Automatic Control

Lecture 1
Presented by
Dr. Walid Ghoneim
Lecture on: Course Review and Introduction

Reference:
 Benjamin C. Kuo, “Automatic Control Systems”, Prentice Hall, Inc.
Course Data:
• Name: Automatic Control
• Code:EE 418
• Credit Hrs.: 3
• Contact Hrs.: 4 / week

• Lecturer: Dr. Walid Ghoneim

 Room: G401
 Phone: 01001543356

• T.A.: Eng.
Eng. Mohamed El Maghraby
This is a SPECIAL COURSE, Why ?
• Applied Knowledge
• Analysis and Understanding
• APPLICATIONS DESIGN
• Theory
• Simulation
• Evaluation (Testing)
• Implementation (Physical)

• Integrated Solutions
• Innovation and Creativity
• Entrepreneurship
Grading System:
• 7th week:
• Exam: 10 + 10 + 10 + 10 marks
• Best three tens = 30

• 12th week:
• Quizzes : 10 + 10 + 10
• Best two tens = 20

• C.W.: Sheets & Reports: 10 marks

• Final: 40 marks
What‘s common between these items?
Major Topics / Course Contents
1. Introduction to Control Systems
2. Modeling of Various Systems:
• Electrical / Mechanical / Electro-mechanical
3. Block Diagram Reduction Techniques
4. Signal Flow Graph
5. Concept of Stability:
• Routh-Hurwitz Stability Criterion
6. Transient Response of:
• First and Second Order Systems
7. Steady State Error Analysis
8. Root Locus Techniques
9. Frequency Response Analysis using Bode Plot
The Idea of System Control
Control engineering aims to control a System,
a Process or a Plant.

A system is a combination of elements/physical

components which set together to achieve a desired
output.

Input Output

SYSTEM
(Excitation) (Response)
Types of Systems

1. Linear and Nonlinear

2. Dynamic and Static

3. Time invariant and Time varying

4. Continuous and Discrete

5. Stable and Unstable

6. Single-Input-Single-Output (SISO)

and Multi-Input-Multi-Output (MIMO)

Types of Systems - Linear and Non-linear
A system is linear if it applies both the
superposition and the homogeneity theories.
 For: y(t) = F[x(t)] ,
 Then: y1(t) = F[x1(t)] and y2(t) = F[x2(t)]

 Superposition means:
 If x3(t) = x1(t) + x2(t)
 Then: y3(t) = F[x3(t)] = F[x1(t) + x2(t)] = y1(t) + y2(t)

 Homogeneity means:
 If x4(t) = a.x1(t)
 Then: y4(t) = F[x4(t)] = F[a.x1(t)] = a.F[x1(t)] = a.y1(t)
Types of Systems - Linear and Non-linear
Types of Systems - Linear and Non-linear
 For any system, if input and output relation is a
straight line passing through origin then it obeys the
superposition.

 The straight line passing through origin means that

the output of the system is zero for zero input.

 System having this property is called initially relaxed

systems.

 A spring and a resistor are the examples of linear

systems.
Types of Systems - Dynamic and Static System
 A system is static or memory-less if its output
depends upon the present input only.
 Ex. The current in a resistance is given by: V / R
 The magnitude of the output at any time being equal
to the magnitude of input at that time multiplied by
constant K.
In other words, we can say the system is instantaneous
or memory-less.

If the input to a system does not change with time,

then its output also will not change with time (i.e. there
is no motion). Hence, system is called Static System.
Types of Systems - Dynamic and Static System
 If the output of any system depends on present
as well as past values, the system is called
Dynamic system.
 If any circuit having energy storing elements like
inductance and capacitance such circuits are dynamic
circuits.
 Thus, the presence of any energy storing
element makes a system dynamic.

For a sudden change in the input, the system variables

in a dynamic system will not change instantaneously.
Thus dynamic systems are not "instantaneous".
Types of Systems - Time Invariant and Time
Varying System
 The parameters of a system are the coefficient of its
modeling equation.
 When the parameters are fixed (do not change with
time), the system to which they belong is called time
invariant system.
When one or more parameters are function of time the
system is called time varying system.

