Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 1 Lecture 1 Automatic Control Applications: Missile control Behavior control Aircraft control Machine control Aeronautic control Engineering is control and control is engineering

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 2 What Control is About???!!! Control= compensate= manipulate= Adjust= correct= desire= less error

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 3 What Control is About???!!! Indeed all modern systems (aircrafts, CD player, speed trains, cruise control system, …) couldn’t operate without the aid of sophisticated control systems. Improved control is the key enabling technology underpinning - Enhanced product quality - Waste minimization - Environmental protection - Greater throughput for a given installed capacity - Greater yield - Deferring costly plant upgrades - Higher safety margins

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 4 Close loop with sensor PlantController Measurement (sensor) r(t) y(t) my(t) y(t) u(t) Reference input output

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 5 System Integration Important Issues in control:  Plant: the physical object to be controlled.  Process: a series of operations acting toward the end  Sensors: machines which measure system output.  Actuator: the muscles or the part which does the action.  Disturbance: signals which affect the output.  Feedback: the measure of the output compared to target.  Open-loop system: the output is neither measured nor fed-back.  Closed-loop system: the output is measured and compared with the desired value.

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 6 What should we do? Study the process Mathematical Model Simulate with MATLAB and SIMULINK Design a controller Apply in real-time

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 7 Types of Control  Classical Control  Time Domain (Root-locus, Laplace Transform)  Frequency Domain (Bode, Nyquest)  Modern Control  State Space (work for linear systems, have much control on it)  Digital Control  Z-transform  Stochastic Control  Kalman Filters (estimate the variables that can’t be measured)  Adaptive Control  Optimal Control  Riccatti Equation (minimize the cost function)  Robust Control  Intelligent Control  Neural Network  Fuzzy logic

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 8 Laplace Transform  Laplace transform: is a mathematical tool used to solve linear ordinary Differential equations ODE  It converts linear ODE into algebraic equation in “s”  Homogenous (transient equation +particular Integral (steady state) of the sol. Obtained in one operation  Obtain the s-domain solution, use the inverse transform to find the time domain solution. f(t)= a function of time S= a complex variable ₤= Laplace F(s)= Laplace transformed

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 9 Laplace Transform

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 10 Laplace Transform Properties Properties of Laplace Transform 1- Multiplication by constant 2- Superposition principal 3- Differentiation 4- Integration

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 11 Laplace Transform Properties 5- Time Shift 6- Time Scaling 7- Frequency Shift 8- Convolution: Convolution in time domain = multiplication in frequency domain Convolution in time domain is multiplication in Frequency domain

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 12 Laplace Transform Properties 9- Time product 10- multiply by time 11-Initial Value Theorem 12-Final Value Theorem Not valid if sF(s) contains a pole whose real part or zero is positive

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 13 Laplace Transform Exponential function: Step function:

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 14 Laplace Transform Ramp function: Sinusoidal function:

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 15 Problems Find the Laplace transform:

Mechanical Engineering Department Automatic Control Dr. Talal Mandourah 16 Problems Find the Laplace transform