Automatic Control

Lecture 1

Applications:
Missile control
Behavior control
Aircraft control
Machine control
Aeronautic control

Engineering is control and control is engineering 1

 What Control is About???!!!

Control= compensate= manipulate=

Adjust= correct= desire= less error

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 What Control is About???!!!
Indeed all modern systems (aircrafts, CD player, speed
trains, cruise control system, …) couldn’t operate
without the aid of sophisticated control systems.
Improved control is the key enabling technology underpinning
- Enhanced product quality
- Waste minimization
- Environmental protection
- Greater throughput for a given installed capacity
- Greater yield
- Deferring costly plant upgrades
- Higher safety margins

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 Close loop with sensor
output
y(t)
r(t) Reference input
u(t)

Controller Plant

output
y(t)
my(t) Measurement
(sensor) output

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 System Integration
Important Issues in control:
Plant: the physical object to be controlled.
Process: a series of operations acting toward the end
Sensors: machines which measure system output.
Actuator: the muscles or the part which does the action.
Disturbance: signals which affect the output.
Feedback: the measure of the output compared to target.
Open-loop system: the output is neither measured nor fed-back.
Closed-loop system: the output is measured and compared with
the desired value.

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 What should we do?
Study the process

Mathematical Model

Simulate with MATLAB and SIMULINK

Design a controller

Apply in real-time
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 Types of Control
Classical Control
 Time Domain (Root-locus, Laplace Transform)
Frequency Domain (Bode, Nyquest)
 Modern Control
State Space (work for linear systems, have much control on it)
 Digital Control
Z-transform
Stochastic Control
Kalman Filters (estimate the variables that can’t be measured)
 Adaptive Control
Optimal Control
Riccatti Equation (minimize the cost function)
 Robust Control
Intelligent Control
Neural Network
Fuzzy logic 7
 Laplace Transform
f(t)= a function of time
S= a complex variable
₤= Laplace
F(s)= Laplace transformed
 
L[ f (t )]  F ( s)   e  st dt[ f (t )]   f (t )e  st dt
0 0

Laplace transform: is a mathematical tool used to solve linear ordinary

Differential equations ODE
It converts linear ODE into algebraic equation in “s”
Homogenous (transient equation +particular Integral (steady state) of the sol.
Obtained in one operation
Obtain the s-domain solution, use the inverse transform to find the time
domain solution. 8
 Laplace Transform
d
L[ f (t )]  sF ( s )  f (0)
dt
d2
L[ 2 f (t )]  s 2 F ( s )  sf (0)  f (0)
dt
( n2) ( n 1)
dn n 1 n2 
L[ n f (t )]  s F ( s )  s f (0)  s
n
f (0)  ...  s f (0)  f (0)
dt

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 Laplace Transform Properties

Properties of Laplace Transform

1- Multiplication by constant L[kf (t )]  kF ( s )

2- Superposition principal L[ f1 (t )   f 2 (t )]  F1 ( s )   F2 ( s)

3- Differentiation df (t )
L[ ]  SF ( s)  f (0)
dt
4- Integration 1
L[  f ( )d ]  F ( s)
s
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 Laplace Transform Properties
5- Time Shift
6- Time Scaling
7- Frequency Shift 
L[ f1 (t ) * f 2 (t )]   f 1 (t ) * f 2 (t )e  st dt
8- Convolution: 0

Convolution in time domain  t

0 0 1 2     st
= multiplication in  [ f ( ) f (t  ) d ]e dt
frequency domain
 F1 ( s ) F2 ( s )

Convolution in time domain is multiplication in Frequency domain

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 Laplace Transform Properties
9- Time product L[ f (t )]  F ( s )
10- multiply by time lim t  0 f (t )  lim s   sF ( s )
11-Initial Value Theorem

12-Final Value Theorem lim t   f (t )  lim s  0 sF ( s

Not valid if sF(s) contains a pole whose real part or zero is positive

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 Laplace Transform 
F ( s )  L[ f (t )]   f(t)e-st dt
Exponential function: 0
Step function:
f (t )  0,........ for..t  0 f (t )  0,........ for..t  0
.......  Ae t .... for..t  0 .......  A........ for..t  0

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 Laplace Transform

F ( s)  L[ f (t )]   f(t)e-st dt Sinusoidal function:
Ramp function: 0

f (t )  0,........ for..t  0 sin t 

1 jt  jt
(e  e )
.......  At ....... for..t  0 2j

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 Problems
Find the Laplace transform: Find the Laplace transform:
f (t )  0..... for..t  0 f (t )  0................. for..t  0

 3t
........  sin(t   ).. for...t  0
........  te .......t  0

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 Problems
Find the Laplace transform

f (t )  0......... for...t  0
........  t 2 sin t......t  0

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