This is a Time Invariant System:

 Ex.: f(t) = M . d2x(t)/dt2 for Cars and Trains
This is a Time-varying System:
 Ex.: f(t) = M(t) . d2x(t)/dt2 for Rockets and Missiles
Types of Systems - Continuous and Discrete
Time System
 A continuous time system is defined as the system
which processes a continuous time signal to produce
another continuous time signal (velocity, voltage).
 A discrete time system is defined as the system which
processes a discrete time signal to produce another
discrete time signal (Digital Systems).
Types of Systems – Stable and Unstable
System
A signal x(t) is called as a bounded signal if its
magnitude is always finite (known at t => infinity).

 A system is said to be stable if it produces a bounded

output for every bounded input.
 The system which does not satisfy this condition is an
unstable system.
Types of Systems –
Single Input Single Output (SISO) and
Multi Input Multi Output (MIMO) System
 A system having only one input and one output is
called single input single output: (SISO) system.
 Some systems may have multiple type of inputs and
multiple outputs, these are called multi-input multi-
output system: MIMO system.
The Idea of System Control
Loop Control
The Idea of System Control; Loop Control: Open Loop
 The open loop control system is a control system
without feedback.
The control action is independent of the desired output.
The output is not compared with the reference input.
The component of the open loop systems are the
controller and the controlled process.
The controller may be a switch, an amplifier, a
valve …. depending on the system to be controlled.
An input (set-point) is applied to the controller and the
controller produces a corresponding output, which is the
input to the controlled process and we get a relevant output
from the process
The Idea of System Control; Loop Control: Open Loop
 A plant is an open-loop system where direct set point
inputs are applied to drive the outputs.
Example: a voltage is applied to a motor to cause it to rotate.
 In an open-loop system there is no knowledge of the system
output.
 If the motor shaft is loaded and the motor slows down there
is no knowledge about this.
The speed of the car up-hill or down hill ??
The Idea of System Control; Loop Control: Open Loop
Examples:
1. Automatic washing machine - time is set manually.
2. Indoor Lighting.
3. Field controlled d.c. motor.
4. Automatic control of traffic the lamps of three different colours
(red, yellow and green) are used. The time for each lamp is
fixed. The operation of each lamp does not depends upon the
density of the traffic but depends upon the fixed time.
The Idea of System Control; Loop Control: Open Loop
A plant may also have disturbances affecting its behavior and
in an open-loop system there is no way to know, or to minimize
their effect.
 Figure 1 shows a single-input, single-output (SISO) system,
since there is only one input and also only one output is available.
 In general, systems can have multiple inputs and multiple
outputs (MIMO).
Because of the response (output) and the effects of external
disturbances are unknown, the open-loop control is not attractive.
The Idea of System Control; Loop Control: Open Loop
Advantages:
1. Open loop control systems are simple.
2. Open loop control systems are economical.
3. Less maintenance is required and not difficult.
4. Proper calibration is not a problem.

