Modelling & Simulation of

Engineering Systems
(ECE 232)

Part (1)

Dr. Waleed M. Gaballah

 Course Objectives

2
 Course Outlines
• Chapter – 1
• Chapter – 2
• Chapter – 3
• Chapter – 4

• Chapter – 5

Reference:
1- Katsuhiko Ogata, “Modern Control Engineering”, 5th. Edition Pearson 2010.
2- Ingels, Don M. What every engineer should know about computer modeling and simulation. CRC Press, 2021.

3
 Lecture List
No. Topic Weeks
1 Mathematical modeling of linear dynamic systems. 1-4
2 Transfer function and impulse response function. 5-6

3 Modeling of mechanical, electrical, fluid and thermal systems. 8-9

Modeling in state space; State - space representation of scalar

4 differential equation systems. 10

5 State - space representation of transfer function system 11-13

Total 13

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Contents
Introduction to Control Systems
- The control Problem
- Automatic control system
- Some Basic definitions in control systems
- Classification of control systems
The Control Problem
Maintain a variable of process at a
Fundamental Control Concepts desired value while rejecting the effects
of outside disturbances by manipulating
another system variable.

Examples:
Heating and Cooling homes and offices
Automobile cruise control
Hold the position of a mechanical linkage
Maintain level in a tank

h Qout depends on h
If Qout = Qin, h constant
Qout > Qin, tank empties
Qout < Qin, tank overflows

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Basic Subsystems of Control
manual control system Feedback Control Subsystems
- Measurement
- Control decision
- System modification

Measurement-
sight glass

Control Decision
Human adjusts Qout to
maintain h =H

Reference
(setpoint)
Process-
h = control Final Control
Maintain tank
variable Element
level
Valve
7
Automatic Control Systems
Use sensors and analog or digital electronics to monitor and adjust system

Level
Measurement Elements of Automatic Control
- Process – single or multiple variables
Sensor - Measurement – sensors
- Error Detection – compare H to h
Controller
- Controller – generate corrections
- Final Control Element – modify process

Final control
element

Valve
Maintain Position
level
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AUTOMATIC CONTROL SYSTEM
Automatic Control system Advantages:
• It can reduce the consumption of energy
• Production labor will be decreased
• There won’t be any human errors
• It can also maintain the operational constraints
• Protection of the equipment
• Smooth plant operation
• Profitable
Automatic Control System Applications:
• Automobile
• Refrigeration
• Air conditioning
• It is used in transportation systems such as railways, planes, etc.
• It is used in many process industries such as chemical, steel, power, flow rate, etc,
 Some Basic Definitions
• System: A system is a combination of components that act together and perform a certain objective.

• CONTROL SYSTEM: A control system is a collection of different elements working together to achieve certain objective under the direction of
some machine intelligence.

• INPUT/OUTPUT: input is an excitation signal applied to a control system from an external source in order to produce a specific output.
Output is the actual response obtained from a control system.

• A DISTRIBUTED CONTROL SYSTEM: a distributed control system refers to a control system in which the controller elements are not central in
location (like the brain) but are distributed throughout the system with each component sub-system controlled by one or more controllers.

• CONTROLLED VARIABLE: The controlled variable is the quantity that is measured and controlled. Normally, the controlled variable is the
output of the control system.
• PLANT: A plant may be a piece of equipment, perhaps just a set of machine parts functioning together,
(such as a mechanical device, a heating furnace, a chemical reactor, or a spacecraft) the purpose of
which is to perform a particular operation. Any physical object to be controlled is a plant.

• DISTURBANCES: A disturbance is a signal that tends to adversely affect the value of the output of a system.
If a disturbance is generated within the system, it is called internal, while an external disturbance is
generated outside the system and is treated as an input.

• PROCESS: The process block represents the physical process being affected by the actuator, and the
controlled variable is the measurable result of that process. For example, if the actuator is an electric
motor that rotates an antenna, then the process is “rotating of the antenna,” and the controlled variable is
the angular position of the antenna.

