0. Administrative Topics EE3511: Automatic Control Systems 0. Administrative Topics Dr. Ahmed Nassef EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Textbook Dorf and Bishop, Modern Control Systems 11th Ed. 2007 References : Ogata K., Modern Control Engineering, 3rd Ed. 1997. Close, Frederick and Newell. Modeling and Analysis of Dynamic Systems, 3nd edition, John Wiley, 2002. Norman S. Nice. Control Systems Engineering, John Wiley & Son, 4th Ed. 2003 EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Grading Policy Exam 1 (20%), Exam 2 (20%), Final Exam (50%), HWs + Quizzes (5%) Attendance & class participation (5%), penalty for late attendance Note: No absence, late homework submission allowed without genuine excuse. EE3511_L1 Salman Bin Abdulaziz University

1. Introduction to Control Systems EE3511: Automatic Control Systems 1. Introduction to Control Systems EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Why do we study control systems? EE3511_L1 Salman Bin Abdulaziz University

What do these two have in common? Both are highly nonlinear, complicated dynamics! Both are capable of transporting goods and people over long distances BUT One is controlled, and the other is not. Control is “the hidden technology that you meet every day” It heavily relies on the notion of “feedback” EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University The Course Goal Learn how to model, setup mathematical description, analyze and design linear control systems EE3511_L1 Salman Bin Abdulaziz University

Course Objectives The students will learn to model mechanical and electrical systems. use Laplace transform to solve linear dynamical systems. find transfer functions using signal flow graph analyze the stability using Routh-Hurwitz method. characterize transient and steady state response of linear systems. EE3511_L1 Salman Bin Abdulaziz University

Course Objectives (cont.) analyze and design linear control systems using Root locus PID controller Design analyze, design controllers and simulate dynamical systems using MATLAB and SIMULINK. implement controllers for pilot scale processes. In the Lab EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Course Outlines Introduction to Control Systems Modeling of Dynamical Systems Mechanical Electrical Laplace Transform Review of complex variables Laplace Transform, properties Inverse Laplace Transform Solution of Ordinary Differential Equations Transfer functions EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Course Outlines Block Diagrams and Signal Flow Graphs Block diagrams and manipulation Signal Flow Graphs Analysis of Control Systems Test Signals: step, impulse, ramp , sinusoidal Effect of feedback on transient response Disturbance reduction Effect of feedback on steady state error EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Course Outlines Time Response of Control Systems: Time domain specifications in transient and steady state requirements Response of first order systems Response of second order systems Response of higher order systems Steady state analysis and error constants EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Course Outlines System Stability and Root locus: Concept of stability Routh-Hurwitz stability criteria Stability of feedback control systems Design Example Introduction to root locus: concept and procedure. EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Course Outlines PID controller Design Introduction to PID Guidelines for PID design Ziegler Nichols methods EE3511_L1 Salman Bin Abdulaziz University

2. Introduction to Control Systems EE3511: Automatic Control Systems 2. Introduction to Control Systems EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University The Course Goal To be able to model, setup mathematical description, analyze and design linear control systems EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Systems A system is any set of interrelated components acting together to achieve a common objective. Each system has a process (Plant), inputs and outputs inputs Process outputs (Plant) EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Example You could think of a car as a “system". The inputs are the positions of the steering wheel, gear shift lever, gas, brake and clutch pedals. The output is the position of the car. EE3511_L1 Salman Bin Abdulaziz University

Block Diagram Representation of Systems inputs Process outputs (system) Inputs are signals that affect the system variables Represented by arrows entering the system Outputs are measured or calculated variables Shown as arrows leaving the system Process represent the relationship between inputs and outputs EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University What is Control? Control is a term that describes the process of forcing a system to behave in a desired way in order to achieve certain objective(s)/goal(s). Control is the process of making a system variable adhere to a particular value, called the reference value. EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Control Systems A group of actions assembled in such a way to regulate some outputs at their desired levels. used to increase productivity and improve performance of systems. EE3511_L1 Salman Bin Abdulaziz University

Control Engineering Now Control Engineering is becoming an important field Engineers from different disciplines (Electrical Mechanical, Aerospace, Chemical,…) are learning about control engineering Applications continue to grow and spread Control Systems are important in modern societies. Examples of applications of control systems include Petrochemical plants, airplanes, cars, air-conditioning systems and weapons. Biological systems using control systems. Our bodies maitain the body temperature at a specified temperature. The Glucose Level in our is being controlled. Without control walking will not be possible. Techniques of control engineering have been used in many areas. It has been used to control inflation and unemployment rate. EE3511_L1 Salman Bin Abdulaziz University

Control Systems in modern societies. Control Systems Applications include Petrochemical plants, airoplanes, cars, air-conditioning systems Weapons …. EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Biological systems use control systems Control body temperature Control the Glucose Level Control is used to help us walk, move, see, write, play, EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Techniques of control engineering have been used in many areas. To control inflation To control unemployment rate. EE3511_L1 Salman Bin Abdulaziz University