Disadvantages:
1. Open loop systems are inaccurate.
2. They are not reliable.
3. They are slow.
4. Optimization is not possible.
The Idea of System Control; Loop Control: Closed Loop
Closed loop control systems are also known as
feedback control systems.
The control action depends on the desired output.
How?
The output is compared with the reference input and
an error signal is produced.
The error signal is fed to the controller.
Based on the sign and amount of the error signal, the
controller output changes to reduce the error till the
desired output is obtained.
The Idea of System Control; Loop Control: Closed Loop
Example:
1. HVAC system: in a room we need to regulate the
temperature and humidity for comfortable living. Air
conditioners are provided with thermostat. By measuring the
actual room temperature and compared it with desired
temperature, an error signal is produced, the thermostat turns
the compressor ON or OFF.
2. Water Heaters
3. Car Speed Controllers
The Idea of System Control; Closed-loop systems
 A better way to control the system is by using a sensor to
measure the output and then comparing this output with what we
would like to see at the system output (set-point).
 The difference between the desired output value and the actual
output value is called the error signal.
 The error signal is used to force the system output to a point
such that the desired output value and the actual output value are
equal.
 This is termed closed-loop control, or feedback control, shown
in figure 2.
The Idea of System Control; Closed-loop systems
One of the advantages of closed-loop control is the ability to
compensate for disturbances and yield the correct output even in
the presence of disturbances.
 A controller (compensator) is usually employed to read the
error signal and drive the plant in such a way that the error tends to
zero.
 This leads to greater accuracy, less sensitivity to disturbances.
 Both the time response and the steady-state error can be
controlled.
The Idea of System Control: Elements of Closed-loop
 The Command / The Set-point: It is the external produced input.
 The Reference input element: This produces a voltage signal
proportional to the command.
 The Error detector / Comparator / Summing Point: It receives the
measured signal and compares it with the reference input. The difference of two
signals produces the error signal.
 The Controller: it provides a variable input to the system so as to regulate
its output according to the error signal sign and magnitude.
 The Controlled system: represents what we are controlling: process,
system, plant, … by the closed-loop control system.
 The Feedback element: it reads the output and converts it to a
proportional voltage signal (sensor / transducer), then sends it to the error
detector for comparison with the reference input.
The Idea of System Control; Loop Control: Closed Loop
 Advantages:
1. These systems are more reliable.
2. Closed loop systems are faster.
3. A number of variables can be handled simultaneously.
4. Optimization is possible.
5. Less sensitivity to disturbances.
6. Greater accuracy.
7. Both the time response and the steady-state error can be controlled.

 Disadvantages:
1. Closed loop systems are expensive.
2. More difficult to maintain.
3. Complicated installation.
 COMPARISON BETWEEN OPEN LOOP AND CLOSED LOOP

The Idea of System Control: Open vs. Closed Loop

The Idea of System Control:
Types of Controllers (Task Based / Function)
There can be a blend of many control types in ONE
system, Examples:
Cars:
Steering and braking systems are Manual Closed-loop
Control
HVAC system is Open-loop Control
ABS system is Automatic Closed-loop Control

Lifts (Elevators):
From one floor to another – Sequence control
The speed of the motor – CL control
Types of Controllers (Task Based)
Braking is Manual Closed-loop Control, but
ABS system is Automatic Closed-loop Control
 Thank you
and
All the Best

Dr. Walid Ghoneim

The Idea of System Control
Loop Control
The Idea of System Control; Loop Control: Open Loop
A plant may also have disturbances affecting its behavior and
in an open-loop system there is no way to know, or to minimize
their effect.
 Figure 1 shows a single-input, single-output (SISO) system,
since there is only one input and also only one output is available.
 In general, systems can have multiple inputs and multiple
outputs (MIMO).
Because of the response (output) and the effects of external
disturbances are unknown, the open-loop control is not attractive.
The Idea of System Control; Closed-loop systems
 A better way to control the system is by using a sensor to
measure the output and then comparing this output with what we
would like to see at the system output (set-point).
 The difference between the desired output value and the actual
output value is called the error signal.
 The error signal is used to force the system output to a point
such that the desired output value and the actual output value are
equal.
 This is termed closed-loop control, or feedback control, shown
in figure 2.
The Idea of System Control; Closed-loop systems
One of the advantages of closed-loop control is the ability to
compensate for disturbances and yield the correct output even in
the presence of disturbances.
 A controller (compensator) is usually employed to read the
error signal and drive the plant in such a way that the error tends to
zero.
 This leads to greater accuracy, less sensitivity to disturbances.
 Both the time response and the steady-state error can be
controlled.
The Idea of System Control; Closed-loop systems
The Idea of System Control; Computer in the loop
 Fig. 6 shows a typical closed-loop analog speed control system where the
desired speed of the motor is set using a potentiometer.
A tachogenerator produces a voltage proportional to the speed of the motor,
and this signal is used in a feedback loop and is subtracted from the desired
value in order to generate the error signal.
 Based on this error signal the power amplifier drives the motor to obtain the
desired speed.
 The motor will rotate at the desired speed as long as the error signal is zero.
The Idea of System Control
 Generally a plant is a continuous-time system where
the inputs and outputs are also continuous in time.

