Automatic Control

Assoc. Prof. Ashraf Amin

[email protected]
Sinai University
Faculty of Engineering

ENM 4217
Automatic Control
Credit Hours
Lecture Lab/Tutorial Total
2 2 3
 Course contents
-Overview and history of feedback control.
- Mathematical modeling of physical systems including
thermal, fluid, electromechanical and mechanical.
- Interpretation of the dynamic response of low order
systems in both the time, frequency and domain.
- Feedback and stability. Stability assessment techniques and
root locus analysis.
- Response specifications, time and (mention of) frequency.
- Introduction to controllers. PID algorithms and tuning.
 REFERENCES
·1- Farid Golnaraghi, Benjamin C. Kuo, Automatic Control Systems,

Wiley, 9th Ed., 2009.

2- Averill Law and Kelton, David M., “Simulation Modeling and

Analysis,” McGraw Hill Co., 1999.

 CHAPTER I
INTRODUCTION TO
CONTROL SYSTEMS

5
 CONTROL SYSTEM
Any quantity or parameter of interest in a machine,
mechanism, or other equipment is maintained or
altered in accordance with a desired manner (to
obtain desired response). ‫تعرف منظومة التحكم بأنها أى عنصر أو‬
‫كمية فى ماكينة أو تركيبة أو معدة يراد تثبيتها أو تغييرها بشكل معين للحصول على‬
.‫االستجابة المطلوبة‬
A Control system is a system or a set of devices that manages command and
directs the behavior of other devices or systems. It works on the principle of the
input-process-output cycle. since the output is controlled by varying input. They
are widely used in electronics, automation, and engineering.

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 Example: Vehicle Speed:

Input Force Engine- Output

Accelerator pedal, Linkages
and Fuel combustion vehicle
(Command signal) (Controlled
variable)
The desired speed can be maintained by (or changed by) controlling the pressure on
the accelerator pedal.
Most control systems include electrical, mechanical, and chemical components.
Control engineering is not limited to any engineering discipline but is equally
applicable for aeronautical, chemical, mechanical, environmental, civil and electrical
engineering.

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 Open-loop systems
Any physical system which does not correct for variation in its output. Also, it is a
system which does not contain comparator nor feedback. Any change in either the
external conditions or internal parameters of the system may cause the output to
vary from the desired value.

General block diagram of open-loop system

 Closed-loop systems
In contrast to an open-loop control system, a closed-loop
control system utilizes an additional measure of the actual
output to compare the actual output with the desired output
response. The measure of the output is called the feedback
signal. A simple closed-loop feedback control system.

General block diagram of open-loop system

 Closed-loop system
The system is called a closed-loop system, if the information about the
instantaneous state of the output is fed back and compared with the input
and difference is used to modify the output, in such manner, to achieve a
desired condition.

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Schematic diagram of a manually controlled

closed-loop system
Open-loop speed control A closed-loop speed control
system system
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Some Application Examples Of Closed-Loop Control
systems:
- Thermostat Heater
-Sunseeker solar system
- Voltage stabilizer
- Missile Launcher
- Auto Engine
- Inverter AC
- Automatic toaster
- Turbine Water Control System at power Station
- Automatic Clothes Iron
-A human traveling on the road
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Sunseeker solar system

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A human traveling on the road

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SERVOMECHANISMS:
They are defined as feedback control systems in which the
controlled variable is mechanical position or time derivatives
of position; velocity or acceleration.

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A position control system

A BRIEF HISTORY OF AUTOMATIC CONTROL

Automatic control of water level

using a float level was used in the
Middle East for a water clock The
water clock was used from
sometime before Christ until the
17th century

Water clock
A BRIEF HISTORY OF AUTOMATIC CONTROL
The first automatic feedback controller used in an industrial process is generally agreed
to be James Watt’s flyball governor, developed in 1769 for controlling the speed of a
steam engine.