Classification of control Systems Open loop –Closed loop Linear-Nonlinear Continuous-Discrete EE3511_L1 Salman Bin Abdulaziz University

Open loop Control Systems An open loop control system consists of three basic components: Control Element: Determines the action needed for the given input Correction Element: initiate action to change the variable to be controlled Process: the system of which a variable is being controlled input process output Correction Element Control Element EE3511_L1 Salman Bin Abdulaziz University

Closed Loop Control Systems A closed loop control system consists of five basic components: Comparison Element: Compares required value and actual value Control Element: Determines the action needed based on the value of the error Correction Element: produce the change in the process to reduce the error Process: the system of which a variable is being controlled Measurement Element: Produces a signal that represent the value of controlled variable EE3511_L1 Salman Bin Abdulaziz University

Closed Loop Control Systems input process output Correction Element Control Measurement _ EE3511_L1 Salman Bin Abdulaziz University

Closed Loop Control Systems The variables associated with closed loop control systems are defined as Controlled Variable: The variable that is measured and being maintained at a desired value (OUTPUT). Manipulated Variable: the variable that is varied by the controller. Feedback signal: The output of the measurement device Set point: the input value applied to the loop. It is the desired condition to the controlled variable (INPUT). EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Example Back to the car example. You could think of yourself as the controller. You alter the manipulated variables signals (the positions of the steering wheel, pedals, etc) so that the car follows a desired trajectory (controlled variable). EE3511_L1 Salman Bin Abdulaziz University

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Feedback Control System In general Main Components: Plant: Process + Actuator Controller Sensor Disturbance EE3511_L1 Salman Bin Abdulaziz University

Control Systems in Nature Pancreas: regulate blood sugar. Adrenalin automatically generated to increase heart rate and oxygen intake in times of flight. Eyes able to follow a moving object. Hand: able to pick up an object and place it at a predetermined location EE3511_L1 Salman Bin Abdulaziz University

3. Control Engineering Design and Examples of Modern Control Systems EE3511: Automatic Control Systems 3. Control Engineering Design and Examples of Modern Control Systems EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Fly Ball Governor Invented by James Watt in 1769 Steam Turbine Close valve Open valve Steam Steam EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Fly Ball Governor Example of early control systems With fly ball governor Watt’s steam engine become safer and more practical As speed increases  the balls move away from the center  the lever moves up  the valve is closed  less steam goes to the turbine  speed decreases  the balls move to the center  the lever moves down  the valve is open  speed increases EE3511_L1 Salman Bin Abdulaziz University

Water Level Float Regulator Invented by Polzunon in 1765 Steam Float valve Water Feed EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Role Automation/Control systems engineers are concerned with understanding and controlling segments of their environment (Systems) to provide useful economic products for society EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Activities Understanding Modeling Designing Testing Implementation Monitoring EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Automation impact PRODUCTIVITY and to obtain high-quality products Material handling Safety and Security Etc… EE3511_L1 Salman Bin Abdulaziz University

Foundation/knowledge Feedback theory Linear system analysis Knowledge Network theory Communication theory Reliability and maintenance theory Safety theory EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Definition A control system is an interconnection of components forming a system configuration that will provide a desired system response. EE3511_L1 Salman Bin Abdulaziz University

Open-Close-Multivariable EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Usual Representation Every component (or process) can be represented by a block SISO: Single input Single output Process Input Output Cause Effect EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Usual Representation Actuator Process Desired Output response Output SIMO: Single input multi-output MISO: MIMO: EE3511_L1 Salman Bin Abdulaziz University

Open-Loop Control System An open-loop control system utilizes an actuating device to control the process directly without using feedback. Actuator Process Desired Output response Output EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University Open loop system EE3511_L1 Salman Bin Abdulaziz University

Close-Loop Feedback Control A close-loop system uses a measurement of the output and feedback of this signal to compare it with the desired output (reference or command) Comparison Actuator Process Measurement Desired Output contoroller EE3511_L1 Salman Bin Abdulaziz University

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Salman Bin Abdulaziz University The design process Definition Design is the process of inventing the forms, parts, and details of a system to achieve a specific goal Terminology Specifications alternatives Trade-off Synthesis optimization EE3511_L1 Salman Bin Abdulaziz University

Design of Control Systems Establish Control Goals Identify variables to control Write the specifications Establish the system configuration and identify the actuator Obtain the models of (process, actuators, sensors) Describe the controller, select the parameters to be adjusted Select the values of the parameters EE3511_L1 Salman Bin Abdulaziz University

Salman Bin Abdulaziz University A design example Control Goal: Design a system for rotating disk speed control that will ensure that the actual speed of rotation is within a specified percentage of the desired speed. Variables to be controlled: Disk rotation speed Establish the system configuration and identify the actuator: EE3511_L1 Salman Bin Abdulaziz University

A design example Open loop EE3511_L1 Salman Bin Abdulaziz University

A design example Closed-loop EE3511_L1 Salman Bin Abdulaziz University