MDP410 Automatic Control

Yasser Anis, Ph.D.

Professor,
Mechanical Design and Production Dept.,
Faculty of Engineering,
Cairo University

[email protected]
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Course Instructors

Prof. Yasser Anis Dr. Mohamed Elgamil

Eng. Abdullah Refate

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Topics
• Part 1 (Weeks 01 to 07)

• Revision Transient & Steady-state Response

• Root Locus techniques
• Design via Root Locus (PI, Lag, PD, Lead, PID, Lag-Lead)
• PID Tuning

• Part 2 (Weeks 09 to 13)

• Design via Frequency Response
• Applications and Case Studies

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Textbook
Automatic Control
• Nise, Norman “Control Systems Engineering ”, 6th ED, Wiley, 2011.

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References and Software
• Ogata, Katsuhiko, “Modern Control Engineering”, Prentice Hall, 5ED, 2010.
• Dorf, Richard C., and Robert H. Bishop. "Modern Control Systems”, Prentice
Hall, 12ED, 2010.
• Golnaraghi, Farid and Kuo, Benjamin ”Automatic Control Systems”, 9ED,
Wiley, 2009.

Software
• Matlab + Simulink
• GNU Octave (Free alternative to Matlab)
• Working Model 2D
• Labview
• MyOpenLab (Free alternative to Labview)

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Course Grade Distribution
• Course Work: 50 points
• Quizzes + Assignments: 20 points
• Mid-Term: 15 points • NO MAKEUP EXAMS
• Projects: 15 points

• Final Exam: 75 points

• All submissions must be made via Google Classroom

• It is the student’s responsibility to regularly check their grades on a weekly basis

and notify us of any mistakes (ungraded quizzes or homework, for example). We
will only fix problematic marks within eight days of its posting.

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Deadlines
• Due on the deadline specified.

• Late homework will be accepted with a penalty of -10% for every 30

minutes of delay.

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Academic Integrity Dishonesty
Includes:
• Plagiarizing reports/cases

• Cheating on assignments

• Multiple submissions of the same work for grades

• Fabrication of data or documents.

• Cheating on midterm exam

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Classroom rules

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Office Hours (Yasser Anis )

• Office Hours shall be held via Zoom (Sunday?)

• https://utoronto.zoom.us/j/86888892895

• Office Hours may also be scheduled

• On demand via email
• Possibly on fixed weekly times

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Course Websites
Google Classroom:

Shared Folder: https://1drv.ms/f/s!Aix0UnsalOM3i-

Fv8cy14j5fk8GOFg?e=mKoBfZ

Includes:
• PowerPoint slides
• Problem sets
• Handouts
• Other material
• Videos
• Announcements
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1.1 Introduction
What is a Control System?
• A control system consists of subsystems and processes assembled for the
purpose of obtaining a desired output with desired performance, given a
specified input.

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1.1 Introduction
Example: Elevator
• Input: Elevation: Fourth Floor

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1.1 Introduction
Two major measures of performance:
• Transient response

• Steady-state error

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1.2 A History of Control Systems

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1.3 System Configurations
There are two major configurations of control systems:
• Open loop : is a system without feedback.
• Closed loop

Warm water
Hot water angle
Cold water angle

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Warm water
1.3 System Configurations
• A Closed-loop control system uses a measurement of the output
signal and compares it to the desired output (reference or command).
Warm water

Hot water angle

Cold water angle

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1.3 System Configurations
• Understanding Control Systems, Part 1: Open-Loop Control Systems
https://youtu.be/FurC2unHeXI

• Understanding Control Systems, Part 2: Feedback Control Systems

https://youtu.be/5NVjIIi9fkY

‫متوفر لهما ترجمة عربية‬ 19

1.5 The Design Process

Mathematical Modeling Write the system differential equation

Representation Time-domain S-domain State-Space

block diagram block diagram representation

Computer Analytical
Solution Simulation Solution

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Chapter 4: Transient
Response

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4.2 Poles, Zeros, and System Response
The output response of a system is the sum of two responses:

• Steady-state response (forced)

• Transient response (natural)

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4.2 Poles, Zeros, and System Response
• Zeros of a transfer function: values of the Laplace transform variable,
s, that cause TF=0

• Poles of a transfer function: values of the Laplace transform variable,

s, that cause the TF=∞

• Example: First-Order System

G(s) =
What are the pole and zeros?
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4.2 Poles, Zeros, and System Response
• Example: First-Order System