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 Description of control systems

Block Diagram Models:

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19
20
 Transfer Function:
It is defined as the ratio of the Laplace transform of the
output variable to the Laplace transform of the input,
under the assumption that all initial conditions are
zeros.

and the inverse Laplace transform is written as:

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22
23
Reduction techniques
1. Combining blocks in cascade

G1 G2 G1G2

2. Combining blocks in parallel

G1
G1 + G2
G2
Reduction techniques
3. Moving a summing point ahead of a block

G G
1
G

4. Moving a pickoff point behind a block

G G
1
G

5. Moving a pickoff point ahead of a block

G G
G
Reduction techniques
6. Eliminating a feedback loop

G
G
1  GH
H

G
G
1 G

H =1

7. Swap with two neighboring summing points

A B B A
Algebra of Block diagrams may be summarized as shown into the
following table:

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 The transfer function of the simple closed-loop control
system given in the underneath figure can be deduced as
follows:
E(s) = R(s) - B(s)
=R(s) - H(s) C(s)

C(s) = G(s) E(s)

=G(s) [R(s)-H(s)C(s)]

Therefore, the transfer function relating the output C(s) to

the input R(s) is given by:

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EXAMPLE (1)
EXAMPLE (1): CONTINUE.

However in this example step-4 does not apply.

However in this example step-6 does not apply.

EXAMPLE-2: SIMPLIFY THE BLOCK DIAGRAM.
EXAMPLE-2: CONTINUE.
EXAMPLE-2: REDUCE THE BLOCK DIAGRAM.

H2

R _ C
+_ + G1 + G2 G3
+

H1
EXAMPLE-2:

H2
G1
R _ C
+_ + + G1 G2 G3
+

H1
EXAMPLE-12:

H2
G1
R _ C
+_ + + G1G2 G3
+

H1
EXAMPLE-2:

H2
G1
R _ C
+_ + + G1G2 G3
+

H1
EXAMPLE-2:

H2
G1
R _ G1G2 C
+_ + G3
1 − G1G2 H1
EXAMPLE-12:

H2
G1
R _ G1G2G3 C
+_ +
1 − G1G2 H1
EXAMPLE-2:

R G1G2G3 C
+_ 1 − G1G2 H1 + G2G3 H 2
EXAMPLE-2:

R G1G2G3 C
1 − G1G2 H1 + G2G3 H 2 + G1G2G3
Example (3):
Draw a simplest block diagram for the following multi-
loop feedback control system (reduction of block
diagram).

41

A take-off point is moved after block G4.

Reduction of the minor positive feedback loop.

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Example (4)
Draw a simplest block diagram for the following multi-loop
feedback control system (reduction of block diagram)

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44
 Signal-Flow Graph

which follows the arrows of successive branches from left to 45

right and in which a node appears once.

 Mason's Rule: (General Gain Formula for signal flow
graphs):

The over-all transmittance, general gain formula, can be

obtained by applying the rule developed by S. J. Mason as
follows: T=  Pn n

Where, Pn, is the product of the transmittance of each element into the
forward path, between a source and a sink node. ∆ is the graph
determinant and is given by:

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47
• The block diagram reduction technique requires successive
application of fundamental relationships in order to arrive at
the system transfer function.
• On the other hand, Mason’s rule for reducing a signal-flow
graph to a single transfer function requires the application of
one formula.
• The formula was derived by S. J. Mason when he related the
signal-flow graph to the simultaneous equations that can be
written from the graph.
 MASON’S RULE:
• The transfer function, C(s)/R(s), of a system represented by a signal-
flow graph is;
n
 Pi  i
C( s ) i =1
=
R( s ) 
Where

n = number of forward paths.

Pi = the i th forward-path gain.
∆ = Determinant of the system
∆i = Determinant of the ith forward path

• ∆ is called the signal flow graph determinant or characteristic function.

Since ∆=0 is the system characteristic equation.
 MASON’S RULE:
n
 Pi  i
C( s ) i =1
=
R( s ) 
∆ = 1- (sum of all individual loop gains) + (sum of the products of the
gains of all possible two loops that do not touch each other) – (sum
of the products of the gains of all possible three loops that do not
touch each other) + … and so forth with sums of higher number of
non-touching loop gains

∆i = value of Δ for the part of the block diagram that does not touch
the i-th forward path (Δi = 1 if there are no non-touching loops to the
i-th path.)
 Systematic approach

1. Calculate forward path gain Pi for each

forward path i.

