CONTROL SYSTEMS
Dr/ Amr Wageeh
Lecture 1
INTRODUCTION
Course Objective:
The course aims to identify different systems and how
to define the general characteristics of each system,
study the different types of controllers, and determine
the appropriate controller for each system.
Course degree:
150 degree (100 final – 50 year works).
Reference:
Katsuhiko Ogata, “Modern Control Engineering”, Fifth
Edition
COURSE CONTENTS
Introduction.
System Representation.
Open Loop and Closed loop Control Systems.
System Modeling.
Block Diagrams.
Transfer Function.
Second Order Systems.
Error Analysis.
Stability Analysis.
Nyquist Plot.
Root Locus.
Bode Plot.
State Space Representation.
WHAT IS CONTROL ?
Make some object ( called system or plant) behave
as we desire.
Control examples:
Electrical motor speed.
Robot.
Room temperature control.
Voice volume control.
…..etc.
AUTOMATIC CONTROL
Automatic control has played a vital role in the advance
of engineering and science.
Application:
Robotic systems.
Aircraft.
Industrial processes.
Etc….
MANUAL LIQUID LEVEL CONTROL
SYSTEM
A manual Control Systems for regulating the level of fluid in a tank
by adjusting the output valve. The operator views the level of fluid
through a port in the side of the tank.
AUTOMATIC LIQUID LEVEL
CONTROL SYSTEM
OPEN LOOP CONTROL SYSTEMS
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.
In the presence of disturbances, an open loop control
system will not perform the desired task.
Open loop control can be used in practice only if the
relationship between the input and output is known and
if there are neither internal nor external disturbances.
OPEN LOOP CONTROL SYSTEMS
Advantages:
Simple construction, ease of maintenance, and less
expensive.
There is no stability concern.
Disadvantages:
Disturbances and changes in calibration cause
errors and the output may be different from what is
desired.
CLOSED LOOP CONTROL SYSTEM
CLOSED LOOP CONTROL SYSTEM
Closed loop control systems. Feedback control systems
are often referred to as closed-loop control systems.
In a closed loop control system the actuating error
signal, which is the difference between the input signal
and feedback signal, is fed to the controller so as to
reduce the error and bring the output of the system to a
desired value.
CLOSED LOOP CONTROL SYSTEMS
Advantages:
High accuracy.
Not sensitive to disturbance.
Controllable transient response.
Controllable steady state error.
Disadvantages:
More complex, and more expensive.
Possibility of instability.
Need for output measurement.
LAPLACE TRANSFORM
Laplace Transforms:
method for solving
differential
equations, converts
differential equations
in time t into
algebraic equation in
complex variable s.
LAPLACE TRANSFORM PROPERTIES
TRANSFER FUNCTION
Transfer functions are commonly used to characterize
the input-output relationships of components or
systems that can be described by linear, time-invariant,
differential equations.
The transfer function is defined as the ratio of Laplace
transform of the output (response function) to the
Laplace transform of the input
TRANSFER FUNCTION
The general form of the differential equation for LTI
system is given by:
Where y is the system output and x is the input of the
system.
The transfer function of this system is obtained by taking
the Laplace transforms of both sides of equation (under
the assumption that all initial conditions are zero)
Then the transfer function is:
Poles: are roots of the denominator (values of s such
that transfer function becomes infinite).
Zeros: are roots of the numerator (values of s such
that transfer function becomes 0).
