Prof. Wahied Gharieb Ali Abdelaal

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Prof. Wahied Gharieb Ali Abdelaal
Faculty of Engineering Computer and Systems
Engineering Department Master and Diploma Students
CSE 502 Control Systems (1) Topic1
Introduction to Control Systems
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CSE 502 Control Systems (1)

• Instructor Prof. Wahied Gharieb Ali
  Office R302
• E-mail wahid_ali_at_eng.asu.edu.eg -
  wahied_at_hotmail.com
• Lectures http//portal.eng.asu.edu.eg/wahied
• TEXTBOOKS
• Part-1 Analog Control
• 1) Norman S. Nise, Control Systems
  Engineering, 6th Edition, John Wiley Sons,
  2011.
• 2) R. C. Dorf and R. H. Bishop, Modern Control
  Systems, 12th Edition, Prentice Hall, 2011.
• 3) K. Ogata, Modern Control Engineering, 5th
  Edition, Prentice Hall, 2010.
• 4) Farid Golnaraghi and Benjamin C. Kou,
  Automatic Control Systems, 9th Edition, John
  Willy Sons, 2010.

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CSE 502 Control Systems (1)
Part-2 Digital Control 5) M. Sami Fadali and
Antonio Visioli, Digital Control Engineering
Analysis and Design, Academic Press (Elsevier)
2nd edition, 2013. 6) Edited by William S.
Levine, Control Systems Fundamentals, CRC
Press Taylor Francis Group, Section IV
Digital Control, 2011. 7) Ioan D. Landau and
Gianluca Zito, Digital Control Systems Design,
identification, and Implementation,
Springer-Verlag 2006. Additional
Readings 8) Wikibooks, Control Systems, free
download from http//en.wikibooks.org/wiki/Contro
l_Systems , 2013. 9) Derek P. Atherton, Control
Engineering Problems with Solutions, First
edition, free download from www.bookboon.com ,
2013. 10) 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 502 Control Systems (1)
Course Grading Assignments (20)
Individual work Micro Project (10) Team
work (2 or 3) Final Exam (70)
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CSE 502 Control Systems (1)
Course Policies 1. Assignments should be
submitted on the due date. 2. Late
assignments On time (100), next day (90), next
2 days (80), next 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 concepts in control
  engineering
• Study basic mathematical tools for analysis and
  design in control engineering such as Laplace
  transform, transfer function, block diagram,
  state space model, Z-transform, and stability
  analysis.
• Use the root-locus technique in the analysis of
  control systems
• Study the time domain analysis (State Space) and
  frequency domain (Nyquist plots, Bode plots)
  analysis tools.
• Design the industrial PID controllers to meet
  specific performance requirements
• Emphasize the use of MATLAB for analysis and
  design.

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Course Outline

• Topic 1 Introduction to Control Systems
• Topic 2 Mathematical Tools for Analysis
• Topic 3 Representation and Sensitivity Analysis
• Topic 4 Dynamic models for linear systems
• Topic 5 Stability analysis
• Topic 6 Root locus techniques
• Topic 6 Time domain analysis (State Space Model)
• Topic 7 Frequency domain analysis ( Bode and
  Nyquist plots)
• Topic 8 Industrial control design (PID RTS
  Regulators)
• Topic 9 Practical considerations in control
  design
• Topic 10 Embedded control systems
• Topic 11 SCADA and DCS Systems
• Topic 12 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 (System properties?). What is
a control? Control is a hidden technology in
many applications to stabilize the system and to
maintain its output close as possible to the
desired value.
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Introduction to Control Systems
Primal Dual
Linear Nonlinear
Continuous-Time Discrete Time
Time Invariant Time Varying
Deterministic Stochastic
Static Dynamic
Causal Non-Causal
Single input Multi-input
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Introduction to Control Systems

• 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
Unmanned Ground Vehicles (UGV)
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Applications
Unmanned Aerial Vehicle (UAV)
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Applications
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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)
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 parameters More robust
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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
• 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
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?????? ????????"( ??????? 85) - "?????
???????????? ?????? ???????????( ???????? 21)
??? ???? ??????.

• Temperature
• Regulated temperature around 37C
• Eyes
• Follow moving objects
• Hands
• 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 Mechanisms
1) The aim is to maintain a physical variable at
some fixed value in presence of disturbances,
which is called process control. Example
temperature, level, pressure, flow, oil and gas
industry.
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Control Mechanisms
2) 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 position control of antennae
, aircraft landing system, or a robot arm
designed to follow a required path in space.
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Control Mechanisms
3) Sequentially Controlled Systems

• A series of defined tasks to be performed.
• Time-Driven
• Each operation in the sequence is performed for a
  certain amount of time. May be open-loop
  control.
• Event-Drive
• Each operation is performed until some event goal
  is reached. Must be closed-loop control.

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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

• 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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Computer-Controlled Systems
PLC
SCADA
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Computer-Controlled Systems
Prosthetic care goes back to the fifth Egyptian
Dynasty
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Computer-Controlled Systems
Brain Controlled Artificial Leg After losing his
lower right leg in a motorcycle accident in 2009,
32-year-old Zac Vawter has been fitted with an
artificial limb that uses neuro signals from his
upper leg muscles to control the prosthetic knee
and ankle. The motorized limb is the first
thought controlled bionic leg, scientists at the
Rehabilitation Institute of Chicago, reported in
The New England Journal of Medicine.
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Control Modes
Manual control The system is fully operated
with human intervention. This control mode is
usually 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-Automati
c Control The system is operated with human
intervention under automatic safety protection.
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History of Automatic Control
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History of Automatic Control
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History of Automatic Control
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History of Automatic Control
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History of Automatic Control
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History of Automatic Control
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History of Automatic Control
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Future of Control Systems
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Journals in Control Engineering
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THANK YOU FOR YOUR ATTENTION!
Control engineering is a hidden technology that
you meet everywhere!!!
wahid_ali_at_eng.asu.edu.eg