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2. Calculate all loop transfer functions
3. Consider non-touching loops 2 at a time
4. Consider non-touching loops 3 at a time
5. etc
6. Calculate Δ from steps 2,3,4 and 5
7. Calculate Δi as portion of Δ not touching
forward path i
 TERMINOLOGIES
• An input node or source contain only the outgoing branches. i.e., X1
• An output node or sink contain only the incoming branches. i.e., X4
• A path is a continuous, unidirectional succession of branches along which
no node is passed more than ones. i.e.,

X1 to X2 to X3 to X4 X1 to X2 to X4
• A forward path is a path from the input node to the output node. i.e.,
X1 to X2 to X3 to X4 , and X1 to X2 to X4 , are forward paths.
• A feedback path or feedback loop is a path which originates and
terminates on the same node. i.e.; X2 to X3 and back to X2 is a feedback
path.
 TERMINOLOGIES
• A self-loop is a feedback loop consisting of a single branch. i.e.; A33 is
a self loop.
• The gain of a branch is the transmission function of that branch.
• The path gain is the product of branch gains encountered in traversing
a path. i.e. the gain of forwards path X1 to X2 to X3 to X4 is A21A32A43
• The loop gain is the product of the branch gains of the loop. i.e., the
loop gain of the feedback loop from X2 to X3 and back to X2 is A32A23.

• Two loops, paths, or loop and a path are said to be non-touching if

they have no nodes in common.
CONSIDER THE SIGNAL FLOW GRAPH BELOW AND IDENTIFY THE
FOLLOWING

a) Input node.
b) Output node.
c) Forward paths.
d) Feedback paths (loops).
e) Determine the loop gains of the feedback loops.
f) Determine the path gains of the forward paths.
g) Non-touching loops
 CONSIDER THE SIGNAL FLOW GRAPH BELOW AND IDENTIFY THE
FOLLOWING

• There are two forward path gains;

 CONSIDER THE SIGNAL FLOW GRAPH BELOW AND IDENTIFY THE
FOLLOWING

• There are four loops

 CONSIDER THE SIGNAL FLOW GRAPH BELOW AND IDENTIFY THE
FOLLOWING

• Nontouching loop gains;

 EXAMPLE#1: APPLY MASON’S RULE TO CALCULATE THE TRANSFER
FUNCTION OF THE SYSTEM REPRESENTED BY FOLLOWING SIGNAL
FLOW GRAPH

Therefore, C P11 + P2  2
=
R 
There are three feedback loops

L1 = G1G4 H1 , L2 = −G1G2G4 H 2 , L3 = −G1G3G4 H 2

 EXAMPLE#1: APPLY MASON’S RULE TO CALCULATE THE TRANSFER
FUNCTION OF THE SYSTEM REPRESENTED BY FOLLOWING SIGNAL
FLOW GRAPH

There are no non-touching loops, therefore

∆ = 1- (sum of all individual loop gains)

 = 1 − (L1 + L2 + L3 )

 = 1 − (G1G4 H1 − G1G2G4 H 2 − G1G3G4 H 2 )

 EXAMPLE#1: APPLY MASON’S RULE TO CALCULATE THE TRANSFER
FUNCTION OF THE SYSTEM REPRESENTED BY FOLLOWING SIGNAL
FLOW GRAPH

Eliminate forward path-1

∆1 = 1- (sum of all individual loop gains)+...

∆1 = 1

Eliminate forward path-2

∆2 = 1- (sum of all individual loop gains)+...

∆2 = 1
EXAMPLE#1: CONTINUE
 EXAMPLE#2: APPLY MASON’S RULE TO CALCULATE THE TRANSFER FUNCTION OF
THE SYSTEM REPRESENTED BY FOLLOWING SIGNAL FLOW GRAPH

P1

P2 P1 = G1G2G3G4 (path 1) and P2 = G5G6G7G8 (path 2)

1. Calculate forward path gains for each forward path.

L1 = G2 H 2 , L2 = H 3G3 , L3 = G6 H 6 , L4 = G7 H 7

2. Calculate all loop gains.

3. Consider two non-touching loops. 62

L1L3 L1L4
L2L4 L2L3
 EXAMPLE#2: CONTINUE

4. Consider three non-touching loops.

None.