 For example, an electromagnetic motor is a

continuous-time plant whose input (current or voltage)
and output (rotation) are also continuous signals.

 A control engineer manipulates the input variables,

design the controller and adjust its parameters to
shape the response of a plant in an attempt to influence
the output variables such that a required response can
be obtained.
The System – No Control
The objective is to regulate the level of liquid in the tank, h, to the value H.
The System - Manual Closed-loop Control
The System - Automatic Closed-Loop Control
The System – What substituted what ?

 The Level Sensor substituted the eyes (senses).

 The Actuator (Motor) substituted the Muscles.

 The Controller Hardware substituted the Brain.

 The Controller Software substituted the Mind (logic,

proper judgment, evaluation, decision making, … ).
The System – YOUR JOB is to:
 Identify and Analyze the system to be controlled
 Determine the number and types of Inputs and
Outputs.
 Determine the types of Sensors/transducers and their
Ranges.
 Design and implement the signal conditioning circuit
 Determine the type of control task the controller
should perform
 Determine the suitable Hardware Controller
 Design the controller program to perform the task
 Simulate the whole thing + Testing
 Implement it as a prototype + Testing
The Idea of System Control:
Types of Controllers (Task Based / Function)
1) Sequence Control

2) Loop Control:
1) Open-loop OL
2) Closed-loop CL ,

3) Direct Digital Control DDC

3) Supervisory Control:
1) SCADA (Supervisory Control And Data
Acquisation)
2) DCS (Distributed Control System)
The Idea of System Control:
Types of Controllers (Task Based / Function)
There can be a blend of many control types in ONE
system, Examples:
Cars:
Steering and braking systems are Manual Closed-loop
Control
HVAC system is Open-loop Control
ABS system is Automatic Closed-loop Control

Lifts (Elevators):
From one floor to another – Sequence control
The speed of the motor – CL control
The Idea of System Control: Sequence Control
The Idea of System Control
Loop Control
The Idea of System Control; Loop Control: Open Loop
 A plant is an open-loop system where direct set point
inputs are applied to drive the outputs.
Example: a voltage is applied to a motor to cause it to rotate.
 In an open-loop system there is no knowledge of the system
output.
 If the motor shaft is loaded and the motor slows down there
is no knowledge about this.
The speed of the car up-hill or down hill ??
The Idea of System Control; Loop Control: Open Loop
A plant may also have disturbances affecting its behavior and
in an open-loop system there is no way to know, or to minimize
their effect.
 Figure 1 shows a single-input, single-output (SISO) system,
since there is only one input and also only one output is available.
 In general, systems can have multiple inputs and multiple
outputs (MIMO).
Because of the response (output) and the effects of external
disturbances are unknown, the open-loop control is not attractive.
The Idea of System Control; Closed-loop systems
 A better way to control the system is by using a sensor to
measure the output and then comparing this output with what we
would like to see at the system output (set-point).
 The difference between the desired output value and the actual
output value is called the error signal.
 The error signal is used to force the system output to a point
such that the desired output value and the actual output value are
equal.
 This is termed closed-loop control, or feedback control, shown
in figure 2.
The Idea of System Control; Closed-loop systems
One of the advantages of closed-loop control is the ability to
compensate for disturbances and yield the correct output even in
the presence of disturbances.
 A controller (compensator) is usually employed to read the
error signal and drive the plant in such a way that the error tends to
zero.
 This leads to greater accuracy, less sensitivity to disturbances.
 Both the time response and the steady-state error can be
controlled.
The Idea of System Control; Closed-loop systems
The Idea of System Control; Computer in the loop
 Fig. 6 shows a typical closed-loop analog speed control system where the
desired speed of the motor is set using a potentiometer.
A tachogenerator produces a voltage proportional to the speed of the motor,
and this signal is used in a feedback loop and is subtracted from the desired
value in order to generate the error signal.
 Based on this error signal the power amplifier drives the motor to obtain the
desired speed.
 The motor will rotate at the desired speed as long as the error signal is zero.
 Thank you
and
All the Best

Dr. Walid Ghoneim