (t )
0

F(s)
t0
t0

Step

f (t ) 1

1
s

Ramp

f (t ) t

1
s2

Exponential

f (t ) e at

1
sa

Sine

f (t ) sin(t )

1
2 s2

Commonly used functions

(t )
u( t )
e st
t
tn

41

1
1
s
1
sa
1
2

s
n!
s

n 1

at

sin( wt )

e at cos( wt )
sin( wt )
cos( wt )

w
(s a)2 w 2
sa
(s a)2 w 2
s sin w cos
s2 w 2
s cos w sin
s2 w 2

Example.1
v (t ) 5e

2 t

sin 4t

4
V ( s ) L[v(t )] 5
( s 2) 2 (4) 2
20
20
2
2
s 4 s 4 16 s 4 s 20

42

Example .2

p (t ) 5 cos 2t 3e

4 t

s
1
P ( s ) L[ p (t )] 5 2
3
2
s (2)
s4
5s
3
2

s 4 s4

43

Inverse Laplace Transforms by Identification

When a differential equation is solved by Laplace

transforms, the solution is obtained as a function of

the variable s. The inverse transform must be
formed in order to determine the time response. The
simplest forms are those that can be recognized
within the tables and a few of those will now be
considered.

44

Example .3 Determine the inverse transform of

the function below.
5 12
8
F ( s)
2
s
s
s3

f (t ) 5 12t 8e 3t

45

Example .4 Determine the inverse transform of

the function below.
200
V (s) 2
s 100

10
V ( s ) 20
2
2
s

(10)

v (t ) 20 sin10t

46

Example .5 Determine the inverse transform of

the function below.
V ( s)

8s 4
s 2 6 s 13

When the denominator contains a quadratic, check the roots. If

they are real, a partial fraction expansion will be required. If they

are complex, the table may be used. In this case, the roots are

s1,2 3 2i
s 2 6 s 13
s 2 6 s (3) 2 13 (3) 2
s 2 6s 9 4
( s 3) 2 (2) 2
47

Example .5 Continuation.
8( s 3)
4 24
V (s)

2
2
( s 3) (2)
( s 3) 2 (2) 2
8( s 3)
10(2)

2
2
2
2
( s 3) (2)
( s 3) (2)

v(t ) 8e 3t cos 2t 10e 3t sin 2t

48

Ordinary Differential Equations Transforms

F (s)

N (s)
D( s)

N ( s ) an s n an 1s n 1 ... a1s a0
D( s ) bm s bm 1s
m

m 1

... b1s b0

N (s)
F ( s)
bm ( s p1 )( s p2 )....( s pm )

49

The roots of D(s) are called poles and they may be

classified in four ways.
1. Real poles of first order.
2. Complex poles of first order (including purely

imaginary poles)
3. Real poles of multiple order
4. Complex poles of multiple order (including
purely imaginary poles)

50

Example .6 Determine inverse transform of

function below.
s6
s6
F (s) 2

s 3s 2 ( s 1)( s 2)
A1
A2
s6
F ( s)

( s 1)( s 2)
s 1 s 2

A1 ( s 1) F ( s ) s 1

51

s 6

s 2

s 1

1 6

5
1 2

Example .6 Continuation.

s 6
A2 ( s 2) F (s ) s 2
s 1

2 6

4
2 1
s 2

5
4
F (s)

s 1 s 2

f (t ) 5e t 4e 2 t
52

Example .7 Determine exponential portion of

inverse transform of function below.
F (s)

50( s 3)
( s 1)( s 2)( s 2 2 s 5)

F1 ( s )
A1

A1
A2

s 1
s2

50( s 3)
( s 2)( s 2 2 s 5)

50( s 3)
A2
( s 1)( s 2 2 s 5)

s 2

s 1

(50)(2)
25
(1)(4)

(50)(1)

10
( 1)(5)

f1 (t ) 25e t 10e 2 t
53

Example .8 find the inverse

transform
50( s 3)
25
10
As B

2
2
( s 1)( s 2)( s 2 s 5)
s 1 s 2 s 2s 5

50(3)
25 10 B

(1)(2)(5)
1
2
5
50(4)
25 10
A B

(2)(3)(8)
2
3
8

B 25
A 15

25
10
15s 25
F (s)

2
s 1 s 2 s 2s 5
54

Example .8 Continuation.
15s 25
F2 ( s ) 2
s 2s 5
s 2 2 s 5 s 2 2 s 1 5 1 ( s 1) 2 (2) 2

15s 25
15( s 1)
5(2)
F2 ( s )

2
2
2
2
( s 1) (2)
( s 1) (2)
( s 1) 2 (2) 2

f (t ) f1 (t ) f 2 (t )
25e
55

10e

2 t

15e cos 2t 5e sin 2t

Second-Order Real Poles

Assume that F(s) contains a denominator factor of the

form (s+)2. The expansion will take the form shown

below.
C1
C2
F (s)

R(s)
2
(s )
s

C1 ( s ) 2 F ( s )

f1 (t ) C1te t C2 e t (C1t C2 )e t
56

Example.9 Determine inverse transform of

function below.
60
F (s)
s ( s 2) 2

F ( s)

C1
C2
60
A

s ( s 2) 2
s
( s 2) 2
( s 2)

A sF ( s ) s 0

60
( s 2) 2

C1 ( s 2) 2 F ( s )

57

s 2

s 0

60
s

60
15
2
(0 2)

s 2

60
30
2

Example .9 Continuation.

F (s)

C2
60
15
30

s ( s 2) 2
s
( s 2) 2
s2

60
15
30
C2

(1)(1 2) 2
1
(1 2) 2
(1 2)

C2 15

60
15
30
15
F (s)

2
2
s ( s 2)
s
( s 2)
s2

f (t ) 15 30te 2 t 15e 2t 15 15e 2t (1 2t )

58

Laplace Transform Operations

59

Using Matlab with Laplace transform:

Example

Use Matlab to find the inverse transform of

s ( s 6)
F ( s)
( s 3)( s 2 6 s 18)

syms s t
ilaplace(s*(s+6)/((s+3)*(s^2+6*s+18)))
ans =
-exp(-3*t)+2*exp(-3*t)*cos(3*t)
60

Initial Value Theorem

If the function f(t) and its first derivative are Laplace transformable and f(t)
Has the Laplace transform F(s), and the lim sF ( s ) exists, then
s

lim sF ( s ) lim f ( t ) f ( 0)
s

t0

Initial Value
Theorem

The utility of this theorem lies in not having to take the inverse of F(s)
in order to find out the initial condition in the time domain. This is
particularly useful in circuits and systems.

61

Example:

Given;

F ( s)

( s 2)
( s 1) 2 5 2

Find f(0)

f (0) lim sF ( s ) lim s

s

lim

s 2
s

62

( s 2)
( s 1)

lim

52 s

s2 s2 2 s s2
2

s 2 s s ( 26 s )

s 2 2s
2

s 2 s 1 25

Final Value Theorem

If the function f(t) and its first derivative are Laplace transformable and f(t)
has the Laplace transform F(s), and the lim sF ( s ) exists, then
s

lim sF ( s ) lim f ( t ) f ( )
s0

Final Value
Theorem

Again, the utility of this theorem lies in not having to take the inverse
of F(s) in order to find out the final value of f(t) in the time domain.
This is particularly useful in circuits and systems.

63

Example:
Given:

Find

F ( s)

( s 2) 2 3 2

( s 2)

32

f ( )

f ( ) lim sF ( s ) lim s
s0

64

note F 1 ( s ) te 2 t cos 3t

s0

( s 2) 2 3 2

( s 2)