5. Calculate Δ from steps 2,3,4.

 = 1 − (L1 + L2 + L3 + L4 ) + (L1L3 + L1L4 + L2 L3 + L2 L4 )

 = 1 − (G2 H 2 + H 3G3 + G6 H 6 + G7 H 7 ) +
(G2 H 2G6 H 6 + G2 H 2G7 H 7 + H 3G3G6 H 6 + H 3G3G7 H 7 )
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 Example#2: continue
Eliminate forward path-1

1 = 1 − (L3 + L4 )
1 = 1 − (G6 H 6 + G7 H 7 )

Eliminate forward path-2

 2 = 1 − (L1 + L2 )

 2 = 1 − (G2 H 2 + G3 H 3 )

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 Example#2: continue

Y ( s ) P11 + P2  2
=
R( s ) 

Y (s) G1G2G3G4 1 − (G6 H 6 + G7 H 7 ) + G5G6G7 G8 1 − (G2 H 2 + G3 H 3 )

=
R( s ) 1 − (G2 H 2 + H 3G3 + G6 H 6 + G7 H 7 ) + (G2 H 2G6 H 6 + G2 H 2G7 H 7 + H 3G3G6 H 6 + H 3G3G7 H 7 )

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 EXAMPLE#3
Find the transfer function, C(s)/R(s), for the signal- 
flow graph in figure below.
 EXAMPLE#3
There is only one forward Path. 

P1 = G1 ( s )G2 ( s )G3 ( s )G4 ( s )G5 ( s )

EXAMPLE#3
There are four feedback loops. 
EXAMPLE#3
Non-touching loops taken two at a time. 
EXAMPLE#3
Non-touching loops taken three at a time. 
 EXAMPLE#3

Eliminate forward path-1

 EXAMPLE#4: APPLY MASON’S RULE TO CALCULATE THE
TRANSFER FUNCTION OF THE SYSTEM REPRESENTED BY
FOLLOWING SIGNAL FLOW GRAPH

There are three forward paths, therefore n=3.

3
 Pi  i
C( s ) i =1 P11 + P2  2 + P3  3
= =
R( s )  
FROM BLOCK DIAGRAM TO SIGNAL-FLOW GRAPH MODELS
EXAMPLE#4

H1

R(s) E(s) X1 － X3 C(s)

G1 G2 G3 G4
－ X2
－
H2

H3

－H1
R(s) 1 E(s) G1 X1 G2 X2 G3 X3 G4 C(s)

－H2
－H3
FROM BLOCK DIAGRAM TO SIGNAL-FLOW GRAPH MODELS
EXAMPLE#4
－H1
R(s) 1 E(s) G1 X1 G2 X2 G3 G4 X3 1 C(s)

－H2

－H3

 = 1 + (G1G2G3G4 H 3 + G2G3 H 2 + G3G4 H 1 )

P1 = G1G2G3G4 ; 1 = 1

C ( s) G1G2G3G4
G= =
R( s ) 1 + G1G2G3G4 H 3 + G2G3 H 2 + G3G4 H 1
Example 5: For the given block diagram, find:

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This system has:
a) two forward paths with transmittances (gains):

b) five loops whose

transmittances are:
At node E:
l1=-G1G4, l2=-G1G2G3
At node y3: At node y2:
l3=-G1G2H1 l4=- G2G3H2 and l5=-G4H2.

Therefore,
ΣL1=-[ G1G4+ G1G2G3+ G1G2H1+ G2G3H2+ G4H2]
c) all the feedback loops are in touch with the two forward
paths between R and C therefore, Δ1 = 1 and Δ2 = 1.
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Therefore,
Δ =1+ G1G4+ G1G2G3+ G1G2H1+ G2G3H2+ G4H2
And
C(s) G1G4 + G1G2G3
=
R(s) 
Similarly for E(s)/R(s) we have:
Δ1 =1+ G1G2H1+ G2G3H2+ G4H2

and for Y3(s)/R(s):

Δ1 =1+ G2G3H2+ G4H2, P1=1.
also for Y2(s)/R(s): we have Δ1 = 1 and P1=G1, therefore,

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Example 6: Draw the signal flow graph of the block diagram given in
Fig.2.21, then find the control ratio C(s)/R(s).

The system has four loops:

Only two loops are non-touching, therefore

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Two forward paths:

P1 = G1G2G3G5, Δ1 =1, P2 = G1G2G4G5, Δ2 =1

C(s) G1G2G3G5 +G1G2G4G5

 =
R(s) 1+G2H1 +G5H2 +G1G2G3G5 +G1G2G4G5 +G2G5H1H2

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