Linear Control Systems

CHAPTER 1
INTRODUCTION
Prof. Fawzy Ibrahim
Electronics and Communication Department
Misr International University

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

Chapter Contents
1.1 Course Description and Outline
1.2 Course Objectives
1.3 Control systems Classifications
1.4 Control Systems Terminologies
1.5 Examples of Control Systems

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

1.1Course Description and Outline

Week

Lec.

Items/Topics

Assignments

Chapter 1 Introduction
1

Chapter 2 Mathematical Model of Systems

Differential Equations of Physical Systems:
- D. E. of Electrical Components.
- D. E. of Mechanical Components

- D. E. of Electromechanical Components

Review of Laplace Transform.

The Transfer Function of Linear Systems

Block Diagram Models

Signal Flow Graph Models

Assignment #1
Representation of Control
Systems

Examples of control systems

10

Course Description and Outline

Control Systems History and Applications
Control systems Classifications
Control Systems Terminologies

Chapter 3 Feedback Control System Performance and

Characteristics
Introduction
Test Input Signals
Response of First Order Systems

Assignment #2.1
System Modeling,
Laplace Transform and
Transfer Function

Assignment #2.2
Block Diagrams and
Signal Flow Graph
Models

Fifth week Exam

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

Course Description and Outline (Continue)

11

Response of Second Order Systems

Higher Order Systems Response

12

Steady State Errors of Feedback Control Systems

13

Stability Analysis Using Routh-Hurwitz Method

14

Sensitivity of Control Systems to Parameter Variations

15

Chapter 4 Analysis and Design of Control Systems using Root

Locus Method

16

Root Locus Examples

17

Stability Analysis

9
18
19
10
20

Introduction
Root Locus Construction

Assignment #3.1
2nd Order Response and
Steady State Errors

Assignment #3.2
Stability Analysis and
Sensitivity of Control
Systems

Compensation and Controller Design using Root Locus

Term Paper Assignment

Midterm Exam

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

Course Description and Outline (Continue)

Chapter 5 Analysis and Design of Control Systems using
Frequency Response Method
21
11

12

22

Stability Analysis
Bandwidth and Cutoff Frequency
Compensation and Controller Design in the Frequency Domain

23

Chapter 6 Practical Control Systems Applications

24

Antenna Azimuth Position Control System

Control Systems History and Applications

25
13

14

15

Introduction
The State Variables of a Dynamic System
The State Differential Equation
Alternative Block Diagram and Signal Flow Graph Models

27

The Transfer Function from the State Equation

28
29

Assignment #4
Root Locus Analysis and
Design

Chapter 7 State Space Representation of Control Systems

26

30

Introduction
Frequency Response
Bode Plots
Gain and Phase Margins

Assignment #5
Frequency Domain
Analysis and Design

The Time Response and the State Transition Matrix

Term Paper Submission

Discrete Time Evaluation of The Time Response

Term Paper Presentation

Assignment #6
State Space
Representation

Final Review
EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

1.2 Course Objectives

Upon successful completion of this course, the student should be able to:
1. Deduce mathematical models describing control system elements.
2. Represent a complete control system using transfer function
approach.
3. Reduce control system transfer function using block diagram and
signal flow graph models.
4. Calculate the transient and steady state response of feedback control
systems.
5. Investigate the Stability of control systems.
6. Check the system stability in frequency domain.
7. Understand the root locus analysis and design of control systems.
8. Apply the analysis and design of Control system in frequency domain.
9. Represent, analyze and design of Control systems using State space
approach.
10.Utilize the CAD tools (MATLAB package) to deal with all analysis and
design issues of Control system.
6

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

1.3 Control systems Classifications

non-linear system OR linear system
time varying system OR time invariant system
single variable control OR Multivariable Control
Classical Representation
OR State Space Representation
(Classical Control) OR
(modern control)
manual control
OR
automatic control
open-loop control
OR closed-loop control
(feedback control)

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

1.4 Control Systems Terminologies

1- Block diagram
A control system is any an interconnection of components
to provide a desired action. It can be described by a block
diagram as shown in Fig. 1.1.

Fig. 1.1 Simplified description of a control system or block diagram

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

2- Open-loop control system

It is the system in which the control action is independent of the output
as shown in Fig. 1.2.
3. A process or plant
It is the portion of a system which is to be controlled. The input-output
relationship represent the cause and effect of the process.
4- A controller
It is device that generates the plant input signals to produce the desired
outputs.
input or
reference

input filter
(transducer)

disturbance
plant

controller

control
signal

actuator

process

output or
controlled
variable

Fig. 1.2 An open-loop system

9

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

5- Closed-loop or feedback control system

It is the system in which the control action is dependent on the output
or the input depends on the output as shown in Fig. 1.3.
error or
input or
actuating signal
disturbance
reference
summing junction
plant
output or
or comparator
control
controlled
signal
input filter +
controller
actuator process variable
(transducer)

sensor or
output transducer
sensor noise

Fig. 1.3 closed-loop or feedback control system

10

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

Example: A simple feedback control system for controlling

the room temperature is shown in Fig. 1.4.
heat transfer
Qout

desired
temperature

room
temperature

Qin
thermostat

switch

air con

office room

Fig. 1.4. A simple feedback control system for controlling

the room temperature
11

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

6- A Multivariable control systems

It is the system that has many variables and shown in Fig. 1.5

Fig. 1.5 Block diagrams of control systems:

a. open-loop system b. closed-loop system
12

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

The open-loop system characteristics

Advantages

Disadvantages

simple construction
ease of maintenance
less expensive
no stability problem
no need for output
measurement

13

disturbances cause errors

changes in calibration cause
errors
output may differ from what
is desired
recalibration needed

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

The closed-loop system characteristics

Advantages
high accuracy
not sensitive to disturbance
controllable transient response
controllable steady state error

14

Disadvantages
more complex
more expensive
possibility of instability
recalibration needed
need for output
measurement

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

1.5 Examples of Control Systems

1 Open Loop
Example of a room heating system: control of the room temperature R
is changed according to Figure 1.6.

(a) Open-loop control of a

room heating system

Figure 1. 6
15

(b) Characteristic of a heating control

device for three different

tuning sets (1, 2, 3)

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

The Block Diagram of an open loop room heating system:

control of the room temperature is shown Figure 1.7.

Figure 1.7 : Block diagram of the open-loop control of the heating system

16

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim

2 Closed Loop
Example of a room heating system: control of the room temperature R
is changed according to Figure 1. 8. and its block diagram is shown in
Fig. 1.9.

(a) The Physical system

(b) The system block diagram

Figure 1.8 Closed-loop control of a room heating system

17

EEG431 Ch. 1 Introduction

Prof Fawzy Ibrahim