Faculty of Engineering

Computer and Systems Engineering Department

CSE 371: Control Engineering

Topic#1
Introduction to Control Systems
Prof. Wahied Gharieb Ali Abdelaal
 CSE 371: Control Engineering
Instructor: Prof. Wahied Gharieb Ali Abdelaal Office: CSE302
Director of Information Systems Center

E-mail: [email protected] - [email protected]

Lectures: http://lms.eng.asu.edu.eg

Textbook:
1] K. Ogata, “Modern Control Engineering”, Fifth edition,
Prentice Hall, 2010.
2] R. C. Dorf and R. H. Bishop, “Modern Control Systems”,
Twelfth edition, Prentice Hall, 2011.
3] Norman S. Nise, “Control Systems Engineering”, Sixth
edition, John Wiley & Sons, 2011.

Prerequisites: Signal and Systems / MATLAB Programming Skills

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 CSE 371: Control Engineering

Additional Readings:
4] F. Golnaraghi and B. C. Kou, “Automatic Control
Systems”, Ninth edition, John Wiley & Sons, 2010.
5] Gene F. Franklin, J. David Powell, Abbas Emami-Naeini,
“Feedback Control of Dynamic Systems”, Sixth edition,
Prentice-Hall, 2010.
6] Wikibooks, “Control Systems”, free download from
http://en.wikibooks.org/wiki/Control_Systems , 2013.
7] Derek P. Atherton, “Control Engineering Problems
with Solutions”, First edition, free download from
www.bookboon.com , 2013.
8] Derek P. Atherton, “Control Engineering: An
introduction with the use of Matlab”, Second edition, free
download from www.bookboon.com , 2013.

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 CSE 371: Control Engineering

Course Assessment
Student Activities 10%
(Quizzes + Assignments)

Mid-Term Exam 20%

Practical Exam 10%

(Lab + Micro-project)

Final Exam 60%

Total 100%

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 CSE 371: Control Engineering

Course Policies:

1. Homework Submission:
Homework solutions should be submitted on the due date.
2. Late homework policy:
On time, in the class (100%),
next day (90%), 2 days (70%), 3 days or more (0%).
3. Collaboration:
You are encouraged to discuss the assigned problems/projects
with your classmates. But you are not allowed to talk about
the final solution itself or to show your solution to others.
Every student has to prepare his/her solution independently.
4. Preparing the final solution:
Please write your solution in a clear, readable, and concise
form. Every answer should be fully justified.

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 Course Objectives
 Provide a background of control engineering concepts and
basics.

 Study basic mathematical tools for analysis and design in control

engineering such as Laplace transform, transfer function, block
diagram, signal flow graph, and stability analysis.

 Study the time domain (state space) and frequency domain

(Nyquist plots, Bode plots) analysis tools.

 Learn how to design P, PI, PD, PID feedback control systems

meeting specific performance requirements (Analog & Digital
design)

 Emphasize the use of MATLAB for analysis and design.

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 Course Outline
Topic 1: Introduction to Control Systems
Topic 2: Review of Mathematical Background
Topic 3: System Representation
Topic 4: Modeling of dynamic systems
Topic 5: Stability analysis of linear control systems
Topic 6: Time domain analysis of control systems
Topic 7: State Space Analysis & Design
Topic 8: Root locus techniques
Topic 9: Frequency domain analysis (Bode Plots)
Topic 10: Frequency domain analysis (Nyquist plots)
Topic 11: PID controller Design (Analog Design)
Topic 12: Lead & Lag compensators
Topic 13: Introduction to digital control
Topic 14: PID controller Design (Digital Design)
Topic 15: Recap
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 Introduction to Control Systems
What is “a system”?
• System is composed of a set of interacting components
(elements) stimulated or excited by an external input to
produce an external output.
Dynamic System
• A system with a memory. For example, the input value at
time t will influence the output at future instants.

What is “ a control”?
• Control is the hidden technology in many
applications.
• It aims to stabilize the system and to maintain its
output close as possible to the desired value.
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 Introduction to Control Systems
Input Output
Control
Signal Signal
System

Energy
Source

• Definition: The input is the stimulus, excitation, or command applied to a

control system in order to produce a specified response from the control
system.
• Definition: The output is the actual response obtained from a control
system.
• Definition: The parameter is the value of a component in the system, such
as mass, resistance, capacitor, … etc.
• Definition: The variable is the measured signal, such as current, volt, force,
position, …etc.
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 Applications

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 Applications

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 Applications

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 Applications

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 Applications

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 Applications
Unmanned Ground Vehicles (UGV)

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 Course Framework

Analysis

Control
Design

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 Control Objectives

Main Objectives:
• Stability (Regulation)
• Performance (Tracking: transient response
and steady state response)

SMART Objectives:
• Specific
• Measurable
• Achievable
• Realistic
• Timed

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 Physical Systems

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 Control Systems

• Thermal control system

• Flow control system

• Level control system

• Pressure control system

• Speed control system

• Position control system

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 Complex Interconnected Systems

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 Complex Interconnected Systems

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 Open-loop Control (Feed-Forward control)

Program setting Laundry Washed clothes

)Input( Machine )Output(

A laundry machine washes clothes, by setting a

program. It does not measure how clean the clothes
become. Control without measuring devices (sensors)
are called open-loop control.