• FEEDBACK CONTROL: Feedback control refers to an operation that, in the presence of disturbances, tends
to reduce the difference between the output of a system and some reference input (desired state) and
that does so on the basis of this difference.

• COMPARATOR: it is a part of the system that subtracts the feedback signal (as reported by the sensor) from
the set point, to determine the error.

• ERROR: In a control system, the difference between where the system is supposed to be (set point) and
where it really is. :
Classification of a control systems
Open loop control system
• This is also known as a non-feedback system.
• The control action is not dependent on the output of the system.
• These systems are not capable to take into account the disturbances. So it can only make changes in the output by making
changes in the input.
Advantages
• Simple construction
• Economical
• Easy to maintain
• Stable
Disadvantages
• Not accurate
• It is no reliable
• Any change in the output cannot be corrected automatically
 Closed loop control system
• There is a sensor that would measure the output and it uses feedback of the sensed value to influence the control input variable.
• The output would have an effect on the input quantity in a way that it can maintain the required output value.
• with the help of the feedback in a closed-loop control system is able to correct the changes in output that occur due to the
disturbances.
• The feedback feature of a closed-loop system makes it an automatic control system.
• In this system, the output is checked all the time so that it can be compared with the desired input and if it is not close to the
desired input then there would be an error signal. So by checking the error signal the control elements in the system will do the
required actions and thus the required output can be achieved.

Advantages
• High bandwidth range
• Accurate
• This is very accurate even in the presence of non-linearity
• Stability is increased by decreasing the sensitivity
• The system is not affected by noise
Disadvantages
• Costlier
• Design is complicated
• More maintenance is needed
• Due to the feedback, the gain is reduced
• Less stable
 feed-back and feed-forward control
• The Feed-Back control takes the system output to the controller and the controller would compare this
output to the required value.
• The Feed-Forward control would detect the disturbances directly and it would take proper actions to
remove the effect of this disturbance from the output. (The corrective action is taken before the occurrence of
disturbances in the output of the system.)

Feed-Back control Feed-Forward control

Advantages •It would measure the controlled variable •Disturbance variable
•It would take proper actions regardless of •It would correct the disturbance before it
the disturbance source makes any changes in the process
•It would decrease the sensitivity of the
controlled variable to the disturbances and
also to the change in process

Disadvantages •Corrective action will only take place after •It is not really sensitive so sometimes it
the disturbance can’t measure the disturbance
•The response is not stable •There won’t be any corrective action for the
unmeasured disturbances
(a) Open Loop control system
(b) Feed-Forward Control
System
(c) Feed-Back Control System
(closed loop)
Continuous control systems:
• These systems operate over a continuous range of time and/or output values. (all variables are
the functions of a continuous time)
• They may use analog or digital signals to represent the input and output of the system.
• Continuous control systems are often used in applications where a continuous output is
required (such as in a temperature control system).

Discrete control systems:

• These systems operate at discrete points in time, and the input and output are typically
represented by digital signals.
• Discrete control systems are often used in applications where the output is only required at
specific points in time (such as in a machine control system).
Linear control systems:
• These systems can be represented by linear differential equations, which means that the system
dynamics are proportional to the input and can be described using linear mathematical operations.
• Linear control systems have certain properties (such as superposition and scaling) that make them
relatively easy to analyze and control.

Nonlinear control systems:

• These systems cannot be represented by linear differential equations.
• A nonlinear system is a system which does not satisfy the superposition principle, or whose output is
not proportional to its input.
• Nonlinear control systems can be more challenging to analyze and control than linear systems and
may require specialized techniques or algorithms.
Time-invariant control systems:
• These systems have the same input-output relationship at all times, which means that the
system dynamics do not change over time.
• Time-invariant systems are often used in applications where the system parameters are not
expected to vary significantly over time.

Time-varying control systems:

• These systems have a time-varying input-output relationship, which may be caused by changes
in the system dynamics or external factors.
• Time-varying systems can be more challenging to analyze and control than time-invariant
systems, as the system dynamics may change over time.
END of part (1)

Dr. Waleed Gaballah