LECTURE 1:

INTRODUCTION
Ahmed Bujelawi
[email protected]
References
■ Chen, Chi-Tsong. Linear system theory and design.
Oxford University Press, Inc., 1998.

■ Zak, Stanislaw H. Systems and control. Vol. 198. New

York: Oxford University Press, 2003.
■ Mulholland, Michael; Applied Process Control: Essential
Methods, 2016.
Course Objectives
■ Mainly this course is concerned with comparison
between the process control system in both industrial
and biomedical systems.
■ It also gives an attention to analyze the biomedical
system behavior in terms of an engineering view.
Course outlines
■ Design of practical control systems using continuous and digital techniques, and
embedded systems.
■ Identification of model parameters.
■ Numerical integration
■ Stability analysis.
■ Observability and controllability
■ Design of observers, design of digital controllers,
■ Pole placement technique.
■ Nonlinear systems.
■ Aspects of implementation are constantly emphasized.
Control System
■ Four Elements of the Control Problem Formulation:
 A model of the system to be controlled.
 A specified objective for the system.
 A set of admissible controllers.
 Means of measuring the controller performance to test the effectiveness of any
given control strategy.
■ A system is a combination of components that act together.
■ A system is a collection of objects that are related by interactions and produce
various outputs in response to different inputs.
■ The system boundaries that separate the components within the system from the
components outside the system.
MIMO System
■ The multiple-input multiple-output (MIMO) system consists of several inputs and
outputs.
■ Inputs: the external quantities acting on the system.
■ Outputs: the system quantities whose behavior can be measured or observed.
What is Process Control?
■ A process is a series of interrelated tasks that, together, transform inputs into
outputs
■ Process Control is the active changing of the process based on the results of
process monitoring. Once the process monitoring tools have detected an out-of-
control situation, the person responsible for the process makes a change to bring
the process back into control.
■ Two types of intervention are possible -- one is based on engineering judgment and
the other is automated.
■ The goal of the regulator is to maintain the constant output.
■ The servomechanism control system forces the output to follow a desired trajectory.
■ Mathematical modeling: is a mathematical description of the interrelations between
the system quantities themselves as well as the system inputs.
Continuous-Time System
■ Continuous-Time System: System which accepts continuous-time signal as its inputs
and produces continuous–time signals as its outputs.

 u1  t    y1  t  
   
u  t    .. 
.
y  t    .. 
.
   
u m  t    y p  t 
 
Discrete-Time System
■ Discrete-Time System: System which accepts discrete-time signal as its inputs and
produces discrete–time signals as its outputs.
■ Discrete-time signal: a sequence of points obtained from measurements at
successive times (natural temporal ordering).
■ “:=“ is an algebraic assignment
u  k  : u  kh 

■ Means u[k] becomes u(kh)

 u1  k    y1  k  
   
u  k    .. .
y  k    .. .
   
u m  k   y p  k 
 
Types of Systems
■ Memoryless System:
 Output at time t0 depends only on the input applied at t0 and it does not depend on the
input applied before t0
 That is, current output depends only on its current input; no dependence on past inputs.

■ Causal or non-anticipated system:

 Its current output may depend on current and past inputs but not on future inputs.

■ Non-causal system:
 Current output depends on future inputs.
 These systems can predict or anticipate future inputs.

■ Physical systems are causal.

System State
■ The state of the system is described by state variables denoted xi
 x1  t  
 
x  t    .. .
 
 xn  t  

■ The state x(t0) of a system at time t0 is the information at t0 that, together with the input
u(t), for t ≥ t0, determines uniquely the output y(t) for all t ≥ t0.
System State
■ Thus, if we know the initial state x(t0) and the current input u(t), then the past input is
irrelevant in the process of calculating the output y(t) for t ≥ t0 because the initial state
“summarizes” the past input.
■ A system is a lumped system if the number of state variables is finite, that is, the state vector x
is composed of finite number of components.
■ A system is distributed if its state consists of infinitely many components.
■ An example of a distributed system is the unit-time delay system model: y(t) = u(t-1)
■ To determine y(t) for t ≥ t0, from u(t) for t ≥ t0, we need the information about u(t) on the time
interval [t0 − 1, t0]. Thus the initial state of this time-delay system is the set of points, {u(t) : t
∈ [t0 − 1, t0]}.
■ However, there are infinitely many points u(t) on this interval. Thus, the above time-delay
system is a distributed system because its state is infinitely dimensional.
Example
■ The state vector of the system is
 x1  t  
 
x  t    x2  t  
 x3  t  
■ The input, the output, and the state at t0 are
related as

x  t0  
  y  t  , t  t0
u  t  , t  t0 

■ It means that the output is partly excited by the initial state at t0 and partly by the input
applied at and after t0 .
Linear System
■ A system is called a linear system if for every t0 and any two state-input-output pairs

x i  t0  
  y i  t  , t  t0
u i  t  , t  t0 
for i = 1, 2, we have

x1  t0  +x 2  t0  
  y1  t  +y 2  t  , t  t 0 (additivity)
u1  t  +u 2  t  , t  t 0 

 x1  t0  
   y1  t  , t  t 0 (homogeneity)
 u1  t  , t  t 0 
The two properties can be combined as
1x1  t0  + 2 x 2  t0  
  1y1  t  + 2 y 2  t  , t  t0 (Superposition)
1u1  t  + 2 u 2  t  , t  t0 
Zero-Input and Zero-State Response
■ If the input u(t) is identically zero for t ≥ t0, then the output will be excited exclusively by the
initial state x(t0). This output is called the zero-input response:
x  t0  
  y zi  t  , t  t 0
u  t  =0, t  t 0 

■ If the initial state x(t0) is zero, then the output will be excited exclusively by the input u(t).
This output is called the zero-state response:
x  t0  =0 
  y zs  t  , t  t 0
u  t  , t  t0 
■ The additivity property implies

Response = zero-input response + zero-state response

State space for continuous-time system
■ Every continuous linear time-invariant system can be described by a set of equations of the form

x  t   Ax  t   Bu  t 

y  t   Cx  t   Du  t 

■ Applying the Laplace transform yields

sX  s   x  0   AX  s   BU  s 

Y  s   CX  s   DU  s 
■ Solving these two equations and equating the initial state to zero can yield the transfer function
of the system as
Y s
G s   C  sI  A  B  D
1

U s
■ Matlab: tf2ss, ss2tf; [num, den] = ss2tf(a, b, c, d, 1)
Example
■ The first block:
m1 y1    k1  k 2  y1  k 2 y2  u1

■ Similarly for the second block

m2 y2  k 2 y1   k 2  k3  y2  u 2

Let us define: x1 : y1 x2 : y1 x3 : y2 x4 : y 2

 0 1 0 0 0 0 
  1 
 x1     k1  k 2  k2  x   x1 
x   0 0   1
0   
m1 m1  x2  m1   u1   y1  1 0 0 0   x2 
 2    
 x3   1   x3  0  u 2   y   0 0 1 0   x 
0 0 0

0
  2   3
     x4    
 x4  k2   k 2  k3  1   x4 
 0 0 m2 
0
 m2 m2  
State space for discrete-time system
■ Every discrete linear time-invariant system can be described by a set of equations of the form

x  k  1  Ax  k   Bu  k 

y  k   Cx  k   Du  k 

■ Applying the z-transform yields

zX  z   zx  0  AX  z   BU  z 

Y  z   CX  z   DU  z 
■ Solving these two equations and equating the initial state to zero can yield the transfer
function of the system as
Yz
G z   C  zI  A  B  D
1

Uz