EE-379

LINEAR CONTROL SYSTEMS

Lecture No 1

“CONTROL SYSTEMS ENGINEERING”

By NORMAN S. NISE, 6th Edition
Text Book: Chapter 1

Instructor: Dr. Iftikhar Ahmad

Class: BEE 5 D

Electrical Engineering Department

1
 Course Information

Course Title: LINEAR CONTROL

SYSTEMS Lab (yes)
Credit hrs: 3-3
Prerequisites For this Course: Calculus, Complex Variables and
Transforms, Machines

Instructor: Dr. Iftikhar Ahmad

e-mail :[email protected] SMRIMMS, Room: C-302
Text Book:. Control Systems Engineering
by Norman S. Nise 6th Edition
Reference Book(s):
1. Feedback Control Systems by Phillip and Harbor 4th Edition
2. MODERN CONTROL SYSTEMS by RICHARD C DORF
2
 Main Topics
No. Topics
1 Introduction
2 Modeling in the frequency domain
3 Time response of systems
4 Reduction of multiple subsystems

5 Steady state errors

OHT-1
6 Root locus
7 Design via root locus
8 Frequency response techniques
OHT-2
9 Design via frequency response
10 Modeling in time domain – State Space
11 Design via State Space
End Semester Exam 3
Assignments & Lab Reports:
• The assignments will be submitted as desired by the instructor.
• The labs will be conducted every week.

Grading Policy:
Quizzes : 10 %
Assignments : 5%
OHT 1 : 12.5 %
OHT 2 : 12.5%
End Semester Test : 35%
10% Lab report
5% Viva
Labs : 25 % 10% Lab Exam

4
5
 The point is learning,

Learning requires effort.

There are no shortcuts here!

Every time you seek to find a shortcut in learning, what you are actually
doing is cheating yourself.

Grade: F or D
Learner
Lecture, Book, etc.
Information Input
Source
Class 6
First: Never ever limit yourself to a single source of information
Use multiple sources

Lecture, Book, etc.

Grade: C
Information source
ask an expert Inpu
t
Learner
Information source
Input
read a book

Information source Input

read another book

nput
Information source I
Internet search 7
Secondly: Your use of information sources must be full of life to be fully effective.
Approach each of your sources with specific questions in mind, with the goal of finding
answers to those questions:

Grade: C+ or B
Query
Information source
ask an expert Inpu
t
Query Learner
Information source
read a book Input

Information source
Input
read another book
Query
Information source nput
I
Internet search Query
8
Thirdly: Apply what you collect from your sources.
Don't just let that information lie idle in your brain – put it into
immediate action.
This is where you begin to construct your own understanding:

Grade: B+
Application
Write in your own words

t
Application

pu
t
t Describe what U learn

ou
pu
out
output Application
out Teach your friend
ou put
tp Application
ut Build something
Application
Practice, practice, practice
9
Lastly: Treat the results of your application as another source of information, querying
and learning from these efforts as though they were primary sources (like experts or
books). This last step establishes a feedback loop, enabling the learner to self-correct
errors in understanding:

Grade: A 10
 Attendance and Expectations

Attendance in class is Mandatory

Class Etiquette:

(1) Don’t read other inappropriate materials in the class

(2) Don’t talk to anyone other than the instructor

(3) Don’t arrive late or leave early

(4) Don’t do work unrelated to this class

(5) Don’t sleep in class

(8) Don’t use cell phones in the class

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(9) Don’t violate NUST Code of Student Conduct
 Synchronous Machine Main Field

Slip
rings

Pole

DC excitation
winding
Fan

ROTOR

STATOR Main Armature

Red

Yellow
Three-Phase
Blue output

18
E A  K

13
Control Systems (Definition)
Comprises subsystems and processes (or plants) assembled for the
purpose of obtaining a desired output with desired performance, given
a specified input.

Signals flow from the input, through the system and

produce an output
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 Control Systems (Example)
Consider an elevator. When the fourth-floor button is pressed, the
elevator rises to the fourth floor with a speed and floor-leveling
accuracy designed for passenger comfort.

Two measures of
performance are :
(1) the transient response
(2) the steady-state error.

Passenger comfort and passenger patience are dependent upon the

transient response
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 Classification of Control Systems
Control Systems

LT
I C
on
tro
l
Natural Man-made

Sy
st e
ms
(L
ine
Manual Automatic

ar
tim
e
inv
Open-loop Closed-loop

ar i
an
tc
on
Non-linear linear

tro
Non-linear linear

l
sy s
tem
Time variant Time invariant

s)
Time variant Time invariant 16
 System Configurations
Block diagrams of control systems:

open-loop system

closed-loop system 17
Antenna azimuth position control system:

system concept

detailed layout

18
Antenna azimuth position
control system:

Schematic diagram

functional block diagram

19
Response of a position control system showing effect of
high and low controller gain on the output response

20
The control system design process

21
 One Example
Disturbance
Forces
Desired
Neural Output
position
Control algorithm Signal Muscle Hand Position

(Brain) G(s)
Actuator Y(s)
R (s) Controller U (s) Plant
Reference Control block
Input

Eye
Sensor
Open loop No Feedback

Closed loop With Feedback

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 Another Example
Disturbances
parties, games
Desired
performance
Performance Teaching Students
Pedagogism activities
Actuator Y(s)
R (s) Controller U (s) Plant
Reference Control block
Input

Homework,
Exams, quizzes,…
Sensor

Open loop No Feedback Blindly teaching ?!

Closed loop With Feedback

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 What is a Actuator?
• Actuator is a device which produce
mechanical energy (output motion) in
response to some type of energy input.

Complex
Electrical

Mechanical

Energy Actuator Motion Linear

Thermal Electro-
Mechanical
Fluid
• Hydraulic Rotary
• Pneumatic

Chemical

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 What is a sensor?
Sensors are transducers that produce (transform) electrical
energy (signals) as a result of some type of stimulation
(measurement space)

Temperature

Distance

Sensor
Electrical Voltage
Measurement Signals
Voltage
Force Current
Digital
Speed

Types of Sensors
Active.. Need External Power
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Passive.. No External Power
 Use of Sensors in
Feedback Control:
In The Next 3-Slides
Air condition
Cooling System is
explained 28
 Temperature

+
200C
- 220V, 50Hz
150C
mV
WAPDA Supply
15 20

Reference Error=0 volts

20mV=
+ 200C 200C
-
+- Compensator

Desired

Thermistor
Gain=10 Converts
20mV 2mV Heat into
Amplifier volts
29
(Op-Amp
 Temperature

+
200C
- 220V, 50Hz
150C
mV
WAPDA Supply
15 20

Reference Error=+5 v
20mV=200C 150C
+- Compensator

Desired

Gain=10
15mV 1.5mV

30
 Temperature

+
200C
- 220V, 50Hz
150C
mV
WAPDA Supply
15 20

Reference Error= -5 v
20mV=200C 250C
+- Compensator

Desired

Gain=10
25mV 2.5mV

31
???
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