• TF: G(s) =

• Input: Unit step, i.e. r(t)=1

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4.2 Poles, Zeros, and System Response
• Example: First-Order System

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4.2 Poles, Zeros, and System Response

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4.2 Poles, Zeros, and System Response
• Input poles → affect steady state response (forced)
• System pole s→ affect transient response (natural)
• Pole on real axis → exponential transient response
• Values of Z & P → affect amplitude of transient & SS response

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4.2 Poles, Zeros, and System Response
• Example: Evaluating Response Using Poles

Affected by Poles & Zeros

Affected by Poles only

SS Transient
SS Transient
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4.4 Second-Order Systems
• Compared to the simplicity of a first-order system, a second-order
system exhibits a wide range of responses that must be analyzed and
described.

• The general case:

Has two Poles and no Zeros

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4.4 Second-Order Systems
• Undamped

𝜔𝑛 = 𝑏

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4.4 Second-Order Systems
• Underdamped

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4.4 Second-Order Systems
• Underdamped

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4.4 Second-Order Systems
• Underdamped

Rewriting the Second-order TF in terms of n and 

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4.5 The General Second-Order System

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4.4 Second-Order Systems
• Overdamped

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4.4 Second-Order Systems
• Critically Damped

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4.4 Second-Order Systems
• Summary

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4.4 Second-Order Systems
• Example: For each of the following transfer functions, determine, by
inspection, the step response:

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4.5 The General Second-Order System

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4.5 The General Second-Order System

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4.6 Underdamped Second-Order Systems

r(t)=1 c(t)=??

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4.6 Underdamped Second-Order Systems

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4.6 Underdamped Second-Order Systems
• We have defined two parameters associated with second-order
systems,  and n.

• Other parameters :
• Rise time,
• Peak time,
• Percent overshoot,
• Settling time.

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4.6 Underdamped Second-Order Systems
Rise time, Tr:
The time required to go from 0.1 to 0.9 of final value.

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4.6 Underdamped Second-Order Systems
Peak time, Tp:
Time required to reach the first (maximum) peak.

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4.6 Underdamped Second-Order Systems
Percentage Overshoot, %OS: The amount the wave overshoots the
steady state value (at the peak time), expressed as a percentage of the
steady-state value.

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4.6 Underdamped Second-Order Systems
Overshoot Percentage (%OS)

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4.6 Underdamped Second-Order Systems
%OS & Damping Ratio

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4.6 Underdamped Second-Order Systems
Settling time, Ts: Time required for transient oscillations
to reach and stay within ±2% of the steady-state value

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4.6 Underdamped Second-Order Systems
• Effect of Pole location on Ts

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4.6 Underdamped Second-Order Systems
• Effect of Pole location on Tp

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4.6 Underdamped Second-Order Systems
• Effect of Pole location on %OS

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Chapter 7: Steady-State
Errors

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7.1 Steady-state errors - Introduction
• Steady-state error is the difference between the input and the output
for a prescribed test input as t→∞. Test inputs include:

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7.1 Steady-state errors - Introduction
• Examples:

Zero SS error

Zero SS error

SS error e2

SS error ∞
SS error e2
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7.1 Steady-state errors - Introduction

Sources of SS errors (in closed-loop control system):

• Nonlinear sources (backlash in gears, or a motor that only move when input
voltage exceeds a threshold)
• Configuration of the system
• Type of applied input

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7.3 Static Error Constants and System Type
• Steady-state error (for unity feedback systems)

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7.3 Static Error Constants and System Type
Static Error Constants (unity feedback)

• Position constant

• Velocity constant

• Acceleration constant

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7.3 Static Error Constants and System Type
• Example: For each system, evaluate the static error constants and find
the expected error for the standard step, ramp, and parabolic inputs.

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7.3 Static Error Constants and System Type

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7.3 Static Error Constants and System Type

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7.3 Static Error Constants and System Type
• System Type: the value of n in the denominator (the number of pure
integrations in the forward path).

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7.3 Static Error Constants and System Type
• Example

• Type 0

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7.4 Steady-State Error Specifications
• Static error constants can be used to specify the steady-state error
characteristics of control systems.

Example: What information is contained in the specification Kp=1000?

Stability? System type? Input type? Steady state error?

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7.4 Steady-State Error Specifications
Gain Design to Meet a Steady-State Error Specification
• Example: Given the control system, find the value of K so that
there is 10% error in the steady state.

• Type 1 system

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