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 Open-loop Control (Feed-Forward control)

 Application: CD player, computer disk drive

 Requirement: Constant speed of rotation
 Open loop control system:

 Block diagram representation:

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 Closed Loop (Feedback Control)
 Closed-loop control system:

 Block diagram representation:

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 Open loop and Closed loop

Open loop Closed loop

Isolated systems Non-Isolated systems

More faster Slower (time delay)

Less cost More cost

Time constant More robust

parameters

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 Car Control
Car driving system

 Objective: To control direction and speed of a car

 Outputs: Actual direction and speed of car
 Control inputs: Road markings and speed signs
 Disturbances: Road surface and grade, wind, obstacles
 Possible subsystems: The car alone, power steering system, breaking
system
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 Car Control
 Functional block diagram:
Desired Actual
course of course of
travel + Error Steering travel
Driver Automobile
- Mechanism

Measurement, visual and tactile

 Time response:

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 Car Control

Controller + Actuator

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 Position Control

 Specification:
Speed of disk:
1800 rpm to 7200 rpm
Distance head-disk:
Less than 100nm
Position accuracy:
1 µm
Move the head from track
‘a’ to track ‘b’ within
50ms

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 Level Control

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 Speed Control of Steam Engine

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 Human Body
- )85 ‫ "َو َم ا ُأوِتيُتْم ِمْن اْلِع ْلِم ِإَّال َق ِليًال"( اإلسراء‬:‫قال هللا تعالى‬
.‫) صدق هللا العظيم‬21 ‫"َو ِفي َأْن ُفِس ُك ْم َأَفال ُتْب ِص ُر وَن ”( الذاريات‬

Temperature
 Regulated temperature around 37°C
Eye

Follow moving objects
Hand
 Pick up an object and place it at a
predetermined location
Pancreas
 Regulates glucose level in the blood

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 Human Body
Temperature control system

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 Human Body

Blood-Glucose concentration

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 Human Body

Open loop control

(preprogrammed insulin
pump)

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 Human Body

Closed loop control

(Artificial Pancreas)

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 Control Systems Mechanisms

a) If the aim is to maintain a

physical variable at some
fixed value when there
are disturbances, this is a
process control.

Example: speed-control
system on the ac
generators of power
utility companies &
oil and gas industry.

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 Control Systems Mechanisms

b) The second class is the

Servo Control This is a
control system in which a
physical variable is required
to follow (track) some
desired time function.

Example: an automatic
aircraft landing system,
or a robot arm designed
to follow a required path
in space.

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 ?Why Negative Feedback

Positive
Feedback

Wall Wall

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 Sensors and actuators in control systems

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 Sensors and actuators in control systems

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 Feedback Control

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 Feedback Control

Actuation Sensing

Decision Signaling

Goals
 Stability: system maintains desired operating point
 Performance: system responds rapidly to the desired changes
 Robustness: system tolerates perturbations in dynamics and
environment
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 Control Modes

Manual control:
The system is fully operated with human intervention.
This control mode can be used in the case of: new
installation, maintenance, and complex operations (flight
take off/landing).

Automatic Control:
The system is fully operated without human intervention.
This mode is used in autonomous systems.

Semi-Automatic Control:
The system is operated with human intervention under
automatic safety protection.

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 Historical Development of Control Systems

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 Historical Development of Control Systems

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 Historical Development of Control Systems

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 Industry 4.0

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 Industry 4.0

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 Industry 4.0

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 Industry 4.0

Industry 4.0 is a German initiative aiming to promote

the digitization of manufacturing towards the smart
factory using IoT and Cyber Physical Systems.

Internet of Things (IoT) is the Interconnection of

uniquely identifiable embedded computing devices
(smart objects) within the Internet infrastructure.

Cyber Physical Systems (CPS) are systems using

computations and communication deeply embedded in
and interacting with physical processes.

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 Industry 4.0

Digital Twin of Smart Factory

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 Industry 4.0

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 Remember That!

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 Thank you for your attention

[email protected]
[email protected]

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